Adding better auto caps negotiation based on the ZED SDK API feat.

CHANGELOG.rst

@@ -1,6 +1,34 @@
 LATEST CHANGES
 ==============
 
+ZED SDK v5.2
+--------------
+- Add NV12 zero-copy capture support on Jetson (GMSL cameras) via ``stream-type=6``
+- Add NV12 stereo side-by-side zero-copy mode via ``stream-type=7``
+- Add AUTO stream-type negotiation (``stream-type=-1``) that prefers NV12 zero-copy when available
+- Add AUTO resolution mode that selects the best resolution for requested FPS based on camera model
+- Add flexible output resolution negotiation with ranged caps for non-NVMM formats
+- Add BGR and GRAY8 output format support for zedsrc and zedxonesrc
+- Add ``fixate`` callback for proper caps negotiation during pipeline setup
+- Add side-by-side left+right image stream type (``stream-type=5``, #79)
+- Add Jetson pipeline scripts: NV12 encoding, RTSP/SRT/UDP streaming, benchmarks
+- Add runtime SVO recording control (``svo-recording-enable``, ``svo-recording-filename``, ``svo-recording-compression``, #78)
+- Add ``output-rectified-image`` property for ZED X One (#71)
+- Add GEN_3 positional tracking, NEURAL_LIGHT depth mode, custom YOLO model support
+- Add SDK version compile-time check to catch version mismatches early
+- Add test script (``.ci/test.sh``) with fast, extensive, and benchmark modes
+- Default camera FPS changed from 15 to 30
+- Default camera resolution changed to AUTO
+- Deprecated ``async-image-retrieval`` property in zedsrc (no-op, kept for backward compatibility)
+- Fixed incorrect VGA resolution mapping and ``memcpy`` buffer overflow in data mux
+- Fixed ``sprintf`` buffer safety issues
+- Fixed multi-instance issues (replaced static buffer counters with per-instance variables)
+- Fixed floating-point math issues and AEC_AGC enum handling
+- Added latency query handlers to prevent crashes during pipeline queries
+- Disabled shadow warnings for older ZED SDK compatibility
+- Improved code formatting consistency and documentation typos
+- SDK version requirement updated to 5.2
+
 ZED SDK v5.1
 --------------
 - Fix memleak on demux chain

gst-zed-od-overlay/gstzedodoverlay.cpp

@@ -358,8 +358,14 @@ gboolean gst_zedoddisplaysink_event(GstBaseTransform *base, GstEvent *event) {
         gst_video_info_from_caps(&vinfo_in, caps);
         filter->img_left_w = vinfo_in.width;
         filter->img_left_h = vinfo_in.height;
-        if (vinfo_in.height == 752 || vinfo_in.height == 1440 || vinfo_in.height == 2160 ||
-            vinfo_in.height == 2484) {
+
+        // Detect composite (stacked) stereo streams by their doubled height.
+        // Known stereo heights: VGA=752, HD720=1440, HD1080=2160, HD1200=2400, HD2K=2484.
+        // Disambiguation: 3840×2160 is 4K mono (ZED X One), NOT stereo.
+        // HD1080 stereo is 1920×2160 — only halve when width <= 2208.
+        if (vinfo_in.height == 752 || vinfo_in.height == 1440 || vinfo_in.height == 2400 ||
+            vinfo_in.height == 2484 ||
+            (vinfo_in.height == 2160 && vinfo_in.width <= 2208)) {
             filter->img_left_h /= 2;   // Only half buffer size if the stream is composite
         }
 
@@ -384,8 +390,9 @@ static GstFlowReturn gst_zed_od_overlay_transform_ip(GstBaseTransform *base, Gst
         gst_object_sync_values(GST_OBJECT(filter), GST_BUFFER_TIMESTAMP(outbuf));
 
     if (FALSE == gst_buffer_map(outbuf, &map_buf, GstMapFlags(GST_MAP_READ | GST_MAP_WRITE))) {
-        GST_WARNING_OBJECT(filter, "Could not map buffer for write/read");
-        return GST_FLOW_OK;
+        GST_ELEMENT_ERROR(filter, RESOURCE, FAILED,
+                          ("Could not map buffer for write/read"), (NULL));
+        return GST_FLOW_ERROR;
     }
 
