Connecting ZED X One Cameras via GMSL2

Software Python
,
1

I have two Zed X One cameras plugged into a Zed Box Mini via Fakra cable for GMSL. They show up in the ZED Diagnostic and both can live stream in ZED Explorer. However, when I try to run the tutorial hello_zed.py from the ZED SDK repo, I get the following error:

[2025-08-22 17:17:08 UTC][ZED][WARNING] CAMERA NOT DETECTED in sl::ERROR_CODE sl::Camera::open(sl::InitParameters)

My setup:

  • I’m running Nvidia Jetpack 6.2 on Ubuntu 22.04

  • I have Zed SDK 5.0.5 installed (ZED SDK for JetPack 6.1 and 6.2 (L4T 36.4) 5.0 (Jetson Orin, CUDA 12.6). I followed these steps.

  • I have the ZED link driver for Jetpack 6.1/6.2 for the ZED Box Mini installed. I followed these steps.

  • Below are some diagnostics that I have already run:

When I try to check if the devices are connected with sl.Camera.get_device_list(), it returns an empty list.

Running ZED_Explorer --all prints:

## Cam  0  ##

 Model :  "ZED XOne UHD"

 S/N :  317489306

 State :  "AVAILABLE"

 Path :  /dev/i2c-2

 ID :  0

 Type :  "GMSL"

********************

## Cam  1  ##

 Model :  "ZED XOne GS"

 S/N :  305929280

 State :  "AVAILABLE"

 Path :  /dev/i2c-2

 ID :  1

 Type :  "GMSL"

********************

Running v4l2-ctl --list-devices prints:

NVIDIA Tegra Video Input Device (platform:tegra-camrtc-ca):

	/dev/media0

vi-output, zedxone_uhd 2-001a (platform:tegra-capture-vi:0):

	/dev/video1

vi-output, zedx 2-0011 (platform:tegra-capture-vi:2):

	/dev/video0

My ZED_Diagnosic_Results.json is shown below:

