Width and height is different for the pointcloud and image stream

KristianSem commented 2 years ago

Preliminary Checks

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Description

The width and height is different for the pointcloud and image stream for my zed2 camera. Is this a result of camera calibration? In that case why is the resolution different?

Pointcloud resolution: 576x1024

Camera resolution (rgb/image_rect): 503x896

My calibration params: [LEFT_CAM_HD] cx=634.7693 cy=357.5304 fx=715.2219 fy=714.7376 k1=0.1737 k2=0.7757 k3=-0.6430 p1=-0.0007915 p2=0.0004861

[RIGHT_CAM_HD] cx=648.4723 cy=364.1165 fx=717.6800 fy=717.6045 k1=0.1547 k2=0.8843 k3=-0.7793 p1=0.0014 p2=0.0003

Steps to Reproduce

Put your camera in a plexiglass case
Calibrate it with a checkerboard
Put in new parameters ...

Expected Result

Same resolution on the pointcloud and camera stream

Actual Result

Different resolution on the pointcloud and camera stream

ZED Camera model

ZED2

Environment

Jetpack 4
Jetson Xavier

Anything else?

No response

Myzhar commented 2 years ago

Hi @KristianSem what are the values of your parameters video/img_downsample_factor and depth/depth_downsample_factor?

If they are different then the final dimensions of the RGB data and depth data are different.

KristianSem commented 2 years ago

My maann. That was the issue. Someone managed to set them to different values when fiddling around. Thanks for the quick reply

stereolabs / zed-ros-wrapper