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.