GStreamer - ZED Camera Source

The ZED Camera Source, zedsrc GStreamer element, is the main plugin of the package. It allows injecting ZED data into a GStreamer pipeline and accessing the information provided by the ZED SDK.

Properties

The following listing is the output of gst-inspect-1.0 zedsrc on a desktop Linux machine with ZED SDK 5.5.

  area-file-path      : Area localization file that describes the surroundings, saved from a previous tracking session.
                        flags: readable, writable
                        String. Default: ""
  async-grab-camera-recovery: Async Grab Camera Recovery
                        flags: readable, writable
                        Boolean. Default: false
  async-image-retrieval: Async Image Retrieval
                        flags: readable, writable
                        Boolean. Default: false
  blocksize           : Size in bytes to read per buffer (-1 = default)
                        flags: readable, writable
                        Unsigned Integer. Range: 0 - 4294967295 Default: 4096 
  bt-allow-red-prec   : Set to TRUE to enable Body Tracking reduced inference precision 
                        flags: readable, writable
                        Boolean. Default: false
  bt-body-fitting     : Set to TRUE to enable Body Tracking model fitting 
                        flags: readable, writable
                        Boolean. Default: true
  bt-body-tracking    : Set to TRUE to enable body tracking across images flow 
                        flags: readable, writable
                        Boolean. Default: true
  bt-confidence       : Minimum Detection Confidence
                        flags: readable, writable
                        Float. Range:               0 -             100 Default:              20 
  bt-detection-model  : Body Tracking Model
                        flags: readable, writable
                        Enum "GstZedSrcBtModel" Default: 1, "Body Tracking MEDIUM"
                           (0): Body Tracking FAST - Keypoints based, specific to human skeleton, real time performance even on Jetson or low end GPU cards
                           (1): Body Tracking MEDIUM - Keypoints based, specific to human skeleton, compromise between accuracy and speed
                           (2): Body Tracking ACCURATE - Keypoints based, specific to human skeleton, state of the art accuracy, requires powerful GPU
  bt-enabled          : Set to TRUE to enable Body Tracking
                        flags: readable, writable
                        Boolean. Default: false
  bt-format           : Body Tracking format
                        flags: readable, writable
                        Enum "GstZedSrcBtFormat" Default: 1, "Body 34 Key Points"
                           (0): Body 18 Key Points - 18 keypoints format. Basic Body format
                           (1): Body 34 Key Points - 34 keypoints format. Body format, requires body fitting enabled
                           (2): Body 38 Key Points - 38 keypoints format. Body format, including feet simplified face and hands
  bt-max-range        : Maximum Detection Range
                        flags: readable, writable
                        Float. Range:              -1 -           20000 Default:           20000 
  bt-min-keypoints    : Specify the Minimum keypoints threshold.
                        flags: readable, writable
                        Integer. Range: 0 - 70 Default: 5 
  bt-prediction-timeout-s: Body Tracking prediction timeout (sec)
                        flags: readable, writable
                        Float. Range:               0 -               1 Default:             0.2 
  bt-smoothing        : Smoothing of the fitted fused skeleton
                        flags: readable, writable
                        Float. Range:               0 -               1 Default:               0 
  camera-disable-self-calib: Disable the self calibration processing when the camera is opened
                        flags: readable, writable
                        Boolean. Default: false
  camera-fps          : Camera frame rate
                        flags: readable, writable
                        Enum "GstZedSrcFPS" Default: 15, "15  FPS"
                           (120): 120 FPS          - only SVGA (GMSL2) resolution
                           (100): 100 FPS          - only VGA (USB3) resolution
                           (60): 60  FPS          - VGA (USB3), HD720, HD1080 (GMSL2), and HD1200 (GMSL2) resolutions
                           (30): 30  FPS          - VGA (USB3), HD720 (USB3) and HD1080 (USB3/GMSL2) resolutions
                           (15): 15  FPS          - all resolutions (NO GMSL2)
  camera-id           : Select camera from cameraID
                        flags: readable, writable
                        Integer. Range: 0 - 255 Default: 0 
  camera-image-flip   : Use the camera in forced flip/no flip or automatic mode
                        flags: readable, writable
                        Enum "GstZedSrcFlip" Default: 2, "Auto"
                           (0): No Flip          - Force no flip
                           (1): Flip             - Force flip
                           (2): Auto             - Auto mode (ZED2/ZED2i/ZED-M only)
  camera-resolution   : Camera Resolution
                        flags: readable, writable
                        Enum "GstZedSrcRes" Default: 6, "Default value for the camera model"
                           (0): HD2K (USB3)      - 2208x1242
                           (1): HD1080 (USB3/GMSL2) - 1920x1080
