Hi Stereolabs team,
I have a ZED X Mini, and I need a depth map aligned to the right sensor (MEASURE::DEPTH_RIGHT / DEPTH_U16_MM_RIGHT, via InitParameters::enable_right_side_measure = true).
The right-side depth has an interesting appearance / artifact. The left (default) depth of the frame is clean.
I’d like to understand whether this is expected behavior or a known bug for the right-side measure, and whether there’s a recommended way to obtain a right-aligned depth map of equal quality to the left.
Thank you
I’ll post information about my setup below:
- ZED X Mini (4mm), connected via ZED Link Duo capture card
- ZED SDK: 5.4.1
- ZED Link Duo driver 1.4.2-LI-MAX96712-L4T36.4.0
- NVIDIA Jetson Orin, L4T 36.4.4 (JetPack 6), CUDA 12.6, TensorRT 10.3, GPU driver 540.4.0
- Depth mode: reproduced on ULTRA (deprecated), NEURAL, and NEURAL_PLUS
- RuntimeParameters at defaults (confidence_threshold = 95, texture_confidence_threshold = 100), depth_stabilization = 30
- ZED_Diagnostic_Results.json:
{
"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 LIGHT DEPTH is not optimized"
],
"valid": [
"NEURAL DEPTH is optimized",
"NEURAL PLUS DEPTH is optimized"
]
},
"CUDA Operations": {
"cudaDeviceCount": 1,
"cudaDriverVersion": 12060,
"cudaDriverVersionString": "12.6",
"cudaGetDeviceCountResult": 0,
"cudaRuntimeLoaded": true,
"cudaRuntimeVersion": 12060,
"cudaRuntimeVersionString": "12.6",
"cudaTestVersion": "1.0",
"gpuTests": [
{
"clockRateMHz": 1300,
"computeCapability": "8.7",
"computeCapabilityMajor": 8,
"computeCapabilityMinor": 7,
"freeResult": 0,
"freeSuccess": true,
"gpuId": 0,
"gpuName": "Orin",
"mallocResult": 0,
"mallocSuccess": true,
"memcpyD2HResult": 0,
"memcpyD2HSuccess": true,
"memcpyH2DResult": 0,
"memcpyH2DSuccess": true,
"memoryBusWidthBits": 256,
"memoryClockRateMHz": 1300,
"memsetResult": 0,
"memsetSuccess": true,
"multiProcessorCount": 16,
"pciBusId": 0,
"pciDeviceId": 0,
"pciDomainId": 0,
"setDeviceResult": 0,
"testElements": 1048576,
"testPassed": true,
"testSizeBytes": 4194304,
"totalGlobalMemMB": 62840,
"validationPassed": true
}
],
"testSizeMB": 1,
"valid": [
"<b>GPU 0 (Orin):</b> CUDA operations working correctly"
]
},
"GMSL DRIVER": {
"GMSL driver": "ii stereolabs-zedlink-duo 1.4.2-LI-MAX96712-L4T36.4.0 arm64 NVIDIA Kernel DTB Modified Package by Stereolabs\n"
},
"Graphics Card": {
"deviceCount": 1,
"deviceDriverVersion": 12060,
"devices": [
{
"arch": "Ampere",
"computeCapability": "8.7",
"cores": 2048,
"name": "Orin",
"totalMemoryBytes": "65892519936",
"totalMemoryMB": 62840.00390625
}
],
"glx_info": "",
"initResult": 0,
"valid": [
"<b>Graphics card: </b> Orin"
]
},
"Log Kernel Trace (for ZED X)": {
"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-p3737-0000+p3701-0005-nv.dtb"
],
"Dpkg list Stereolabs": [
"ii stereolabs-zedlink-duo 1.4.2-LI-MAX96712-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": "not found",
"/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": "exists",
"/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": "not found"
},
"EXTlinux file": [
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"# 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:",
"#",
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"# sudo cp /boot/Image /boot/Image.backup",
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"#",
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"\tOVERLAYS /boot/tegra234-p3737-camera-zedlink-duo-sl-overlay.dtbo"
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"I2C Trace list": {
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"I2C Trace /dev/i2C-13": [
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},
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],
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],
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"i2C Trace": [
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}
},
"Processor": {
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"OS": "Ubuntu 22.04.5 LTS ",
"avxSupported": false,
"coreCount": "12",
"cpu": " ARMv8 Processor rev 1 (v8l)",
"datetime": "2026-09-11 09:43:09 PM",
"hyperThreading": "0",
"motherboard": "Jetson, NVIDIA",
"platform": "NVIDIA Jetson (L4T)",
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},
"USB Camera": {
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],
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{
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{
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],
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{
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{
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{
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],
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},
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"GPU Performance": " Performance State : N/A",
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"ai": {
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]
}
}