> 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.

# Using GMSL with ZED Box

The ZED Box comes with an embedded GMSL2 capture card, so you can use a **ZED X** or any other GMSL camera.

## GMSL driver

The ZED X requires a GMSL driver. It comes already installed with the ZED Box.

You may need to install it manually, especially if you upgraded your system version. Go to [our website](https://www.stereolabs.com/developers/drivers#a840b02b2603) and download the driver version that fits with your L4T version.

To find your Jetson Linux (L4T) version, run

```bash
cat /etc/nv_tegra_release
```

You will obtain an output like this:

```bash
# R35 (release), REVISION: 4.1, GCID: 33958178, BOARD: t186ref, EABI: aarch64, DATE: Tue Aug  1 19:57:35 UTC 2023
```

In this example, the L4T version is 35.4.1.

Then, open a terminal in the folder that contains the downloaded driver and run

```bash
sudo dpkg -i <the deb file path>
```

and reboot.

## Multi-camera configurations

### ZED Box with 4-wire GMSL2 connectivity

The ZED Box provides 4 [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) ports organized in 2 Groups (**A**, **B**):

* Group **A**: port **#0** and port **#1**
* Group **B**: port **#2** and port **#3**

![ZED Box GMSL2 port groups](/_fern-files/_img/96d8c17b874582c443fc6d2099234b4a57fec3ef621b283765c739c467aec72b.webp)

Please refer to the table below to understand how different camera configurations provide different image capture behaviors, according to the number of cameras, their type, and the Group they are connected to:

| Camera Type | Camera Model                                           | Max number of cameras **per Group**  | Max Resolution/FPS **per Group**                     |
| ----------- | ------------------------------------------------------ | ------------------------------------ | ---------------------------------------------------- |
| Monocular   | ZED X One GS ZED X One S                               | Up to 2 cameras                      | HD1200\@60fps HD1080\@60fps SVGA\@120fps             |
| Monocular   | ZED X One 4K                                           | 1 camera *only to port #0, #2*       | 4K\@15fps QHDPLUS\@15fps HD1200\@60fps HD1080\@60fps |
| Stereo      | ZED X ZED X Mini ZED X Nano                            | 1 Camera                             | HD1200\@60fps HD1080\@60fps SVGA\@120fps             |
| Stereo      | ZED X ZED X Mini ZED X Nano                            | Up to 2 Cameras                      | HD1200\@30fps HD1080\@30fps SVGA\@60fps              |
| Mixed\*     | ZED X One GS/ZED X One S + ZED X/ZED X Mini/ZED X Nano | 1 ZED X One GS/S + 1 ZED X/Mini/Nano | HD1200\@60fps HD1080\@60fps SVGA\@120fps             |

\* *Mixed configurations are not available with older versions of the ZED Box powered by Jetson Xavier NX modules.*

> **Note**
>
> Maximum resolution and framerate require no more than 2 cameras per 4-wire [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) Fakra connector.

### ZED Box with mono GMSL2 port *(out of production)*

This out of production version of the ZED Box provides a single [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) port, so only one camera can be connected.

The table below illustrates the different behaviors that can be expected according to the camera type:

| Camera Type | Camera Model                | Max Resolution/FPS                                   |
| ----------- | --------------------------- | ---------------------------------------------------- |
| Monocular   | ZED X One GS ZED X One S    | HD1200\@60fps HD1080\@60fps SVGA\@120fps             |
| Monocular   | ZED X One 4K                | 4K\@15fps QHDPLUS\@15fps HD1200\@60fps HD1080\@60fps |
| Stereo      | ZED X ZED X Mini ZED X Nano | HD1200\@60fps HD1080\@60fps SVGA\@120fps             |

## Developing your own driver

If you intend to use a GMSL device alongside a StereoLabs ZED X camera, a custom driver is required for compatibility.

In such cases, we recommend reaching out to our support team at [support@stereolabs.com](mailto:support@stereolabs.com) for more information and assistance.