Hello,
I am not completely clear about how the pub_resolution parameter affects the working of the zed ros2 wrapper. After switching to a custom resolution, all the relevant topics are published in a lower resolution. I wanted to confirm whether the depth map was still being calculated at the original resolution.
The ZED SDK internally works at the grab resolution, but images, depth maps, and point clouds are retrieved at a reduced resolution. The resizing is performed by the GPU.
This is useful to reduce the required communication bandwidth and CPU power.
So, to clarify, the depth maps are calculated at grab resolution and then resized to a smaller resolution for more efficiency?
The effect is the one you described even if it is not a “simple” resizing.