resolution mismatch for ros noetic

[JiaheXu]

Preliminary Checks

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Description

When I run roslaunch zed_wrapper zed2.launch, the resolution of rgb topics and depth topics mismatch the resolution I set in zed2.yaml file. I set the resolution of RGB as 2K, it only output 621x1104 resolution image for all the img topics. When I change the resolution to other values, the image resolution changes but all are way lower than the resolution I set.

Steps to Reproduce

1.roslaunch zed_wrapper zed2.launch 2. 3. ...

Expected Result

have 2k resolution image topics

Actual Result

have a 621x1104 resolution image

ZED Camera model

ZED2

Environment

ubuntu20.04
ROS1 noetic
GPU: nvidia-GTX3080

Anything else?

No response

[Myzhar]

Hi @JiaheXu this is not a bug, but the effect of the pub_resolution and pub_downscale_factor parameter: https://github.com/stereolabs/zed-ros-wrapper/blob/master/zed_wrapper/params/common.yaml#L31-L32