GStreamer - ZED X One Camera Source

The GStreamer element ZED X One Camera Source, zedxonesrc, allows for the injection of the monocular camera color stream from ZED X One to a GStreamer pipeline.

Properties

zedxonesrc is built and installed only on NVIDIA® Jetson™ platforms (L4T 35.3/35.4 or L4T 36.3 and newer), because the ZED X One cameras are connected through a GMSL2 capture card.

The following listing is the output of gst-inspect-1.0 zedxonesrc:

  async-grab-camera-recovery: Async Grab Camera Recovery
                        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 
  camera-flip         : Mirror image vertically if camera is flipped
                        flags: readable, writable
                        Boolean. Default: false
  camera-fps          : Camera frame rate
                        flags: readable, writable
                        Enum "GstZedXOneSrcFPS" Default: 30, "30  FPS"
                           (120): 120 FPS          - Only with SVGA. Not with ZED X One 4K
                           (60): 60  FPS          - Not available with 4K mode
                           (30): 30  FPS          - Available with all the resolutions
                           (15): 15  FPS          - Available with all the resolutions
  camera-id           : Select camera from cameraID
                        flags: readable, writable
                        Integer. Range: -1 - 255 Default: -1 
  camera-resolution   : Camera Resolution
                        flags: readable, writable
                        Enum "GstZedXOneSrcResol" Default: 2, "HD1200"
                           (4): 4K               - 3840x2160 (only ZED X One 4K)
                           (3): QHDPLUS          - 3200x1800 (only ZED X One 4K)
                           (2): HD1200           - 1920x1200
                           (1): HD1080           - 1920x1080
                           (0): SVGA             - 960x600 (only ZED X One GS)
  camera-sn           : Select camera from the serial number
                        flags: readable, writable
                        Integer64. Range: 0 - 999999999 Default: 0 
  camera-timeout      : Connection opening timeout in seconds
                        flags: readable, writable
                        Float. Range:             0.5 -           86400 Default:               5 
  coordinate-system   : SDK Coordinate System
                        flags: readable, writable
                        Enum "GstZedXOneSrcCoordSys" Default: 0, "IMAGE"
                           (0): IMAGE            - Standard image (0,0) at top left corner
                           (1): LEFT_HANDED_Y_UP - Left handed, Y up and Z forward
                           (2): RIGHT_HANDED_Y_UP - Right handed, Y up and Z backward
                           (3): RIGHT_HANDED_Z_UP - Right handed, Z up and Y forward
                           (4): LEFT_HANDED_Z_UP - Left handed, Z up and Y forward
                           (5): RIGHT_HANDED_Z_UP_X_FWD - Right handed, Z up and X forward
  coordinate-units    : SDK Coordinate Units
                        flags: readable, writable
                        Enum "GstZedXOneSrcUnit" Default: 0, "MILLIMETER"
                           (0): MILLIMETER       - Millimeter
                           (1): CENTIMETER       - Centimeter
                           (2): METER            - Meter
                           (3): INCH             - Inch
                           (4): FOOT             - Foot
  ctrl-analog-gain    : Camera control: Analog Gain value
                        flags: readable, writable
                        Integer. Range: 1000 - 30000 Default: 30000 
  ctrl-auto-analog-gain: Enable Automatic Analog Gain
                        flags: readable, writable
                        Boolean. Default: true
  ctrl-auto-analog-gain-range-max: Maximum Analog Gain for the automatic analog gain setting
                        flags: readable, writable
                        Integer. Range: 1000 - 30000 Default: 30000 
  ctrl-auto-analog-gain-range-min: Minimum Analog Gain for the automatic analog gain setting
                        flags: readable, writable
                        Integer. Range: 1000 - 30000 Default: 1000 
  ctrl-auto-digital-gain: Enable Automatic Digital Gain
                        flags: readable, writable
                        Boolean. Default: true
  ctrl-auto-digital-gain-range-max: Maximum Digital Gain for the automatic digital gain setting
                        flags: readable, writable
                        Integer. Range: 1 - 256 Default: 256 
  ctrl-auto-digital-gain-range-min: Minimum Digital Gain for the automatic digital gain setting
                        flags: readable, writable
                        Integer. Range: 1 - 256 Default: 1 
  ctrl-auto-exposure  : Enable Automatic Exposure
                        flags: readable, writable
                        Boolean. Default: true
  ctrl-auto-exposure-range-max: Maximum exposure time in microseconds for the automatic exposure setting
                        flags: readable, writable
                        Integer. Range: 28 - 66666 Default: 66666 
  ctrl-auto-exposure-range-min: Minimum exposure time in microseconds for the automatic exposure setting
                        flags: readable, writable
                        Integer. Range: 28 - 66666 Default: 1024 
  ctrl-denoising      : Denoising factor
                        flags: readable, writable
                        Integer. Range: 0 - 100 Default: 50 
  ctrl-digital-gain   : Digital Gain value
                        flags: readable, writable
                        Integer. Range: 1 - 256 Default: 3 
  ctrl-exposure-compensation: Exposure Compensation
                        flags: readable, writable
                        Integer. Range: 0 - 100 Default: 50 
  ctrl-exposure-time  : Exposure time in microseconds
                        flags: readable, writable
                        Integer. Range: 28 - 66666 Default: 10000 
  ctrl-gamma          : Image gamma
                        flags: readable, writable
                        Integer. Range: 1 - 9 Default: 2 
  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: 1 
  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: 4200 
  do-timestamp        : Apply current stream time to buffers
                        flags: readable, writable
                        Boolean. Default: false
  enable-hdr          : Enable HDR if supported by resolution and frame rate.
                        flags: readable, writable
                        Boolean. Default: false
  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 
  name                : The name of the object
                        flags: readable, writable, 0x2000
                        String. Default: "zedxonesrc0"
  num-buffers         : Number of buffers to output before sending EOS (-1 = unlimited)
                        flags: readable, writable
                        Integer. Range: -1 - 2147483647 Default: -1 
  opencv-calibration-file: Optional OpenCV Calibration File
                        flags: readable, writable
                        String. Default: ""
  optional-settings-path: Optional Settings Path
                        flags: readable, writable
                        String. Default: ""
  output-rectified-image: Enable image rectification (disable for custom optics without calibration)
                        flags: readable, writable
                        Boolean. Default: true
  parent              : The parent of the object
                        flags: readable, writable, 0x2000
                        Object of type "GstObject"
  sdk-verbose-log-file: SDK Verbose Log File
                        flags: readable, writable
                        String. Default: ""
  stream-type         : Image stream type
                        flags: readable, writable
                        Enum "GstZedXOneSrcStreamType" Default: -1, "Auto [prefer NV12 zero-copy]"
                           (-1): Auto [prefer NV12 zero-copy] - Auto-negotiate format based on downstream (prefer NV12 zero-copy)
                           (0): Image [BGRA]     - 8 bits- 4 channels image
  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 "GstZedXOneSrcSvoCompression" 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: ""
  typefind            : Run typefind before negotiating (deprecated, non-functional)
                        flags: readable, writable, deprecated
                        Boolean. Default: false
  verbose-level       : ZED SDK Verbose level
                        flags: readable, writable
                        Integer. Range: 0 - 999 Default: 1

