Registered Pointcloud from ROS driver is poorly registered

I have installed the ROS astra driver for the Astra S. To launch the my Astra S I am using the astra.launch file from I have set the required fields in the launch file to enable the publishing of a registered point cloud. When I try to visualize the registered point cloud in rviz, the registration seems pretty off (there seems to be a horizontal offset between the rgb and depth image). Do I have to calibrate these intrinsics myself rather than relying on the camera_info topics coming from the driver?