     // Get left image (upper half memory buffer)
@@ -396,6 +403,7 @@ static GstFlowReturn gst_zed_od_overlay_transform_ip(GstBaseTransform *base, Gst
 
     if (meta == NULL)   // Metadata not found
     {
+        gst_buffer_unmap(outbuf, &map_buf);
         GST_ELEMENT_ERROR(filter, RESOURCE, FAILED,
                           ("No ZED metadata [GstZedSrcMeta] found in the stream'"), (NULL));
         return GST_FLOW_ERROR;

gst-zed-rtsp-server/zed-rtsp-launch.cpp

@@ -35,8 +35,10 @@
 static char *port = (char *) DEFAULT_RTSP_PORT;
 static char *host = (char *) DEFAULT_RTSP_HOST;
 
-static GOptionEntry entries[] = {{"port", 'p', 0, G_OPTION_ARG_STRING, &port, "Port to listen on( default: " DEFAULT_RTSP_PORT ")", "PORT"},
-                                 {"address", 'a', 0, G_OPTION_ARG_STRING, &host, "Host address( default: " DEFAULT_RTSP_HOST ")", "HOST"},
+static GOptionEntry entries[] = {{"port", 'p', 0, G_OPTION_ARG_STRING, &port,
+                                  "Port to listen on( default: " DEFAULT_RTSP_PORT ")", "PORT"},
+                                 {"address", 'a', 0, G_OPTION_ARG_STRING, &host,
+                                  "Host address( default: " DEFAULT_RTSP_HOST ")", "HOST"},
                                  {NULL}};
 
 static void client_connected(GstRTSPServer *server, GstRTSPClient *client) {
@@ -55,7 +57,8 @@ int main(int argc, char *argv[]) {
 
     optctx =
         g_option_context_new("PIPELINE-DESCRIPTION - ZED RTSP Server, Launch\n\n"
-                             "Example: gst-zed-rtsp-server zedsrc ! videoconvert ! 'video/x-raw, format=(string)I420' ! x264enc ! rtph264pay pt=96 name=pay0");
+                             "Example: gst-zed-rtsp-server zedsrc ! videoconvert ! 'video/x-raw, "
+                             "format=(string)I420' ! x264enc ! rtph264pay pt=96 name=pay0");
     g_option_context_add_main_entries(optctx, entries, NULL);
     g_option_context_add_group(optctx, gst_init_get_option_group());
     if (!g_option_context_parse(optctx, &argc, &argv, &error)) {
@@ -80,12 +83,15 @@ int main(int argc, char *argv[]) {
     // make a null-terminated version of argv
     argvn = g_new0(char *, argc);
     memcpy(argvn, args + 1, sizeof(char *) * (argc - 1));
-    { pipeline = (GstElement *) gst_parse_launchv((const gchar **) argvn, &error); }
+    {
+        pipeline = (GstElement *) gst_parse_launchv((const gchar **) argvn, &error);
+    }
     g_free(argvn);
 
     if (!pipeline) {
         if (error) {
-            gst_printerr("ERROR - pipeline could not be constructed: %s.\n", GST_STR_NULL(error->message));
+            gst_printerr("ERROR - pipeline could not be constructed: %s.\n",
+                         GST_STR_NULL(error->message));
             g_clear_error(&error);
         } else {
             gst_printerr("ERROR - pipeline could not be constructed.\n");
@@ -99,16 +105,19 @@ int main(int argc, char *argv[]) {
 