Zero-copy NV12 stream type

When the plugin is built against ZED SDK v5.2 or newer, stream-type exposes an additional value (1), Raw NV12 zero-copy [NV12], that pushes NV12 buffers in memory:NVMM without any CPU copy, for direct consumption by the Jetson hardware encoders.

The default value (-1), Auto [prefer NV12 zero-copy], negotiates the format with the downstream element and selects the zero-copy NV12 path when it is available, falling back to Image [BGRA] otherwise.

Example pipelines

Display the color stream on the screen with FPS information

This simple pipeline starts the ZED X One grabbing using the default parameters of the zedxonesrc element and automatically converts (autovideoconvert) the frames to the correct format for the fpsdisplaysink element in order to be displayed on the screen with FPS information.

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

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

When using the ZED X One 4K model, you can leverage the full 4K resolution (3840x2160) by selecting camera-resolution=4:

gst-launch-1.0 zedxonesrc camera-resolution=4 camera-fps=15 ! queue ! autovideoconvert ! queue ! fpsdisplaysink

The intermediate QHD+ resolution (3200x1800), also exclusive to the ZED X One 4K, is selected with camera-resolution=3:

gst-launch-1.0 zedxonesrc camera-resolution=3 camera-fps=30 ! queue ! autovideoconvert ! queue ! fpsdisplaysink

When using the ZED X One GS model, you can stream frames at 1200p resolution (camera-resolution=2, the default) with 60 Hz frequency:

gst-launch-1.0 zedxonesrc camera-resolution=2 camera-fps=60 ! queue ! autovideoconvert ! queue ! fpsdisplaysink