{
    "AI Models": {
        "info": [
            "MULTI CLASS DETECTION is not optimized",
            "MULTI CLASS MEDIUM DETECTION is not optimized",
            "MULTI CLASS ACCURATE DETECTION is not optimized",
            "HUMAN BODY FAST DETECTION is not optimized",
            "HUMAN BODY MEDIUM DETECTION is not optimized",
            "HUMAN BODY ACCURATE DETECTION is not optimized",
            "HUMAN BODY 38 FAST DETECTION is not optimized",
            "HUMAN BODY 38 MEDIUM DETECTION is not optimized",
            "HUMAN BODY 38 ACCURATE DETECTION is not optimized",
            "PERSON HEAD DETECTION is not optimized",
            "PERSON HEAD ACCURATE DETECTION is not optimized",
            "REID ASSOCIATION is not optimized"
        ],
        "valid": [
            "NEURAL LIGHT DEPTH is optimized",
            "NEURAL DEPTH is optimized",
            "NEURAL PLUS DEPTH is optimized"
        ]
    },
    "Camera Test": {
        "InternalDevicesCount (GMSL)": 2,
        "InternalDevicesCount (USB)": 0,
        "ZEDCount": 2,
        "ZEDs": [
        ]
    },
    "Devices": {
        "CorruptedFirmware": false,
        "GMSL driver": "ii  stereolabs-zedbox-mini                        1.3.1-SL-MAX9296-all-ZEDBOX-MINI-L4T36.4.0  arm64        NVIDIA Kernel DTB Modified Package by Stereolabs\n",
        "GMSLList": [
            {
                "Serial": "305929280",
                "id": 0,
                "path": "/dev/i2c-2",
                "state": "Available"
            },
            {
                "Serial": "317489306",
                "id": 1,
                "path": "/dev/i2c-2",
                "state": "Available"
            },
            {
                "Serial": "305929280",
                "id": 0,
                "path": "/dev/i2c-2",
                "state": "Available"
            },
            {
                "Serial": "317489306",
                "id": 1,
                "path": "/dev/i2c-2",
                "state": "Available"
            }
        ],
        "USBList": [
            {
                "USB_path": "/1/4",
                "idProduct": "0x0411",
                "idVendor": "0x0bda"
            },
            {
                "USB_path": "/1/3/4",
                "idProduct": "0x0620",
                "idVendor": "0x05e3"
            },
            {
                "USB_path": "/1/3/3",
                "idProduct": "0x0620",
                "idVendor": "0x05e3"
            },
            {
                "USB_path": "/1/3",
                "idProduct": "0x0620",
                "idVendor": "0x05e3"
            },
            {
                "USB_path": "/1",
                "idProduct": "0x0411",
                "idVendor": "0x0bda"
            },
            {
                "USB_path": "/3",
                "idProduct": "0x0032",
                "idVendor": "0x8087"
            },
            {
                "USB_path": "/2/4/4",
                "idProduct": "0x49c2",
                "idVendor": "0x2939"
            },
            {
                "USB_path": "/2/4/3",
                "idProduct": "0x6001",
                "idVendor": "0x0403"
            },
            {
                "USB_path": "/2/4/1",
                "idProduct": "0x6001",
                "idVendor": "0x0403"
            },
            {
                "USB_path": "/2/4",
                "idProduct": "0x5411",
                "idVendor": "0x0bda"
            },
            {
                "USB_path": "/2/3/4",
                "idProduct": "0x0610",
                "idVendor": "0x05e3"
            },
            {
                "USB_path": "/2/3/3/4",
                "idProduct": "0x0670",
                "idVendor": "0x1992"
            },
            {
                "USB_path": "/2/3/3/3",
                "idProduct": "0x0670",
                "idVendor": "0x1992"
            },
            {
                "USB_path": "/2/3/3/2",
                "idProduct": "0x0670",
                "idVendor": "0x1992"
            },
            {
                "USB_path": "/2/3/3/1",
                "idProduct": "0x374b",
                "idVendor": "0x0483"
            },
            {
                "USB_path": "/2/3/3",
                "idProduct": "0x0610",
                "idVendor": "0x05e3"
            },
            {
                "USB_path": "/2/3",
                "idProduct": "0x0610",
                "idVendor": "0x05e3"
            },
            {
                "USB_path": "/2/1",
                "idProduct": "0x385a",
                "idVendor": "0x062a"
            },
            {
                "USB_path": "/2",
                "idProduct": "0x5411",
                "idVendor": "0x0bda"
            }
        ]
    },
    "GMSL Driver": {
        "dmesg": {
            "DMESG [DTS] LOG ": [
                "dmesg: read kernel buffer failed: Operation not permitted"
            ],
            "DMESG [MAX9x] LOG": [
                "dmesg: read kernel buffer failed: Operation not permitted"
            ],
            "DMESG [PCA] LOG ": [
                "dmesg: read kernel buffer failed: Operation not permitted"
            ],
            "DMESG [ZEDX] LOG": [
                "dmesg: read kernel buffer failed: Operation not permitted"
            ],
            "DTB list SLabs": [
                "board.py",
                "extlinux.py",
                "fio.py",
                "Headers",
                "Jetson",
                "Linux",
                "__pycache__",
                "Utils",
                "zlconfig"
            ],
            "DTB list original": [
                "/boot/dtb/kernel_tegra234-p3768-0000+p3767-0000-nv.dtb"
            ],
            "Dpkg list Stereolabs": [
                "ii  stereolabs-zedbox-mini                        1.3.1-SL-MAX9296-all-ZEDBOX-MINI-L4T36.4.0  arm64        NVIDIA Kernel DTB Modified Package by Stereolabs"
