ROS Depth data is invalid when streamed as 640x480 YUYV

[blaine141]

I want to decrease processing time in my ROS robot by decreasing the resolution of the camera. I can decrease the color image resolution just fine, and the depth data is valid when in 1280x720 YUYV format. However, when the camera's depth data gets set to 640x480 YUYV, the depth data seems to become corrupted. The image below shows an example. The camera is looking at a relatively empty room with IR on.

And here is my launch file.

mynt_camera.txt

How can I decrease resolution without corrupting the depth data?

[andenacitelli]

+1, also having this issue using that launch file

[ata-shirazi]

I have same problem. The calibration data is not correct when you switch to 640x480 resolution. Do echo camera_info topics and you see the calibration data is not correct.