                           (2): HD1200 (GMSL2)   - 1920x1200
                           (3): HD720 (USB3)     - 1280x720
                           (4): SVGA (GMSL2)     - 960x600
                           (5): VGA (USB3)       - 672x376
                           (6): Default value for the camera model - Automatic
  camera-sn           : Select camera from camera serial number
                        flags: readable, writable
                        Integer64. Range: 0 - 9223372036854775807 Default: 0 
  confidence-threshold: Specify the Depth Confidence Threshold
                        flags: readable, writable
                        Integer. Range: 0 - 100 Default: 50 
  coordinate-system   : 3D Coordinate System
                        flags: readable, writable
                        Enum "GstZedsrcCoordSys" Default: 0, "Image"
                           (0): Image            - Standard coordinates system in computer vision. Used in OpenCV.
                           (1): Left handed, Y up - Left-Handed with Y up and Z forward. Used in Unity with DirectX.
                           (2): Right handed, Y up - Right-Handed with Y pointing up and Z backward. Used in OpenGL.
                           (3): Right handed, Z up - Right-Handed with Z pointing up and Y forward. Used in 3DSMax.
                           (4): Left handed, Z up - Left-Handed with Z axis pointing up and X forward. Used in Unreal Engine.
                           (5): Right handed, Z up, X fwd - Right-Handed with Z pointing up and X forward. Used in ROS (REP 103).
  ctrl-aec-agc        : Camera automatic gain and exposure
                        flags: readable, writable
                        Boolean. Default: true
  ctrl-aec-agc-roi-h  : Auto gain/exposure ROI height (-1 to not set ROI)
                        flags: readable, writable
                        Integer. Range: -1 - 1242 Default: -1 
  ctrl-aec-agc-roi-side: Auto gain/exposure ROI side
                        flags: readable, writable
                        Enum "GstZedsrcSide" Default: 2, "BOTH"
                           (0): LEFT             - Left side only
                           (1): RIGHT            - Right side only
                           (2): BOTH             - Left and Right side
  ctrl-aec-agc-roi-w  : Auto gain/exposure ROI width (-1 to not set ROI)
                        flags: readable, writable
                        Integer. Range: -1 - 2208 Default: -1 
  ctrl-aec-agc-roi-x  : Auto gain/exposure ROI top left 'X' coordinate (-1 to not set ROI)
                        flags: readable, writable
                        Integer. Range: -1 - 2208 Default: -1 
  ctrl-aec-agc-roi-y  : Auto gain/exposure ROI top left 'Y' coordinate (-1 to not set ROI)
                        flags: readable, writable
                        Integer. Range: -1 - 1242 Default: -1 
  ctrl-brightness     : Image brightness
                        flags: readable, writable
                        Integer. Range: 0 - 8 Default: 4 
  ctrl-contrast       : Image contrast
                        flags: readable, writable
                        Integer. Range: 0 - 8 Default: 4 
  ctrl-exposure       : Camera exposure
                        flags: readable, writable
                        Integer. Range: 0 - 100 Default: 80 
  ctrl-exposure-range-max: Maximum exposure time in microseconds for the automatic exposure setting
                        flags: readable, writable
                        Integer. Range: 28 - 66000 Default: 66000 
  ctrl-exposure-range-min: Minimum exposure time in microseconds for the automatic exposure setting
                        flags: readable, writable
                        Integer. Range: 28 - 66000 Default: 28 
  ctrl-gain           : Camera gain
                        flags: readable, writable
                        Integer. Range: 0 - 100 Default: 60 
  ctrl-gamma          : Image gamma
                        flags: readable, writable
                        Integer. Range: 1 - 9 Default: 8 
  ctrl-hue            : Image hue
                        flags: readable, writable
                        Integer. Range: 0 - 11 Default: 0 
  ctrl-led-status     : Camera LED on/off
                        flags: readable, writable
                        Boolean. Default: true
  ctrl-saturation     : Image saturation
                        flags: readable, writable
                        Integer. Range: 0 - 8 Default: 4 
  ctrl-sharpness      : Image sharpness
                        flags: readable, writable
                        Integer. Range: 0 - 8 Default: 4 
  ctrl-whitebalance-auto: Image automatic white balance
                        flags: readable, writable
                        Boolean. Default: true
  ctrl-whitebalance-temperature: Image white balance temperature
                        flags: readable, writable
                        Integer. Range: 2800 - 6500 Default: 4600 
  depth-maximum-distance: Maximum depth value
                        flags: readable, writable
                        Float. Range:             500 -           40000 Default:           20000 
  depth-minimum-distance: Minimum depth value
                        flags: readable, writable
                        Float. Range:             100 -            3000 Default:             300 
  depth-mode          : Depth Mode
                        flags: readable, writable
                        Enum "GstZedsrcDepthMode" Default: 0, "NONE"
                           (6): NEURAL_PLUS      - More accurate Neural disparity estimation, Requires AI module.
