I realized the mismatch occurs when I manually set the RGB format to 1440×1920 so I can use 640×480 for depth. Why does that happen? I want the highest possible frame rate and resolution for the depth camera, but the standard format only offers 640×360. Whenever I switch to a format that supports 640×480, I run into these problems.

Hi, I'm using the TrueDepth camera. A further realization was that this occurred when i manually set the device.activeVideoMinFrameDuration and device.activeVideoMinFrameDuration. I no longer have this issue since I made a lot of changes to avoid setting this value manually and I could not recreate it with the setup I have now.