Hello, engineering team. I am using ZED mini, ZED SDK version 4.2.5. My computer uses cuda version 12.1, and the GPU is GTX1650. In the process of use, the accuracy has a serious problem. The test situation is as follows: 1, the actual distance is 0.873m, and the camera measurement depth is 0.711m. 2, the actual distance is 1.613m, and the depth measured by the camera is 1.268m. 3, the actual distance is 4.213m, and the depth measured by the camera is 3.32m. Note that all the above tests were performed after the ZED Calibration procedure. HD720, 15 frames, ULTRA mode was used for all tests. The actual distances were all measured by a laser range finder. You can see that the overall test results are low, and the error increases with distance. I would like to ask for your help, what is the cause of this situation? What’s the solution? My use scenario is an outdoor scene of about 10m. The camera is mainly used to collect data, and the resolution can only be used with HD720. In this regard, do you have better suggestions on camera Settings?
I uploaded the diagnosis results of the ZED Diagnostic program:
{
“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”,
“NEURAL DEPTH is not optimized”,
“NEURAL PLUS DEPTH is not optimized”
]
},
“Camera Test”: {
“InternalDevicesCount”: 2,
“ZEDCount”: 1,
“camera”: {
“Device ID”: 1,
“Firmware”: 1523,
“Init Output”: “OK”,
“Model”: “ZED Mini”,
“Serial Number”: 10028842,
“valid”: [
“Camera: ZED Mini”,
“Firmware: 1523”
]
},
“resolutions”: {
“HD1080@15”: {
“fps (input)”: 15,
“fps (output)”: 15,
“height (input)”: 1080,
“height (output)”: 1080,
“initialization”: “OK”,
“status”: true,
“width (input)”: 1920,
“width (output)”: 1920
},
“HD1080@30”: {
“fps (input)”: 30,
“fps (output)”: 30,
“height (input)”: 1080,
“height (output)”: 1080,
“initialization”: “OK”,
“status”: true,
“width (input)”: 1920,
“width (output)”: 1920
},
“HD2K@15”: {
“fps (input)”: 15,
“fps (output)”: 15,
“height (input)”: 1242,
“height (output)”: 1242,
“initialization”: “OK”,
“status”: true,
“width (input)”: 2208,
“width (output)”: 2208
},
“HD720@15”: {
“fps (input)”: 15,
“fps (output)”: 15,
“height (input)”: 720,
“height (output)”: 720,
“initialization”: “OK”,
“status”: true,
“width (input)”: 1280,
“width (output)”: 1280
},
“HD720@30”: {
“fps (input)”: 30,
“fps (output)”: 30,
“height (input)”: 720,
“height (output)”: 720,
“initialization”: “OK”,
“status”: true,
“width (input)”: 1280,
“width (output)”: 1280
},
“HD720@60”: {
“dropCount”: -1,
“fps (input)”: 60,
“fps (output)”: 60,
“height (input)”: 720,
“height (output)”: 720,
“imageCount”: 502,
“initialization”: “OK”,
“status”: true,
“tearingCount”: 0,
“width (input)”: 1280,