                           (5): NEURAL           - End to End Neural disparity estimation, requires AI module
                           (4): NEURAL_LIGHT     - End to End Neural disparity estimation (light), requires AI module
                           (3): ULTRA            - Computation mode favorising edges and sharpness. Requires more GPU memory and computation power.
                           (2): QUALITY          - Computation mode designed for challenging areas with untextured surfaces.
                           (1): PERFORMANCE      - Computation mode optimized for speed.
                           (0): NONE             - This mode does not compute any depth map. Only rectified stereo images will be available.
  depth-stabilization : Enable depth stabilization
                        flags: readable, writable
                        Integer. Range: 0 - 100 Default: 1 
  do-timestamp        : Apply current stream time to buffers
                        flags: readable, writable
                        Boolean. Default: false
  enable-area-memory  : This mode enables the camera to remember its surroundings. This helps correct positional tracking drift, and can be helpful for positioning different cameras relative to one other in space.
                        flags: readable, writable
                        Boolean. Default: true
  enable-image-enhancement: Enable Image Enhancement
                        flags: readable, writable
                        Boolean. Default: true
  enable-image-validity-check: Enable Image Validity Check
                        flags: readable, writable
                        Boolean. Default: true
  enable-imu-fusion   : This setting allows you to enable or disable IMU fusion. When set to false, only the optical odometry will be used.
                        flags: readable, writable
                        Boolean. Default: true
  enable-pose-smoothing: This mode enables smooth pose correction for small drift correction.
                        flags: readable, writable
                        Boolean. Default: true
  enable-positional-tracking: Enable positional tracking
                        flags: readable, writable
                        Boolean. Default: false
  fill-mode           : Specify the Depth Fill Mode
                        flags: readable, writable
                        Boolean. Default: false
  grab-compute-capping-fps: Grab Compute Capping FPS
                        flags: readable, writable
                        Float. Range:               0 -            1000 Default:               0 
  initial-world-transform-pitch: Pitch orientation of the camera in the world frame when the camera is started
                        flags: readable, writable
                        Float. Range:               0 -             360 Default:               0 
  initial-world-transform-roll: Roll orientation of the camera in the world frame when the camera is started
                        flags: readable, writable
                        Float. Range:               0 -             360 Default:               0 
  initial-world-transform-x: X position of the camera in the world frame when the camera is started
                        flags: readable, writable
                        Float. Range:   -3.402823e+38 -    3.402823e+38 Default:               0 
  initial-world-transform-y: Y position of the camera in the world frame when the camera is started
                        flags: readable, writable
                        Float. Range:   -3.402823e+38 -    3.402823e+38 Default:               0 
  initial-world-transform-yaw: Yaw orientation of the camera in the world frame when the camera is started
                        flags: readable, writable
                        Float. Range:               0 -             360 Default:               0 
  initial-world-transform-z: Z position of the camera in the world frame when the camera is started
                        flags: readable, writable
                        Float. Range:   -3.402823e+38 -    3.402823e+38 Default:               0 
  input-stream-ip     : Specify IP address when using streaming input
                        flags: readable, writable
                        String. Default: ""
  input-stream-port   : Specify port when using streaming input
                        flags: readable, writable
                        Integer. Range: 1 - 65535 Default: 30000 
  max-working-res-h   : Maximum Working Resolution Height
                        flags: readable, writable
                        Integer. Range: 0 - 10000 Default: 0 
  max-working-res-w   : Maximum Working Resolution Width
                        flags: readable, writable
                        Integer. Range: 0 - 10000 Default: 0 
  measure3D-reference-frame: Specify the 3D Reference Frame
                        flags: readable, writable
                        Enum "GstZedsrc3dMeasRefFrame" Default: 0, "WORLD"
                           (0): WORLD            - The positional tracking pose transform will contains the motion with reference to the world frame.
                           (1): CAMERA           - The  pose transform will contains the motion with reference to the previous camera frame.
  name                : The name of the object
                        flags: readable, writable, 0x2000
                        String. Default: "zedsrc0"
  num-buffers         : Number of buffers to output before sending EOS (-1 = unlimited)
                        flags: readable, writable
                        Integer. Range: -1 - 2147483647 Default: -1 
