Setting up the ZED X One Monocular

Setting up the driver #

The ZED X One is compatible with NVIDIA® Jetson platforms and has similar compatibility to the ZED X. You can refer to the hardware and driver setup of the ZED X One guides according to your hardware.

Install the ZED X One driver #

The ZED X series requires installing a driver to operate correctly. It is responsible for configuring the GMSL2 device and is dependent on the hardware used, such as the Jetson™ carrier board, the deserializer card, and other configurations related to GMSL2 cameras.

The drivers can can be downloaded from the ZED X Driver download page.

📌 Note: Please make sure to check the version of the driver available on the ZED X Driver download page. If the website features an updated version, we recommend installing the latest one.

Select the driver corresponding to your configuration and run:

sudo dpkg -i stereolabs-zedx_X.X.X-YYYYYYYY-L4TZZ.Z_arm64.deb

Where:

• X.X.X is the driver version
• YYYYYYY is the deserializer
• L4TZZ.Z is the Jetson™ Linux version

For example, for L4T 35.1 (JetPack 5.0) with the Stereolabs GMSL2 Capture Card, run:

sudo dpkg -i stereolabs-zedx_0.5.1-MAX96712-L4T35.1_arm64.deb

📌 Note: You might need to install libqt5core5a if not already installed. Use the following command:

sudo apt install libqt5core5a

Now, reboot the NVIDIA® Jetson™.

You can use the following command to check that the driver is correctly loaded:

sudo dmesg | grep zedx

Please note that GMSL2 cameras have lower flexibility compared to USB cameras. Any modification in the hardware configuration, such as plugging or unplugging a camera, or changing the camera order, requires either rebooting the Jetson, or restarting the installed daemon with the following command:

sudo systemctl restart zed_x_daemon

sudo dpkg -r stereolabs-zedx_X.X.X-YYYYYYYY-L4TZZ.Z_arm64.deb

sudo dpkg -l | grep stereolabs-zedx

Using Nvargus #

The camera can then be opened using Nvargus, the tools provided by NVIDIA®on Jetson™ to open cameras connected in GMSL2 and CSI.

Make sure the multimedia API is installed;

sudo apt install nvidia-l4t-jetson-multimedia-api

Then compile the camera sample

cp -r /usr/src/jetson_multimedia_api/* ./
sudo apt install libgtk-3-dev
cd argus
mkdir build && cd build && cmake .. && make
cp apps/camera/ui/camera/argus_camera ./
./argus_camera

Using GStreamer #

Using the Stereolabs zedxonesrc source element #

Please refer to the ZED GStreamer plugin documentation to leverage the full capabilities of the ZED X One camera.

Using NVIDIA®nvarguscamerasrc source element #

To open the camera using the nvarguscamera gstreamer plugin, run:

gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! 'video/x-raw(memory:NVMM), width=(int)1920, height=(int)1200, framerate=30/1' ! nvvidconv flip-method=0 ! 'video/x-raw, format=(string)I420' ! xvimagesink -e

Please refer to the NVIDIA®documentation for more information

Using ZED X Open Capture #

To use the ZED X One capture open source API, go to https://github.com/stereolabs/zedx-one-capture.

Compile the library, then modify the sample to fit your application.

The library is based on the multimedia API from Nvidia. Support for retrieving IMU data will be available in a further release.