[BUG] retrieve_objects() crashes with CUSTOM_BOX_OBJECTS at VGA resolution (ZED SDK 5.0, CUDA error 700)

Software Python
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1

I’m encountering a consistent CUDA crash when calling retrieve_objects() in ZED SDK 5.0, using CUSTOM_BOX_OBJECTS and resolution set to VGA.
The crash occurs even without ingesting any custom detections — just initializing the object detection module with CUSTOM_BOX_OBJECTS and retrieving sl.Objects() causes a fatal error on the GPU.
This does not happen with higher resolutions (e.g. HD720).

Only occurs with:

  • camera_resolution = sl.RESOLUTION.VGA
  • object_detection_model = sl.OBJECT_DETECTION_MODEL.CUSTOM_BOX_OBJECTS
  • depth_mode = sl.DEPTH_MODE.NEURAL or NEURAL_LIGHT (tested with both)
  • Works fine at HD720 and above
  • Reproduced consistently with a minimal Python script using the ZED SDK 5.0
  • Happens even without using ingest_custom_mask_objects()
  • Crash occurs on grab()

Minimal reproducible Python script:

import pyzed.sl as sl
  
  zed = sl.Camera()
  
  init_params = sl.InitParameters()
  init_params.camera_resolution = sl.RESOLUTION.VGA
  init_params.depth_mode = sl.DEPTH_MODE.NEURAL  # also tested with ULTRA
  init_params.coordinate_units = sl.UNIT.METER
  init_params.sdk_verbose = True
  
  assert zed.open(init_params) == sl.ERROR_CODE.SUCCESS
  assert zed.enable_positional_tracking() == sl.ERROR_CODE.SUCCESS
  
  obj_params = sl.ObjectDetectionParameters()
  obj_params.detection_model = sl.OBJECT_DETECTION_MODEL.CUSTOM_BOX_OBJECTS
  assert zed.enable_object_detection(obj_params) == sl.ERROR_CODE.SUCCESS
  
  runtime_params = sl.RuntimeParameters()
  obj_runtime_params = sl.ObjectDetectionRuntimeParameters()
  
  while True:
      if zed.grab(runtime_params) == sl.ERROR_CODE.SUCCESS:
          objects = sl.Objects()
          zed.retrieve_objects(objects, obj_runtime_params)

System Info:

  • GPU: NVIDIA RTX 4060 Ti
  • Driver: 570.133.20
  • OS: Ubuntu 24.04
  • ZED SDK: 5.0.0 (Python API)
  • Python: 3.9
  • CUDA: 12.8
2

Hi @Cubia
We were able to replicate the problem.
The bug will be fixed with oncoming versions of the ZED SDK.

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