  od-allow-reduced-precision-inference: Set to TRUE to allow inference to run at a lower precision to improve runtime
                        flags: readable, writable
                        Boolean. Default: false
  od-conf-animal      : Animal Detection Confidence Threshold
                        flags: readable, writable
                        Float. Range:              -1 -             100 Default:              35 
  od-conf-bag         : Bag Detection Confidence Threshold
                        flags: readable, writable
                        Float. Range:              -1 -             100 Default:              35 
  od-conf-electronics : Electronics Detection Confidence Threshold
                        flags: readable, writable
                        Float. Range:              -1 -             100 Default:              35 
  od-conf-fruit-vegetables: Fruit/Vegetables Detection Confidence Threshold
                        flags: readable, writable
                        Float. Range:              -1 -             100 Default:              35 
  od-conf-people      : People Detection Confidence Threshold
                        flags: readable, writable
                        Float. Range:              -1 -             100 Default:              35 
  od-conf-sport       : Sport Detection Confidence Threshold
                        flags: readable, writable
                        Float. Range:              -1 -             100 Default:              35 
  od-conf-vehicle     : Vehicle Detection Confidence Threshold
                        flags: readable, writable
                        Float. Range:              -1 -             100 Default:              35 
  od-confidence       : Minimum Detection Confidence
                        flags: readable, writable
                        Float. Range:               0 -             100 Default:              50 
  od-custom-onnx-dynamic-input-shape-h: Object Detection Custom ONNX Dynamic Input Shape Height
                        flags: readable, writable
                        Integer. Range: 0 - 10000 Default: 512 
  od-custom-onnx-dynamic-input-shape-w: Object Detection Custom ONNX Dynamic Input Shape Width
                        flags: readable, writable
                        Integer. Range: 0 - 10000 Default: 512 
  od-custom-onnx-file : Object Detection Custom ONNX File
                        flags: readable, writable
                        String. Default: ""
  od-detection-filter-mode: Object Detection Filter Mode
                        flags: readable, writable
                        Enum "GstZedSrcOdFilterMode" Default: 2, "NMS3D_PER_CLASS"
                           (0): NONE             - SDK will not apply any preprocessing to the detected objects
                           (1): NMS3D            - SDK will remove objects that are in the same 3D position as an already tracked object (independant of class ID)
                           (2): NMS3D_PER_CLASS  - SDK will remove objects that are in the same 3D position as an already tracked object of the same class ID.
  od-detection-model  : Object Detection Model
                        flags: readable, writable
                        Enum "GstZedSrcOdModel" Default: 1, "Object Detection Multi class MEDIUM"
                           (0): Object Detection Multi class FAST - Any objects, bounding box based
                           (1): Object Detection Multi class MEDIUM - Any objects, bounding box based, compromise between accuracy and speed
                           (2): Object Detection Multi class ACCURATE - Any objects, bounding box based, more accurate but slower than the base model
                           (3): Person Head FAST - Bounding Box detector specialized in person heads, particularly well suited for crowded environments, the person localization is also improved
                           (4): Person Head ACCURATE - Bounding Box detector specialized in person heads, particularly well suited for crowded environments, the person localization is also improved, more accurate but slower than the base model
                           (6): Custom YOLO-like Box Objects - For internal inference using your own custom YOLO-like model. Requires od-custom-onnx-file property to be set.
  od-enable-tracking  : Set to TRUE to enable tracking for the detected objects
                        flags: readable, writable
                        Boolean. Default: true
  od-enabled          : Set to TRUE to enable Object Detection
                        flags: readable, writable
                        Boolean. Default: false
  od-instance-id      : Object Detection Instance ID
                        flags: readable, writable
                        Unsigned Integer. Range: 0 - 4294967295 Default: 0 
  od-max-range        : Maximum Detection Range
                        flags: readable, writable
                        Float. Range:              -1 -           20000 Default:           20000 
  od-prediction-timeout-s: Object prediction timeout (sec)
                        flags: readable, writable
                        Float. Range:               0 -               1 Default:             0.2 
  open-timeout-sec    : Open Timeout Seconds
                        flags: readable, writable
                        Float. Range:               0 -             600 Default:               5 
  opencv-calibration-file: Optional OpenCV Calibration File
                        flags: readable, writable
                        String. Default: ""
  optional-settings-path: Optional Settings Path
