GStreamer - ZED Sensors CSV Sink The ZED Sensors Data CSV Sink, zeddatacsvsink GStreamer element, is a sink that allows to log ZED Mini and ZED2 sensors data to a CSV file. The source code of this plugin is a complete example about how to process the ZED metadata in a GStreamer element to retrieve sensors data. Properties Property Meaning Flags Type Range Default location Location of the CSV file to write readable, writable String - "" append Append to an already existing CSV file readable, writable Boolean true, false false CSV Format Following the list of information saved in the CSV file TIMESTAMP: data timestamp in [ns]. STREAM_TYPE: type of stream acquired by zedsrc (see ZedInfo data structure). CAM_MODEL: camera model used to acquire data (see ZedInfo data structure). GRAB_W: width of camera frames. GRAB_H heights of camera frames. POSE_VAL: 1 if camera pose is valid. POS_TRK_STATE: status of the positional tracking algorithm (see ZedPose data structure). POS_X_[m]: X coordinate of the camera position in [m]. POS_Y_[m]: Y coordinate of the camera position in [m]. POS_Z_[m]: Z coordinate of the camera position in [m]. OR_X_[rad]: orientation of the camera arount the X axis in [rad]. OR_Y_[rad]: orientation of the camera arount the Y axis in [rad]. OR_Z_[rad]: orientation of the camera arount the Z axis in [rad]. IMU_VAL: 1 if IMU data are valid. ACC_X_[m/s²]: acceleration value along the X axis in [m/s²]. ACC_Y_[m/s²]: acceleration value along the Y axis in [m/s²]. ACC_Z_[m/s²]: acceleration value along the Z axis in [m/s²]. GYRO_X_[rad/s]: angular velocity around the X axis in [rad/s]. GYRO_Y_[rad/s]: angular velocity around the Y axis in [rad/s]. GYRO_Z_[rad/s]: angular velocity around the Z axis in [rad/s]. MAG_VAL: 1 if magnetometer data are valid. MAG_X_[uT]: magnetic field value along the X axis in [µT]. MAG_Y_[uT]: magnetic field value along the Y axis in [µT]. MAG_Z_[uT]: magnetic field value along the Z axis in [µT]. ENV_VAL: 1 if environment data are valid. TEMP_[°C]: internal camera temperature in [°C] PRESS_[hPa]: atmospheric pressure in [hPa] TEMP_VAL: 1 if camera CMOS temperatures are valid. TEMP_L_[°C]: temperature of the left CMOS sensor in [°C]. TEMP_R_[°C]: temperature of the right CMOS sensor in [°C]. Example pipelines Sensors data logging to CSV file Following a pipeline to acquire a stream at default resolution with RGB and Depth data and save the sensors data to a CSV file for logging gst-launch-1.0 zedsrc stream-type=4 ! \ zeddemux stream-data=true name=demux \ demux.src_left ! queue ! autovideoconvert ! fpsdisplaysink \ demux.src_aux ! queue ! autovideoconvert ! fpsdisplaysink \ demux.src_data ! queue ! zeddatacsvsink location="${HOME}/test_csv.csv" append=FALSE Note: a zeddemux element is required, with stream-data=true, to create a branch of the pipeline where only sensors data flow.