Positional tracking over streaming intermittently returns identity pose (I / 0,0,0) when sender is launched headless or via SSH

Software C++
1

Summary
When receiving a ZED stream (InitParameters.input.setFromStream(...)), video frames arrive fine and depth is computed locally, but positional tracking intermittently never starts: getPosition() keeps returning an identity transform (rotation = I, translation = 0,0,0). This happens especially when the streaming sender is started as a standalone executable (double-click) or headless over SSH. If I start the exact same sender from VS Code on the host machine, tracking usually works.

Environment

  • Camera: ZEDX Mini

  • Host (sender) OS & GPU: Zed Box Mini

  • Receiver OS & GPU: Ubuntu 24.04, RTX 4060Ti

  • ZED SDK: 5.0.3 (same version on both machines)

  • Streaming: InitParameters.input.setFromStream(<ip>, <port>)

  • Depth mode: DEPTH_MODE::NEURAL (computed on the receiver)

  • Build: C++ application

  • Run contexts that fail more often:

    • Sender launched by double-clicking the built executable (not from VS Code)

    • Sender launched headless over SSH

  • Run context that works more often:

    • Sender launched from inside VS Code on the host machine

What I’ve tried

  • Confirmed enablePositionalTracking() returns SUCCESS.

  • Logging getPosition() state: I sometimes see OK, other times SEARCHING; but even with OK, the pose values don’t change (identity / zeros).

  • Resetting positional tracking during runtime (resetPositionalTracking()), no change in the bad runs.

  • Different camera/resolution/FPS (HD720 @ 60 vs lower), same result.

  • Verified sender and receiver both on the same ZED SDK version.

  • Ensured depth is valid on the receiver (NEURAL).

  • Headless/SSH runs: ensured no OpenGL rendering is required on the sender (pure streaming).

2

Hi @Cubia
Please follow the instructions in this support page

3

Thanks, but i currently have the Zed Box Mini connected to a display through HDMI, but the issue is still there.
It looks like sometimes the positional tracking does not start at all on the sender.

4

Please upgrade the ZED SDK to the latest v5.0.6 and let me know if the problem persists with it.