Depth image of Femto Bolt does not cover the whole color image

[xaristeidou]

Migrating from Azure Kinect to Femto Bolt I am trying to find how I can enable depth image to cover the whole color image but I depth image always has this hexagon shape, as shown in the following images.

In Azure Kinect ROS driver the /depth_to_rgb/image_raw depth image covers the whole color image. Also there is another topic that has a very wide FOV of depth image.

I wonder because the depth sensors of Azure Kinect and Femto Bolt are identical if Femto Bolt can provide depth image that covers the whole color image.

In Orbbec Viewer I enable depth image to 1024x1024 and it has wider FOV, but I have tried to stream camera through ROS1 driver modifying args of launch file of femto_bolt.launch but when I changed the values of depth_width, depth_height the depth image is not published in the topic.