The end-to-end latency of the ZED cameras depends on the frame grab frequency. The latency is fixed in terms of number of frames: 3 to 4 frames for USB3 cameras (ZED 2i, ZED Mini) and 2 to 3 frames for GMSL2 cameras (ZED X, ZED X Mini, ZED X Nano, ZED X One). Therefore, the shorter the period between two consecutive frame grabs, the lower the end-to-end latency of the system.
To minimize latency, configure the camera to run at the highest frame rate supported by the selected resolution:
| Camera model | Resolution | Grab frequency | Expected end-to-end latency |
|---|---|---|---|
| ZED 2i, ZED Mini (USB3) | VGA | 100 FPS | ~30/40 ms |
| ZED 2i, ZED Mini (USB3) | HD720 | 60 FPS | ~50/67 ms |
| ZED 2i, ZED Mini (USB3) | HD1080 | 30 FPS | ~100/133 ms |
| ZED 2i, ZED Mini (USB3) | HD2K | 15 FPS | ~200/267 ms |
| ZED X, ZED X Mini, ZED X Nano, ZED X One (GMSL2) | SVGA | 120 FPS | ~17/25 ms |
| ZED X, ZED X Mini, ZED X Nano, ZED X One (GMSL2) | HD1080, HD1200 | 60 FPS | ~33/50 ms |
| ZED X, ZED X Mini, ZED X Nano, ZED X One (GMSL2) | HD1080, HD1200 | 30 FPS | ~67/100 ms |
| ZED X, ZED X Mini, ZED X Nano, ZED X One (GMSL2) | HD1080, HD1200 | 15 FPS | ~133/200 ms |
Please note that these figures can be influenced by the host controller and the Operating System configuration.
For more information about latency tuning, refer to the documentation: https://docs.stereolabs.com/docs/integrations/ros-2/node-frequency-tuning#minimize-the-end-to-end-latency