> For clean Markdown of any page, append .md to the page URL. > For a complete documentation index, see https://docs.stereolabs.com/llms.txt. > For AI client integration (Claude Code, Cursor, etc.), connect to the MCP server at https://docs.stereolabs.com/_mcp/server. # GStreamer - ZED Sensors CSV Sink The **ZED Sensors Data CSV Sink**, `zeddatacsvsink` GStreamer element, is a sink that allows logging the sensors data of ZED cameras equipped with an IMU (every model except the original ZED) to a CSV file. The [source code](https://github.com/stereolabs/zed-gstreamer/tree/master/gst-zed-data-csv-sink) of this plugin is a complete example of how to process the ZED metadata in a GStreamer element to retrieve sensor data. ## Properties ```bash append : Append to an already existing CSV file flags: readable, writable Boolean. Default: false async : Go asynchronously to PAUSED flags: readable, writable Boolean. Default: true blocksize : Size in bytes to pull per buffer (0 = default) flags: readable, writable Unsigned Integer. Range: 0 - 4294967295 Default: 4096 enable-last-sample : Enable the last-sample property flags: readable, writable Boolean. Default: true last-sample : The last sample received in the sink flags: readable Boxed pointer of type "GstSample" location : Location of the CSV file to write flags: readable, writable String. Default: "" max-bitrate : The maximum bits per second to render (0 = disabled) flags: readable, writable Unsigned Integer64. Range: 0 - 18446744073709551615 Default: 0 max-lateness : Maximum number of nanoseconds that a buffer can be late before it is dropped (-1 unlimited) flags: readable, writable Integer64. Range: -1 - 9223372036854775807 Default: -1 name : The name of the object flags: readable, writable, 0x2000 String. Default: "zeddatacsvsink0" parent : The parent of the object flags: readable, writable, 0x2000 Object of type "GstObject" processing-deadline : Maximum processing time for a buffer in nanoseconds flags: readable, writable Unsigned Integer64. Range: 0 - 18446744073709551615 Default: 20000000 qos : Generate Quality-of-Service events upstream flags: readable, writable Boolean. Default: false render-delay : Additional render delay of the sink in nanoseconds flags: readable, writable Unsigned Integer64. Range: 0 - 18446744073709551615 Default: 0 stats : Sink Statistics flags: readable Boxed pointer of type "GstStructure" average-rate: 0 dropped: 0 rendered: 0 sync : Sync on the clock flags: readable, writable Boolean. Default: false throttle-time : The time to keep between rendered buffers (0 = disabled) flags: readable, writable Unsigned Integer64. Range: 0 - 18446744073709551615 Default: 0 ts-offset : Timestamp offset in nanoseconds flags: readable, writable Integer64. Range: -9223372036854775808 - 9223372036854775807 Default: 0 ``` ## CSV Format The following information is saved in the CSV file: * `TIMESTAMP`: data timestamp in \[ns]. * `STREAM_TYPE`: type of stream acquired by `zedsrc` (see [`ZedInfo` data structure](/docs/integrations/gstreamer/zed-metadata#zedinfo)). * `CAM_MODEL`: camera model used to acquire data (see [`ZedInfo` data structure](/docs/integrations/gstreamer/zed-metadata#zedinfo)). * `GRAB_W`: width of camera frames. * `GRAB_H`: height of camera frames. * `POSE_VAL`: 1 if the camera pose is valid. * `POS_TRK_STATE`: status of the positional tracking algorithm (see [`ZedPose` data structure](/docs/integrations/gstreamer/zed-metadata#zedpose)). * `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 around the X axis in \[rad]. * `OR_Y_[rad]`: orientation of the camera around the Y axis in \[rad]. * `OR_Z_[rad]`: orientation of the camera around 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]. * `GYROY_[rad/s]`: angular velocity around the Y axis in \[rad/s]. *(the missing underscore is the actual column name written by the element)* * `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 The following is a pipeline to acquire a stream at the default resolution with RGB and Depth data and save the sensor data to a CSV file for logging: ```bash gst-launch-1.0 zedsrc stream-type=4 ! \ zeddemux stream-data=true is-depth=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 ``` ![Pipeline graph: zedsrc to zeddemux, whose src\_left and src\_aux pads feed two display branches while src\_data feeds zeddatacsvsink](/_fern-files/stereolabs.docs.buildwithfern.com/485c3cc49e155b383c13c08115e00325335ea59b2ec09ed38707a6b91e73c2ff/docs/software-integration/gstreamer/images/csv_sink_pipeline.svg) > **Note** > > A [`zeddemux` element](/docs/integrations/gstreamer/zed-demux) is required, with `stream-data=true`, to create a branch of the pipeline where only sensor data flows.