     GstElement *payload = gst_bin_get_by_name(GST_BIN(pipeline), "pay0");
     if (!payload) {
-        gst_printerr("ERROR - at least a payload with name 'pay0' must be present in the pipeline.\n");
-        gst_printerr("Example: zedsrc ! videoconvert ! video/x-raw, format=(string)I420 ! x264enc ! rtph264pay pt=96 name=pay0\n");
+        gst_printerr(
+            "ERROR - at least a payload with name 'pay0' must be present in the pipeline.\n");
+        gst_printerr("Example: zedsrc ! videoconvert ! video/x-raw, format=(string)I420 ! x264enc "
+                     "! rtph264pay pt=96 name=pay0\n");
         return 1;
     }
     g_object_unref(payload);
     gst_object_unref(pipeline);
     // <---- Check launch pipeline correctness */
 
     // ----> Create RTSP Server pipeline
-    // Note: `gst_rtsp_media_factory_set_launch` requires a GstBin element, the easier way to create it is to enclose
+    // Note: `gst_rtsp_media_factory_set_launch` requires a GstBin element, the easier way to create
+    // it is to enclose
     //       the pipeline in round brackets '(' ')'.
     std::string rtsp_pipeline;
     rtsp_pipeline = "( ";
@@ -140,15 +149,6 @@ int main(int argc, char *argv[]) {
     factory = gst_rtsp_media_factory_new();
     gst_rtsp_media_factory_set_launch(factory, rtsp_pipeline.c_str());
     gst_rtsp_media_factory_set_shared(factory, TRUE);
-
-    /* Don't suspend/reset the pipeline when no clients - ZED camera takes time to initialize */
-    gst_rtsp_media_factory_set_suspend_mode(factory, GST_RTSP_SUSPEND_MODE_NONE);
-
-    /* Don't send EOS when last client disconnects */
-    gst_rtsp_media_factory_set_eos_shutdown(factory, FALSE);
-
-    /* Set buffer mode to allow for camera startup latency */
-    gst_rtsp_media_factory_set_latency(factory, 500);  /* 500ms buffer */
 
     /* attach the test factory to the /test url */
     gst_rtsp_mount_points_add_factory(mounts, "/zed-stream", factory);
@@ -161,43 +161,11 @@ int main(int argc, char *argv[]) {
 
     g_signal_connect(server, "client-connected", (GCallback) client_connected, NULL);
 
-    /* Pre-create and prepare the media so camera initializes before clients connect */
+    /* start serving */
     g_print(" ZED RTSP Server \n");
     g_print("-----------------\n");
-    g_print(" * Initializing camera (this may take a few seconds)...\n");
-
-    GstRTSPUrl *url = NULL;
-    GstRTSPResult parse_result = gst_rtsp_url_parse(("rtsp://" + std::string(host) + ":" + std::string(port) + "/zed-stream").c_str(), &url);
-    GstRTSPMedia *media = NULL;
-    if (parse_result != GST_RTSP_OK || url == NULL) {
-        g_printerr(" * Warning: Failed to parse RTSP URL, media will not be pre-created\n");
-    } else {
-        media = gst_rtsp_media_factory_construct(factory, url);
-        gst_rtsp_url_free(url);
-    }
-
-    if (media) {
-        GstRTSPThread *thread = gst_rtsp_thread_pool_get_thread(
-            gst_rtsp_server_get_thread_pool(server),
-            GST_RTSP_THREAD_TYPE_MEDIA, NULL);
-        if (gst_rtsp_media_prepare(media, thread)) {
-            g_print(" * Camera ready!\n");
-        } else {
-            g_printerr(" * Warning: Failed to prepare media, clients may experience delays\n");
-            g_object_unref(media);
-            media = NULL;
-        }
-    }
-
     g_print(" * Stream ready at rtsp://%s:%s/zed-stream\n", host, port);
-    g_print("-----------------\n");
     g_main_loop_run(loop);
-
-    /* Cleanup */
-    if (media) {
-        gst_rtsp_media_unprepare(media);
-        g_object_unref(media);
-    }
 
     return 0;
 }