Stereo_image_undistort node

[wang-yu-yang]

When I use the stereo_image_undistort node, I find that all the parameters of the D matrix in the information displayed in /camera/raw/first/camera_info are 0. I use an external camera calibration file, but the D matrix should have parameters in the camera parameter file.In fact, the final corrected image can be displayed. I don’t understand whether this will affect the resolution of the final image, because the resolution I output becomes 6410×9264, and the resolution of the original image is 848×800.

---

/camera/raw/first/camera_info：
header:
seq: 779
stamp:
secs: 1593573471
nsecs: 668548872
frame_id: "camera_fisheye1_optical_frame"
height: 800
width: 848
distortion_model: "equidistant"
D: [0.0, 0.0, 0.0, 0.0, 0.0] #I think there is a problem
K: [278.6592825735526, 0.0, 424.14787009685375, 0.0, 278.575241659058, 395.63796110397817, 0.0, 0.0, 1.0]
R: [0.9990143337765363, 0.00362112213621329, -0.04424079998708848, -0.0036246710643880547, 0.9999934308582606, 2.7105054312137605e-20, 0.04424050936300271, 0.00016035834757857908, 0.9990208964864059]
P: [297.14913534918276, 1.0770749481661108, 411.40447584207635, 0.0, 16.49348130488335, 278.6368555084925, 395.25059058615005, 0.0, 0.04424050936300271, 0.00016035834757857908, 0.9990208964864059, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False

---

/camera/rect/first/camera_info:
header:
seq: 1184
stamp:
secs: 1593573485
nsecs: 168205748
frame_id: "camera_fisheye1_optical_frame"
height: 6410
width: 9264
distortion_model: "equidistant"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [283.9535322979686, 0.0, 4632.0, 0.0, 283.9535322979686, 3205.0, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [283.9535322979686, 0.0, 4632.0, 0.0, 0.0, 283.9535322979686, 3205.0, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False

---

Can someone help me?