Adjusting Resolution and Frame Rate

Lower the Resolution:

The current resolution is set to HD720, when it is lowering it to VGA to reduce the computational load, the result with poor resolution but increases speed:

in file: zed-ros-wrapper/zed_wrapper/params/zed.yaml

yamlCopy code

grab_resolution: 'VGA'

Adjust Frame Rate:

The current frame rate is set at 30 FPS.

in file: zed-ros-wrapper/zed_wrapper/params/zed.yaml

yamlCopy code

grab_frame_rate: 30

I changed to 15 then to 20 to allow more time for each frame to be processed, to cover the warnings about processing delays.

[ WARN] [1713612024.309266070]: Elaboration takes longer (0.0799084 sec) than requested by the FPS rate (0.066666667 sec). Please consider to lower the 'general/pub_frame_rate' setting or to reduce the power requirements by reducing the camera resolutions.

final change

grab_frame_rate: 15

in file: zed-ros-wrapper/zed_wrapper/params/zed.yaml

double mPubFrameRate = 15.;

in file: zed-ros-wrapper/zed_nodelets/src/zed_nodelet/include/zed_wrapper_nodelet.hpp

The warning message you're encountering with the zed_warper package indicates that the processing time required for each frame is longer than the time allowed per frame at the current frame rate setting. This situation can lead to dropped frames and overall performance issues, especially if the computing resources are unable to keep up with the high data throughput required at the current settings.

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