“width (output)”: 1280
},
“VGA@100”: {
“fps (input)”: 100,
“fps (output)”: 93,
“height (input)”: 376,
“height (output)”: 376,
“initialization”: “OK”,
“status”: true,
“width (input)”: 672,
“width (output)”: 672
},
“VGA@15”: {
“fps (input)”: 15,
“fps (output)”: 15,
“height (input)”: 376,
“height (output)”: 376,
“initialization”: “OK”,
“status”: true,
“width (input)”: 672,
“width (output)”: 672
},
“VGA@30”: {
“fps (input)”: 30,
“fps (output)”: 30,
“height (input)”: 376,
“height (output)”: 376,
“initialization”: “OK”,
“status”: true,
“width (input)”: 672,
“width (output)”: 672
},
“VGA@60”: {
“fps (input)”: 60,
“fps (output)”: 60,
“height (input)”: 376,
“height (output)”: 376,
“initialization”: “OK”,
“status”: true,
“width (input)”: 672,
“width (output)”: 672
}
},
“sensors”: {
“Firmware”: 515,
“Init Output”: “OK”,
“Model”: “ZED Mini (MCU)”,
“Serial Number”: 10028842
}
},
“Devices”: {
“ASMediaFound”: false,
“CorruptedFirmware”: false,
“MCUDetected”: true,
“OC_Cam_Detected”: false,
“OtherUSBDevices”: [
],
“USBList”: [
{
“USB_path”: “/6”,
“idProduct”: “0x0064”,
“idVendor”: “0x1ea7”
},
{
“USB_path”: “/8”,
“idProduct”: “0xb685”,
“idVendor”: “0x04f2”
},
{
“USB_path”: “/3”,
“idProduct”: “0x0b21”,
“idVendor”: “0x0020”
},
{
“USBMode”: 3,
“USB_path”: “/18”,
“bDescriptorType”: 1,
“bDeviceProtocol”: 1,
“bLength”: 18,
“bMaxPacketSize0”: 9,
“bNumConfigurations”: 1,
“bcdDevice”: “1.0”,
“bcdUSB”: “3.0”,
“bcdUSBClass”: 239,
“bcdUSBSubClass”: 2,
“busNumber”: 1,
“device”: “ZED mini”,
“iManufacturer”: 1,
“iProduct”: 2,
“iSerial”: 0,
“idProduct”: “0xf682”,
“idVendor”: “0x2b03”
},
{
“USB_path”: “/14”,
“idProduct”: “0x3533”,
“idVendor”: “0x13d3”
},
{
“USBMode”: 2,
“USB_path”: “/2”,
“bDescriptorType”: 1,
“bDeviceProtocol”: 0,
“bLength”: 18,
“bMaxPacketSize0”: 64,
“bNumConfigurations”: 1,
“bcdDevice”: “2.3”,
“bcdUSB”: “2.0”,
“bcdUSBClass”: 0,
“bcdUSBSubClass”: 0,
“busNumber”: 1,
“device”: “ZED mini MCU”,
“iManufacturer”: 1,
“iProduct”: 2,
“iSerial”: 3,
“idProduct”: “0xf681”,
“idVendor”: “0x2b03”
},
{
“USB_path”: “/1”,
“idProduct”: “0x024f”,
“idVendor”: “0x05ac”
},
{
“USBMode”: 3,
“USB_path”: “/18”,
“bDescriptorType”: 1,
“bDeviceProtocol”: 1,
“bLength”: 18,
“bMaxPacketSize0”: 9,
“bNumConfigurations”: 1,
“bcdDevice”: “1.0”,
“bcdUSB”: “3.0”,
“bcdUSBClass”: 239,
“bcdUSBSubClass”: 2,
“busNumber”: 1,
“device”: “ZED mini”,
“iManufacturer”: 1,
“iProduct”: 2,
“iSerial”: 0,
“idProduct”: “0xf682”,
“idVendor”: “0x2b03”
},
{
“USB_path”: “/8”,
“idProduct”: “0xb685”,
“idVendor”: “0x04f2”
}
],
“USBMode”: 3,
“ZED Camera Module Detected”: 63106,
“ZED MCU Module Detected”: 63105,
“ZEDDetected”: true,
“captureDevices”: [
],
“controllers”: [
{
