does not take optical center for pinhole camera allows specifying the optical center for a fisheye camera model, but not a pinhole camera model. This causes an inconsistency that affects tasks which require accurate modeling of camera geometry such as monocular 6D pose estimation.

Good example:

Bad example:

Note that this is related to:

@aja9675, thank you for bringing this up. I will mention this to the Replicator team who maintains omni.replicator.core next week. I will keep you posted.