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

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