                        flags: readable, writable
                        String. Default: ""
  parent              : The parent of the object
                        flags: readable, writable, 0x2000
                        Object of type "GstObject"
  pos-depth-min-range : This setting allows you to change the minmum depth used by the SDK for Positional Tracking.
                        flags: readable, writable
                        Float. Range:              -1 -           65535 Default:              -1 
  positional-tracking-mode: Positional tracking mode
                        flags: readable, writable
                        Enum "GstZedsrcPtMode" Default: 0, "GEN_1"
                           (0): GEN_1            - Generation 1
                           (1): GEN_2            - Generation 2
                           (2): GEN_3            - Generation 3
  remove-saturated-areas: Remove Saturated Areas
                        flags: readable, writable
                        Boolean. Default: false
  roi                 : Enable region of interest filtering
                        flags: readable, writable
                        Boolean. Default: false
  roi-h               : Region of interest height (-1 to not set ROI)
                        flags: readable, writable
                        Integer. Range: -1 - 1242 Default: -1 
  roi-w               : Region of interest width (-1 to not set ROI)
                        flags: readable, writable
                        Integer. Range: -1 - 2208 Default: -1 
  roi-x               : Region of interest top left 'X' coordinate (-1 to not set ROI)
                        flags: readable, writable
                        Integer. Range: -1 - 2208 Default: -1 
  roi-y               : Region of interest top left 'Y' coordinate (-1 to not set ROI)
                        flags: readable, writable
                        Integer. Range: -1 - 1242 Default: -1 
  sdk-gpu-id          : SDK GPU ID
                        flags: readable, writable
                        Integer. Range: -1 - 128 Default: -1 
  sdk-verbose         : ZED SDK Verbose level
                        flags: readable, writable
                        Integer. Range: 0 - 1000 Default: 0 
  sdk-verbose-log-file: SDK Verbose Log File
                        flags: readable, writable
                        String. Default: ""
  sensors-required    : Sensors Required
                        flags: readable, writable
                        Boolean. Default: false
  set-as-static       : Set to TRUE if the camera is static
                        flags: readable, writable
                        Boolean. Default: false
  set-floor-as-origin : This mode initializes the tracking to be aligned with the floor plane to better position the camera in space.
                        flags: readable, writable
                        Boolean. Default: false
  set-gravity-as-origin: This setting allows you to override of 2 of the 3 rotations from initial-world-transform using the IMU gravity default: true
                        flags: readable, writable
                        Boolean. Default: true
  stream-type         : Image stream type
                        flags: readable, writable
                        Enum "GstZedSrcStreamType" Default: -1, "Auto [prefer NV12 zero-copy]"
                           (-1): Auto [prefer NV12 zero-copy] - Auto-negotiate format based on downstream (prefer NV12 zero-copy)
                           (0): Left image [BGRA] - 8 bits- 4 channels Left image
                           (1): Right image [BGRA] - 8 bits- 4 channels Right image
                           (2): Stereo couple up/down [BGRA] - 8 bits- 4 channels bit Left and Right
                           (3): Depth image [GRAY16_LE] - 16 bits depth
                           (4): Left and Depth up/down [BGRA] - 8 bits- 4 channels Left and Depth(image)
                           (5): Stereo couple left/right [BGRA] - 8 bits- 4 channels Left and Right side-by-side
  svo-file-path       : Input from SVO file
                        flags: readable, writable
                        String. Default: ""
  svo-real-time-mode  : SVO Real Time Mode
                        flags: readable, writable
                        Boolean. Default: false
  svo-recording-compression: Compression mode for SVO recording
                        flags: readable, writable
                        Enum "GstZedsrcSvoCompression" Default: 2, "H265"
                           (0): LOSSLESS         - Lossless (PNG/ZSTD, CPU)
                           (1): H264             - H264 (GPU)
                           (2): H265             - H265/HEVC (GPU)
                           (3): H264_LOSSLESS    - H264 Lossless (GPU)
                           (4): H265_LOSSLESS    - H265 Lossless (GPU)
  svo-recording-enable: Start/stop SVO recording at runtime (requires svo-recording-filename to be set)
                        flags: readable, writable
                        Boolean. Default: false
  svo-recording-filename: Output filename for SVO recording (.svo2 extension recommended)
                        flags: readable, writable
                        String. Default: ""
  texture-confidence-threshold: Specify the Texture Confidence Threshold
                        flags: readable, writable
                        Integer. Range: 0 - 100 Default: 100 
  typefind            : Run typefind before negotiating (deprecated, non-functional)
                        flags: readable, writable, deprecated
                        Boolean. Default: false