            ],
            "Dpkg list zed": [
            ],
            "Driver list": {
                "/usr/lib/modules/5.15.148-tegra/kernel/drivers/stereolabs/max9295/sl_max9295.ko": "exists",
                "/usr/lib/modules/5.15.148-tegra/kernel/drivers/stereolabs/max9296/max9296.ko": "not found",
                "/usr/lib/modules/5.15.148-tegra/kernel/drivers/stereolabs/max9296/sl_max9296.ko": "exists",
                "/usr/lib/modules/5.15.148-tegra/kernel/drivers/stereolabs/max96712/max96712.ko": "not found",
                "/usr/lib/modules/5.15.148-tegra/kernel/drivers/stereolabs/max96712/sl_max96712.ko": "not found",
                "/usr/lib/modules/5.15.148-tegra/kernel/drivers/stereolabs/zedone4k/sl_zedxone_uhd.ko": "exists",
                "/usr/lib/modules/5.15.148-tegra/kernel/drivers/stereolabs/zedx/max96712.ko": "not found",
                "/usr/lib/modules/5.15.148-tegra/kernel/drivers/stereolabs/zedx/sl_zedx.ko": "exists",
                "/usr/lib/modules/5.15.148-tegra/kernel/drivers/stereolabs/zedxpro/sl_zedxpro.ko": "exists"
            },
            "EXTlinux file": [
                "TIMEOUT 30",
                "DEFAULT Stereolabs",
                "MENU TITLE L4T boot options",
                "LABEL primary",
                "      MENU LABEL primary kernel",
                "      LINUX /boot/Image",
                "      INITRD /boot/initrd",
                "      APPEND ${cbootargs} root=PARTUUID=bc4fd2c5-edb6-461e-b8dd-fbbc8d78584c rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 firmware_class.path=/etc/firmware fbcon=map:0 nospectre_bhb video=efifb:off console=tty0",
                "# When testing a custom kernel, it is recommended that you create a backup of",
                "# the original kernel and add a new entry to this file so that the device can",
                "# fallback to the original kernel. To do this:",
                "#",
                "# 1, Make a backup of the original kernel",
                "#      sudo cp /boot/Image /boot/Image.backup",
                "#",
                "# 2, Copy your custom kernel into /boot/Image",
                "#",
                "# 3, Uncomment below menu setting lines for the original kernel",
                "#",
                "# 4, Reboot",
                "# LABEL backup",
                "#    MENU LABEL backup kernel",
                "#    LINUX /boot/Image.backup",
                "#    INITRD /boot/initrd",
                "#    APPEND ${cbootargs}",
                "LABEL Stereolabs",
                "\tMENU LABEL Stereolabs kernel",
                "\tLINUX /boot/Image",
                "\tFDT /boot/dtb/kernel_tegra234-p3768-0000+p3767-0000-nv.dtb",
                "\tINITRD /boot/initrd",
                "\tAPPEND ${cbootargs} root=PARTUUID=bc4fd2c5-edb6-461e-b8dd-fbbc8d78584c rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 firmware_class.path=/etc/firmware fbcon=map:0 nospectre_bhb video=efifb:off console=tty0",
                "\tOVERLAYS /boot/tegra234-p3768-camera-zedbox-mini-sl-overlay.dtbo"
            ],
            "I2C Trace list": {
                "I2C Trace /dev/i2C-0": [
                    "     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f",
                    "00:                         -- -- -- -- -- -- -- -- ",
                    "10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "50: UU -- -- -- -- -- -- UU -- -- -- -- -- -- -- -- ",
                    "60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "70: -- -- -- -- -- -- -- --                         "
                ],
                "I2C Trace /dev/i2C-1": [
                    "     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f",
                    "00:                         -- -- -- -- -- -- -- -- ",
                    "10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "40: UU -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "70: -- -- -- -- -- -- -- --                         "
                ],
                "I2C Trace /dev/i2C-2": [
                    "     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f",
                    "00:                         -- -- -- -- -- -- -- -- ",
                    "10: -- UU -- -- -- -- -- -- 18 -- UU -- -- -- -- -- ",
                    "20: -- -- -- -- -- -- -- -- 28 -- -- -- -- -- -- -- ",
                    "30: -- -- -- -- -- -- -- -- -- -- -- 3b 3c -- -- -- ",
                    "40: -- -- -- UU UU -- -- -- UU -- -- 4b 4c -- -- -- ",
                    "50: -- -- -- -- 54 55 56 57 -- -- -- -- -- -- -- -- ",
                    "60: -- -- -- -- -- -- -- -- 68 -- -- -- -- -- -- -- ",
                    "70: -- -- -- -- -- -- -- --                         "
                ],
                "I2C Trace /dev/i2C-7": [
                    "     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f",
                    "00:                         -- -- -- -- -- -- -- -- ",
                    "10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- ",
                    "70: -- -- -- -- -- -- -- --                         "
                ]
            },
            "Jetpack": [
                "# R36 (release), REVISION: 4.4, GCID: 41062509, BOARD: generic, EABI: aarch64, DATE: Mon Jun 16 16:07:13 UTC 2025",
                "# KERNEL_VARIANT: oot",
                "TARGET_USERSPACE_LIB_DIR=nvidia",
                "TARGET_USERSPACE_LIB_DIR_PATH=usr/lib/aarch64-linux-gnu/nvidia"
            ],
            "Linux_uname": [
                "Linux GTW-ONX16-ubuntu 5.15.148-tegra #1 SMP PREEMPT Mon Jun 16 08:24:48 PDT 2025 aarch64 aarch64 aarch64 GNU/Linux"
            ],
            "ZED SDK Version": {
                "Diag": "5.0.5",
                "RT": "5.0.5"
            },
            "ZEDX Daemon Status LS": [
                "● zed_x_daemon.service - ZED-X Daemon service",
