Cannot disable disparity computation

[mpkuse]

Hi, I did get the mynt eye ros wrapper. It does output the images.

However, here are my issues: a. I cannot seem to disable the disparity computation In the launch file, i edit

  <!-- stream toggles -->

  <arg name="enable_left_rect" default="false" />
  <arg name="enable_right_rect" default="false" />
  <arg name="enable_disparity" default="false" />
  <arg name="enable_disparity_norm" default="false" />
  <arg name="enable_points" default="false" />
  <arg name="enable_depth" default="false" />

Still for some reason it outputs the disparity. I just want the stereo image not the disparity for now. Disparity computation unnecessarily occupies my CPU which I do not want at the moment.

b. I see some artifacts on the image. see attachments. How should I fix this. ?

c. Is this a gray only camera or is it possible to get color images from it?

[BernardinD]

Did you ever figure this out?