Jetson zero-copy NV12 stream types

On NVIDIA® Jetson™ platforms, when the plugin is built against ZED SDK v5.2 or newer, zedsrc exposes three extra stream-type values that deliver NV12 buffers in memory:NVMM without any CPU copy. They only work with GMSL2 cameras (ZED X, ZED X Mini, ZED X Nano):

(6): Raw NV12 zero-copy [NV12] - left image only
(7): Raw NV12 stereo zero-copy [NV12] - left and right images side-by-side
(8): Raw NV12 right zero-copy [NV12] - right image only

The default stream-type value (-1) (Auto [prefer NV12 zero-copy]) negotiates the format with the downstream element and selects the zero-copy NV12 path automatically when the pipeline and the camera support it, falling back to Left image [BGRA] otherwise.

stream-type=7 additionally requires the nvbufsurftransform library from the Jetson Multimedia API. If it is missing at build time, only stream-type=6 and stream-type=8 are available.

Example pipelines

Display the left image on the screen

This simple pipeline starts the ZED grabbing using the default parameters of the zedsrc element and automatically converts (autovideoconvert) the frames to the correct format for the fpsdisplaysink element so they can be displayed on the screen with FPS information.

gst-launch-1.0 zedsrc ! autovideoconvert ! queue ! fpsdisplaysink

The queue element is used to decouple frames into a separate queue thread, which is useful for data synchronization in more complex pipelines.