                "     Loaded: loaded (/etc/systemd/system/zed_x_daemon.service; enabled; vendor preset: enabled)",
                "     Active: active (running) since Thu 2025-08-21 15:51:13 PDT; 46min ago",
                "   Main PID: 6837 (ZEDX_Daemon)",
                "      Tasks: 5 (limit: 18451)",
                "     Memory: 2.9M",
                "        CPU: 5.553s",
                "     CGroup: /system.slice/zed_x_daemon.service",
                "             └─6837 /usr/sbin/ZEDX_Daemon",
                "Aug 21 16:05:42 GTW-ONX16-ubuntu ZEDX_Daemon[6837]: [ \"Thu Aug 21 16:05:42 2025\" ][ZED-X Daemon] Port  0  CLOSING for CAM ModeliD  13",
                "Aug 21 16:05:43 GTW-ONX16-ubuntu ZEDX_Daemon[6837]: [ \"Thu Aug 21 16:05:43 2025\" ][ZED-X Daemon] Port  0  CLOSING for CAM ModeliD  13",
                "Aug 21 16:05:43 GTW-ONX16-ubuntu ZEDX_Daemon[6837]: [ \"Thu Aug 21 16:05:43 2025\" ][ZED-X Daemon] Port  1  CLOSING for CAM ModeliD  13",
                "Aug 21 16:05:43 GTW-ONX16-ubuntu ZEDX_Daemon[6837]: [ \"Thu Aug 21 16:05:43 2025\" ][ZED-X Daemon] Port  1  CLOSING for CAM ModeliD  13",
                "Aug 21 16:05:44 GTW-ONX16-ubuntu ZEDX_Daemon[6837]: [ \"Thu Aug 21 16:05:44 2025\" ][ZED-X Daemon] Port  1  OPENING for CAM ModeliD  13",
                "Aug 21 16:05:45 GTW-ONX16-ubuntu ZEDX_Daemon[6837]: [ \"Thu Aug 21 16:05:45 2025\" ][ZED-X Daemon] Port  1  Running for CAM ModeliD  13",
                "Aug 21 16:05:45 GTW-ONX16-ubuntu ZEDX_Daemon[6837]: [ \"Thu Aug 21 16:05:45 2025\" ][ZED-X Daemon] Port  1  CLOSING for CAM ModeliD  13",
                "Aug 21 16:05:45 GTW-ONX16-ubuntu ZEDX_Daemon[6837]: [ \"Thu Aug 21 16:05:45 2025\" ][ZED-X Daemon] Port  1  CLOSING for CAM ModeliD  13",
                "Aug 21 16:05:46 GTW-ONX16-ubuntu ZEDX_Daemon[6837]: [ \"Thu Aug 21 16:05:46 2025\" ][ZED-X Daemon] Port  1  OPENING for CAM ModeliD  13",
                "Aug 21 16:05:46 GTW-ONX16-ubuntu ZEDX_Daemon[6837]: [ \"Thu Aug 21 16:05:46 2025\" ][ZED-X Daemon] Port  1  Running for CAM ModeliD  13"
            ],
            "ZEDX Driver State": [
                "sl_zedxone_uhd         36864  0",
                "sl_zedx                28672  0",
                "sl_zedxpro             20480  0",
                "sl_max9295             16384  3 sl_zedxpro,sl_zedxone_uhd,sl_zedx",
                "sl_max9296             32768  4 sl_zedxpro,sl_zedxone_uhd,sl_max9295,sl_zedx",
                "tegra_camera          217088  8 sl_zedxpro,nvhost_isp5,nvhost_nvcsi_t194,sl_zedxone_uhd,nvhost_vi5,sl_zedx",
                "videodev              249856  7 v4l2_async,sl_zedxpro,videobuf2_v4l2,tegra_camera,sl_zedxone_uhd,videobuf2_common,sl_zedx"
            ],
            "i2C Trace": [
                "i2c-0\ti2c       \t3160000.i2c                     \tI2C adapter",
                "i2c-1\ti2c       \tc240000.i2c                     \tI2C adapter",
                "i2c-2\ti2c       \t3180000.i2c                     \tI2C adapter",
                "i2c-4\ti2c       \tTegra BPMP I2C adapter          \tI2C adapter",
                "i2c-5\ti2c       \t31b0000.i2c                     \tI2C adapter",
                "i2c-7\ti2c       \tc250000.i2c                     \tI2C adapter"
            ]
        }
    },
    "Graphics Card": {
        "deviceCount": 1,
        "deviceDriverVersion": 12060,
        "devices": [
            {
                "arch": "Ampere",
                "computeCapability": "8.7",
                "cores": 1024,
                "name": "Orin",
                "totalMemoryBytes": "16415617024",
                "totalMemoryMB": 15655.15234375
            }
        ],
        "glx_info": "OpenGL vendor string: NVIDIA Corporation\nOpenGL renderer string: NVIDIA Tegra Orin (nvgpu)/integrated\nOpenGL core profile version string: 4.6.0 NVIDIA 540.4.0\nOpenGL core profile shading language version string: 4.60 NVIDIA\nOpenGL core profile context flags: (none)\nOpenGL core profile profile mask: core profile\nOpenGL core profile extensions:\nOpenGL version string: 4.6.0 NVIDIA 540.4.0\nOpenGL shading language version string: 4.60 NVIDIA\nOpenGL context flags: (none)\nOpenGL profile mask: (none)\nOpenGL extensions:\nOpenGL ES profile version string: OpenGL ES 3.2 NVIDIA 540.4.0\nOpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20\nOpenGL ES profile extensions:\n",
        "initResult": 0,
        "valid": [
            "<b>Graphics card: </b> Orin"
        ]
    },
    "Processor": {
        "L4T version": "36.4.4",
        "OS": "Ubuntu 22.04.5 LTS ",
        "avxSupported": false,
        "coreCount": "8",
        "cpu": " ARMv8 Processor rev 1 (v8l)",
        "datetime": "2025-08-21 04:37:46 PM",
        "hyperThreading": "0",
        "motherboard": "Jetson, NVIDIA",
        "ramCapacity": "16.415617",
        "ramUsage": "",
        "ramUsed": "11.114283",
        "threadCount": "8",
        "valid": [
            "<b>Processor: </b>  ARMv8 Processor rev 1 (v8l)",
            "<b>Motherboard: </b> Jetson, NVIDIA"
        ]
    },
    "ZED SDK": {
        "CUDA Toolkit version": "V12.6.68 -->located in /usr/local/cuda-12.6/bin/nvcc",
        "CUDA loading": false,
        "GPU Driver Version": "Driver Version                            : 540.4.0",
        "GPU Performance": "    Performance State                     : N/A",
        "ZED SDK Version (Diag)": "5.0.5",
        "ZED SDK Version (RT)": "5.0.5",
        "ai": {
            "checkAI": true,
            "cudaVersion": 12060,
            "tensorVersion": 100300
        },
        "binFiles": [
            "libsl_ai.so",
            "libsl_zed.so"
        ],
        "resourcesFiles": [
            "neural_depth_5.3.model",
            "neural_depth_light_5.2.model"
        ],
        "resourcesFilesExpected": [
            "objects_performance_3.2"
        ],
        "valid": [
            "<b>ZED SDK version:</b> 5.0.5",
            "<b>CUDA version:</b> V12.6.68"
        ]
    }
}

