Setting up the ZED X One Monocular

This guide explains how to set up a ZED X One Monocular camera on an NVIDIA® Jetson™ platform and use it to retrieve image and inertial data.

Install the GMSL2 driver

ZED X One cameras require a GMSL2 driver to operate correctly. This driver configures the GMSL2 device and is hardware-dependent.

Download the appropriate driver from the ZED X Driver download page.

Select the driver matching your hardware configuration and install it:

$
sudo dpkg -i stereolabs-<board>_X.X.X-<deserializer>-L4TZZ.Z.Z_arm64.deb

Where:

• X.X.X is the driver version
• <board> is the board model
• <deserializer> is the deserializer type
• L4TZZ.Z.Z is the Jetson™ Linux version (corresponding to your JetPack version)

Example: For ZED X Driver v1.3.2 on L4T 36.4.0 (JetPack 6.2) with the StereoLabs ZED Link Duo GMSL2 Capture Card:

$
sudo dpkg -i stereolabs-zedlink-duo_1.3.2-LI-MAX96712-all-L4T36.4.0_arm64.deb

$
sudo apt install libqt5core5a

After installation, reboot your NVIDIA® Jetson™ platform.

For troubleshooting, refer to the ZED Link troubleshooting guide.

Use the ZED X One with the ZED SDK

The ZED SDK includes built-in support for data acquisition from a ZED X One monocular camera using the sl::CameraOne class, allowing you to open and manage the camera directly through the SDK without relying on external tools.

Install the ZED SDK

The ZED SDK enables processing of image data from ZED X One cameras in monocular mode. The sl::CameraOne class provides the core functionality to retrieve raw and rectified images, as well as inertial data.

To get started, download and install the ZED SDK on your NVIDIA® Jetson™ platform.

Sample code to open and use the ZED X One monocular camera

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#include <sl/CameraOne.hpp>
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using namespace sl;
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// Set the input from stream
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InitParametersOne init_parameters;
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// Set any InitParametersOne as needed to configure the camera settings
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sl::CameraOne zed_one;
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// Open the camera
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ERROR_CODE err = zed_one.open(init_parameters);
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if (err != ERROR_CODE::SUCCESS)
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    exit(-1);
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Mat bgra;
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while (!exit_app) {
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    if (zed_one.grab() == ERROR_CODE::SUCCESS) {
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        zed_one.retrieveImage(bgra); // Retrieve the BGRA image (default format)
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        // Any processing
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    }
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}
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// Close the camera
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zed_one.close();

For more details on using the ZED SDK with monocular ZED X One cameras, refer to the ZED SDK API documentation.

Use the ZED X One with NVIDIA® Libargus Camera API

The camera can be opened using the Libargus Camera API, the tools provided by NVIDIA® on Jetson™ to open cameras connected via 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

Use the ZED X One with GStreamer

Use the StereoLabs zedxonesrc source element

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

Use the 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.

Use the ZED X One with the open source driver 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®.

Use the ZED X One with ROS 2

The ZED ROS 2 wrapper supports monocular ZED X One data publishing.

When launching the ZED ROS 2 node, set the camera_model parameter to one of the available models: zedxonegs, zedxone4k. For example:

$
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedxonegs

or

$
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedxone4k

For more details on using the ZED ROS 2 wrapper, refer to the ZED ROS 2 documentation.