Pipeline graph: zedsrc to autovideoconvert to queue to fpsdisplaysink

Display color stereo couple with VGA resolution at 100 FPS

This pipeline is the same as the previous example, but the properties of zedsrc are changed to set VGA resolution and 100 FPS while retrieving the synchronized stereo image.

gst-launch-1.0 zedsrc camera-resolution=5 camera-fps=100 stream-type=2 ! autovideoconvert ! queue ! fpsdisplaysink

Pipeline graph: zedsrc to autovideoconvert to queue to fpsdisplaysink

Display depth map with HD720 resolution at 60 FPS

Again the same pipeline, but the parameters are changed to retrieve only the non-normalized depth map with HD720 resolution at 60 FPS.

gst-launch-1.0 zedsrc camera-resolution=3 camera-fps=60 stream-type=3 ! autovideoconvert ! queue ! fpsdisplaysink

Pipeline graph: zedsrc to autovideoconvert to queue to fpsdisplaysink

H264 streaming over UDP on the local network

GStreamer is well known for providing an easy way to transmit media data over networks. TCP, UDP, RTP, and many other protocols are available, together with many encoding algorithms such as H264, H265, VP8, VP9, Matroska, etc.

The following gst-launch pipeline acquires an RGB stream from a ZED camera, displays it on the local machine and sends it over the network using the UDP protocol with H264 encoding:

gst-launch-1.0 zedsrc ! timeoverlay ! tee name=split has-chain=true ! \
 queue ! autovideoconvert ! fpsdisplaysink \
 split. ! queue max-size-time=0 max-size-bytes=0 max-size-buffers=0 ! autovideoconvert ! \
 x264enc byte-stream=true tune=zerolatency speed-preset=ultrafast bitrate=3000 ! \
 h264parse ! rtph264pay config-interval=-1 pt=96 ! queue ! \
 udpsink clients=192.168.1.169:5000 max-bitrate=3000000 sync=false async=false

Pipeline graph: zedsrc and timeoverlay split by a tee into a local display branch and an H264 over UDP branch

Line 1: the zedsrc element is left at its default configuration, so it acquires the left camera RGB data at the default resolution of the connected camera model. The timestamp is printed on the image using the timeoverlay element and the pipeline is split into two branches using tee.
Line 2: the first branch of the pipeline is used to display the frames on the local machine with FPS and timestamp information.
Line 3: the second branch of the pipeline is decoupled with a queue and converted to a format suitable for the encoder.
Line 4: the stream is encoded using the H264 encoder (x264enc) configured to reduce the latency to the minimum possible.
Line 5: the H264 stream is parsed (h264parse) and an RTP payload is created (rtph264pay).
Line 6: the RTP payload is sent using UDP (udpsink) to the client at address 192.168.1.169 (change the address according to your listener IP), which will be listening on port 5000.

the element queue max-size-time=0 max-size-bytes=0 max-size-buffers=0 is necessary to synchronize the two branches generated by the tee element, otherwise the stream gets frozen after a few milliseconds.

The receiver machine can acquire the stream using this simple pipeline:

gst-launch-1.0 udpsrc port=5000 ! application/x-rtp,clock-rate=90000,payload=96 ! \
 queue ! rtph264depay ! h264parse ! avdec_h264 ! \
 queue ! autovideoconvert ! fpsdisplaysink

Pipeline graph: udpsrc to rtph264depay, h264parse and avdec_h264, then to fpsdisplaysink

Line 1: a UDP source (udpsrc) is configured to listen on port 5000 for an RTP payload of type 96.
Line 2: the payload is processed (rtph264depay) to extract the H264 data, which is then parsed (h264parse) and decoded (avdec_h264).
Line 3: the decoded stream is finally converted and displayed on the screen with FPS information.

By visually comparing the timestamp printed on each frame on the sender and receiver machines, you can roughly estimate the network latency.