SDK2.55.1 get wrong color frame size

[pumpkin639]

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Required Info
Camera Model	{ D455 }
Firmware Version	(Open RealSense Viewer --> Click info)
Operating System & Version	{ Linux (Ubuntu 20) }
Kernel Version (Linux Only)	(e.g. 5.10.160)
Platform	RK3588S
SDK Version	{ legacy / 2.55.1 }
Language	{C++ }
Segment	{others }

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Issue Description

Here are my codes.

#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
#include <iostream>             // for cout
#include <opencv2/opencv.hpp>

// Hello RealSense example demonstrates the basics of connecting to a RealSense device
// and taking advantage of depth data
int main(int argc, char * argv[]) try
{
    // Create a Pipeline - this serves as a top-level API for streaming and processing frames

	int camera_w = 640;
	int camera_h = 480;
	int camera_fps = 30;
	rs2::config cfg = rs2::config();
	
	cfg.enable_stream(RS2_STREAM_COLOR, 
		camera_w,
		camera_h,
		RS2_FORMAT_RGB8, 
		camera_fps);
	cfg.enable_stream(RS2_STREAM_DEPTH, 
		camera_w,
		camera_h,
		RS2_FORMAT_Z16, 
		camera_fps);
    rs2::pipeline p;
    // Configure and start the pipeline
    p.start(cfg);
    while (true)
    {
        // Block program until frames arrive
        rs2::frameset frames = p.wait_for_frames();
       	rs2::frame color_frame = frames.get_color_frame();
	      cv::Mat color = cv::Mat(cv::Size(camera_w, camera_h), CV_8UC3, (void*)color_frame.get_data(), cv::Mat::AUTO_STEP);
        cv::imshow("tt",color);
        cv::waitKey(0);

    }

    return EXIT_SUCCESS;
}

When I run the code, the images displayed are sometimes incorrectly sized.
But when I use sdk2.53.1, the results are correct.

[MartyG-RealSense]

Hi @pumpkin639 When you upgraded to librealsense SDK version 2.55.1, did you also update your camera firmware driver version to 5.16.0.1 please? This is the recommended firmware to use with 2.55.1. Using older firmwares instead of the recommended version could result in errors.

[MartyG-RealSense]

Hi @pumpkin639 Do you require further assistance with this case, please? Thanks!