I am using SDK v5.0.2 and a set of ZED X One cameras as a virtual stereo camera. I have run calibration and received a satisfactory result. I am streaming the cameras using ZED Media Server. When I open the stream in ZED Depth Viewer, I get errors and the resulting high confidence point cloud is pretty sparse.
ZED Depth Viewer log with error:
$ ZED_Depth_Viewer
[2025-06-20 22:02:25 UTC][ZED][INFO] Logging level INFO
[ZED][Streaming] Switching to SHM-boost backend input
[Streaming] Warning : receiving port 30000 is not available (already used)... switching to port 30002. Retrying...
[Streaming] No backward compatibility required.
Opening in BLOCKING MODE
NvMMLiteOpen : Block : BlockType = 279
NvMMLiteBlockCreate : Block : BlockType = 279
[2025-06-20 22:02:25 UTC][ZED][INFO] [Init] Depth mode: NEURAL LIGHT
[2025-06-20 22:02:25 UTC][ZED][INFO] [Init] Serial Number: S/N 106374888
[2025-06-20 22:02:26 UTC][ZED][WARNING] [Init] Self-calibration skipped. Scene may be occluded or lack texture. (Error code: 0x03)
[2025-06-20 22:02:36 UTC][ZED][WARNING] CAMERA NOT INITIALIZED in sl::ERROR_CODE sl::Camera::grab(sl::RuntimeParameters)
[2025-06-20 22:02:44 UTC][ZED][WARNING] CAMERA NOT INITIALIZED in sl::ERROR_CODE sl::Camera::grab(sl::RuntimeParameters)
[2025-06-20 22:02:53 UTC][ZED][WARNING] CAMERA NOT INITIALIZED in sl::ERROR_CODE sl::Camera::grab(sl::RuntimeParameters)
[2025-06-20 22:03:01 UTC][ZED][WARNING] CAMERA NOT INITIALIZED in sl::ERROR_CODE sl::Camera::grab(sl::RuntimeParameters)
[2025-06-20 22:03:09 UTC][ZED][WARNING] CAMERA NOT INITIALIZED in sl::ERROR_CODE sl::Camera::grab(sl::RuntimeParameters)
(Argus) Error EndOfFile: Unexpected error in reading socket (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 277)
(Argus) Error EndOfFile: Receiving thread terminated with error (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadWrapper(), line 379)
[2025-06-20 22:03:18 UTC][ZED][WARNING] CAMERA NOT INITIALIZED in sl::ERROR_CODE sl::Camera::grab(sl::RuntimeParameters)
[2025-06-20 22:03:19 UTC][ZED][WARNING] Frames may be corrupted or degraded
For background, this is the output of running ZED Media Server (this step was performed before running ZED Depth Viewer):
$ ZED_Media_Server
[ZEDMediaServer] Version 0.1.9
[ZEDMediaServer] Stopping Media Server service....
[sudo] password for user:
...done
[ZEDMediaServer] Found : 2 available cameras
[ZEDMediaServer] Changing the resolution of the camera () to 1920 x 1200
[ZEDMediaServer] Opening camera 0 at Resolution 1920 x 1200 @ 30
[ZXCamera] Camera 301398000 opened at resolution 1920 x 1200 and fps 30
[ZEDMediaServer] Opening camera 1 at Resolution 1920 x 1200 @ 30
[ZXCamera] Camera 304038312 opened at resolution 1920 x 1200 and fps 30
[ZEDMediaServer] Loading virtual camera configuration S/N 106374888
[ZEDMediaServer] Enable streaming of virtual camera S/N 106374888
[Streaming] Use Transport layer mode : 2
[Streaming] Use SHM-Boost IPC backend
Opening in BLOCKING MODE
NvMMLiteOpen : Block : BlockType = 8
===== NvVideo: NVENC =====
NvMMLiteBlockCreate : Block : BlockType = 8
NvVideo: H265 : Profile : 1
[VirtualCameraStreamer] Creating Streamer for 1920 x 1200 @ 30
[VirtualCameraStreamer] --> Enter <--
NVMEDIA: Need to set EMC bandwidth : 2872000
NvVideo: bBlitMode is set to TRUE
[Streaming] Streaming is now running....
[VirtualCameraStreamer] --> Exit <--
[ZEDMediaServer] Restarting Media Server
[ZEDMediaServer] Activate CLI mode
When I ran calibration on the stereo cameras, here was the calibration report:
*** Calibration Report ***
* Coverage left: 91.6667%
* Coverage right: 91.6667%
* Enough points detected
* Reprojection error: Left 0.288215 Ritght 0.32469 Stereo 0.430565
** Camera parameters **
* Intrinsic mat left: [744.0603690548733, 0, 932.5491890338977;
0, 742.6342492051253, 557.6005828271165;
0, 0, 1]
* Distortion mat left: [0.004539049416373693, -0.04859323796896896, -0.0003341429029087552, -0.001159298392426743, 0.01574980614640466]
* Intrinsic mat right: [747.6480195713863, 0, 945.7589648854737;
0, 746.3085408057398, 655.3795427125242;
0, 0, 1]
* Distortion mat right: [-0.00489401538571712, -0.03712250380741842, 0.001257036769867906, 4.028360479760191e-05, 0.01160488394909502]
** Extrinsic parameters **
* Translation: [-222.7549534219454;
-1.557699020537958;
2.836616999123061]
* Rotation: [0.01665211505488632;
-0.009779987884564875;
0.002166645557290011]
* Stereo rectification matrix
0.00448876
* Rectified field of view: 100.848° x 180°
*** Calibration file ***
* Parameter file written successfully: 'SN_ZEDONES.conf'
CALIBRATION success
The calibration file was renamed to SN106374888.conf (the S/N of the virtual camera that is being streamed) and moved to /usr/local/zed/settings