how to set depth mode for ASUS xTion Pro Live

edit

Hi everyone. I'm trying to set the depth video mode on an ASUS xTion Pro Live. As suggested in the code API, I'm setting the video mode this way:

depthMode_ = depthStream_.getSensorInfo().getSupportedVideoModes()[4];
  ROS_INFO("The wished depth mode is %d x %d at %d FPS. Pixel format %d", depthMode_.getResolutionX(),
           depthMode_.getResolutionY(), depthMode_.getFps(), depthMode_.getPixelFormat());
  if (depthStream_.setVideoMode(depthMode_) != openni::STATUS_OK)
  {
    ROS_ERROR("Can't apply depth-videomode");
    depthMode_ = depthStream_.getVideoMode();
    ROS_INFO("The depth mode is set to %d x %d at %d FPS. Pixel format %d", depthMode_.getResolutionX(),
             depthMode_.getResolutionY(), depthMode_.getFps(), depthMode_.getPixelFormat());
  }

unfortunately, even if the mode (RES=640x420, FPS=30 PF=100) is supported, this operation fails.

The full node can be found here

Did anyone manage to set the resolution for the depth mode?