Hello,
I have been testing a setup with a Jetson Orin Nano Dev Kit, ZED Link Duo capture card, and a mix of ZED X Mini and ZED X One S cameras (not the 4K variant).
The datasheet states that the Duo capture card “supports up to 4 ZED X GS / ZED X Mini GS / ZED X One GS and up to 2 ZED One 4K”. However, during my testing I encountered unexpected behavior that suggests ZED X Mini cameras may count as two cameras toward this limit rather than one.
my setup:
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ZED X Mini cameras
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ZED X One S cameras
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x1 ZED Link Duo capture card (zed-link-duo driver v1.4.0)
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x1 Jetson Orin Nano Dev Kit (running Jetpack 6.1 L4T36.4)
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x1 GMSL2 Fakra 1-to-4 M-F Cable
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x2 MIPI cables connecting Jetson to capture card
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Using ZED SDK 4.2.5 with Python (pyzed)
I observed the following:
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With only x2 ZED X Mini’s connected, I can successfully open all camera streams (L/R of each)
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With only x4 ZED X One S cameras connected, I can successfully open all streams.
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With x2 ZED X Mini’s and x2 ZED X One S cameras connected, I get CAMERA_NOT_DETECTED for the monocular cameras, and the X Mini will sometimes work but usually not.
- dmesg shows all 4 cameras are detected & bound to tegra-capture-vi at boot
- 6 cameras appear as video0-5, in /dev/video*
My main question is does each ZED X Mini count as 2 cameras toward the 4-camera limit of the duo capture card since it’s stereo? Are there any ways around this that allow us to consider a ZED X Mini as a single camera and capture both feeds? My goal is to have multiple camera streams running as ROS topics at once but I want to be clear on the limitations of the duo capture card.
Thank you!