What is the latency of the ZED camera?

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:

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