“CompatibleIDs”: “”,
“Description”: “USB 9ƿh(USB 3.0)”,
“DeviceName”: “”,
“Driver”: “{36fc9e60-c465-11cf-8056-444553540000}\0001”,
“Location”: “”,
“Manufacturer”: “(\u0007� USB ƿh)”,
“Name”: “USB”,
“PhysicalName”: “\Device\USBPDO-0”
},
{
“CompatibleIDs”: “PCI\VEN_8086&DEV_06ED&REV_00”,
“Description”: “&\b USB xHCI �;:�6h”,
“DeviceName”: “Intel(R) USB 3.1 �iU;:�6h - 1.10 (Microsoft)”,
“Driver”: “{36fc9e60-c465-11cf-8056-444553540000}\0000”,
“Location”: “PCI ;� 0\u0001�\u0007 20\u0001�� 0”,
“Manufacturer”: “\u001a( USB xHCI ;:�6h”,
“Name”: “PCI”,
“PhysicalName”: “\Device\NTPNP_PCI0004”
}
],
“valid”: [
“USB Bandwidth: OK”
]
},
“Graphics Card”: {
“deviceCount”: 1,
“deviceDriverVersion”: 12090,
“devices”: [
{
“arch”: “Turing”,
“computeCapability”: “7.5”,
“cores”: 1792,
“name”: “NVIDIA GeForce GTX 1650”,
“totalMemoryBytes”: “4294639616”,
“totalMemoryMB”: 4095.6875
}
],
“initResult”: 0,
“valid”: [
“Graphics card: NVIDIA GeForce GTX 1650”
]
},
“Processor”: {
“OS”: “Windows 10 FallCreators”,
“avxSupported”: true,
“coreCount”: “6”,
“cpu”: “Intel(R) Core™ i7-10750H CPU @ 2.60GHz”,
“datetime”: “2025-07-07 15:13:54”,
“hyperThreading”: “1”,
“motherboard”: "NHx0DB,DE , Notebook ",
“ramCapacity”: “15.8275”,
“ramUsage”: “0”,
“ramUsed”: “6.0368”,
“threadCount”: “12”,
“valid”: [
“Processor: Intel(R) Core™ i7-10750H CPU @ 2.60GHz”,
"Motherboard: NHx0DB,DE , Notebook "
]
},
“ZED SDK”: {
“CUDA Toolkit version”: “V12.1.66 -->located in C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v12.1/bin/nvcc.exe”,
“ZED SDK Version (Diag)”: “4.2.5”,
“ZED SDK Version (RT)”: “4.2.5”,
“ai”: {
“checkAI”: true,
“cudaVersion”: 12010,
“cudnnCudartVersion”: 12010,
“cudnnVersion”: 8902,
“cudnnVersionExpected”: 8907,
“tensorVersion”: 8601
},
“binFiles”: [
“cudnn64_8.dll”,
“cudnn_adv_infer64_8.dll”,
“cudnn_adv_train64_8.dll”,
“cudnn_cnn_infer64_8.dll”,
“cudnn_cnn_train64_8.dll”,
“cudnn_ops_infer64_8.dll”,
“cudnn_ops_train64_8.dll”,
“nvinfer.dll”,
“nvinfer_builder_resource.dll”,
“nvinfer_dispatch.dll”,
“nvinfer_lean.dll”,
“nvinfer_plugin.dll”,
“nvinfer_vc_plugin.dll”,
“nvonnxparser.dll”,
“nvparsers.dll”,
“sl_ai64.dll”,
“sl_zed64.dll”,
“zlibwapi.dll”
],
“driverVersion”: “576.88”,
“drivervDllVersion”: “32.0.15.7688”,
“resourcesFiles”: [
“neural_depth_5.2.model”,
“neural_depth_5.2.model_optimized-fbcbw-1-75-11010-100900-5-128-1024-48-64-512-14-0-0e53-512”,
“w100900_timing_cache”
],
“resourcesFilesExpected”: [
“objects_performance_3.2”
],
“runtimeDllVersion”: 12010,
“valid”: [
“ZED SDK version: 4.2.5”,
“CUDA version: V12.1.66”
],
“warning”: [
“Object detection module corrupted. Please reinstall the ZED SDK and enable the Object Detection option.”
]
}
}