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I guess I nailed it, I had to change the camera name to what the program was suggesting So the yaml finally looks like:

image_width: 2448
image_height: 2050
camera_name: depth_A70774V01752221A
camera_matrix:
rows: 3
cols: 3
data: [4827.94, 0, 1223.5, 0, 4835.62, 1024.5, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.41527, 0.31874, -0.00197, 0.00071, 0]
rectification_matrix:
rows: 3
cols: 3
data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
rows: 3
cols: 4
data: [4827.94, 0, 1223.5, 0, 0, 4835.62, 1024.5, 0, 0, 0, 1, 0]

I noticed heavy load on the CPU. I do use depth information only and do not see problematic artefacts. I will smooth the matrix with normal-box filter from opencv anyway.