Please let me know if you have any ideas here. I am happy to run other diagnostics and reply with the results. Thank you for your help.

-Emerson

2

Hi @emerson.lange,

Welcome to the forums ! :waving_hand:

Please take a look at this tutorial in order to use a pair of ZED X Ones as a stereo camera.

3

Thank you for the reference. The only thing I was missing was using sl.CameraOne() rather than sl.Camera() and sl.InitParametersOne() instead of sl.InitParameters(). This fixed the sample script from the tutorial that I was running. As usual, the right manual was all I needed. Thank you!

One last thing: Is there a way to set the camera being used from the index (0 or 1) rather than the serial number? I haven’t found anything on this that has worked so far. Thank you for your help.

4

Hi, you can use:

InitParametersOne init_params; // Set initial parameters
init_params.input.setFromCameraID(0); // Selects the camera with ID = 0

To open the camera with the index rather than SN.

5

Thank you for the suggestion. In python, I used:

init = sl.InitParametersOne()
init.input = sl.InputType()
init.set_from_camera_id(0)

and recevied a CAMERA NOT DETECTED error. I also tried port numbers up to 9. These cameras are detectable by serial number but not by port using this method.

I also can’t seem to use get_camera_information(). When I run:

cam = sl.CameraOne()
cam.get_camera_information()

I get the following error:

TypeError: Argument is not of Camera or CameraOne type.

Let me know if you have any suggestions on either of these or if can provide anything else that will help. Thank you!

6

Hi @emerson.lange,

I can confirm that I can reproduce the issue using the call to set_from_camera_id
The issue has been logged internally to be fixed in a future patch of the ZED SDK

This error appears probably because the camera is not opened, please find a working example of the CameraOne API here: zed-sdk/zed one/python/live.py at master · stereolabs/zed-sdk · GitHub

7

Good to know, and that is helpful, thank you.