'CUSTOM' parameter is not clear

[anakita]

Preliminary Checks

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• This issue is not a question, bug report, or anything other than a feature request directly related to this project.

Proposal

I have recorded a svo file using the zed ros wrapper. The resolution in the zed2i file is set to HD720 but in the common.yaml, the pub_resolution: 'CUSTOM' and pub_downscale_factor: 2.0, so the images are published at 640x360. But in this case what exactly happens to the depth data, as it has been captured at HD720 right?
But in case of the custom parameter being set, just like the image is downscaled, can I use the downscaled depth as it is ? Or am I suppose to use the resolution as specified as grab_resolution in zed2i param file.

Is it possible to have different downscale parameters for the depth?
I would also suggest to put some more documentation on the CUSTOM parameter and how it affects the depth.

Use-Case

No response

Anything else?

No response