The driver for our ZED X camera line (ZED X, ZED X Mini, ZED X One GS, ZED X One 4K) relies on the NVIDIA Argus API, which uses EGLStream for optimal performance. However, it is incompatible with X11 forwarding (ssh -X) in headless mode (no display connected).
Note: This support page applies to all remote desktop methods that require setting up a virtual display, such as Remmina, VNC, NoMachine, RustDesk, TeamViewer, xrdp, and others.
Explanation
When no display is connected, the Argus API creates a NULL EGL context, allowing EGLStream to operate seamlessly.
When using ssh -X, EGLStream detects the remote desktop's screen and attempts to create an EGL context for it. However, since most desktop PCs do not support EGL (which is exclusive to embedded devices), this results in an invalid context and prevents the ZED X Driver from initializing.
Solutions
Hardware
To resolve this, you can connect a dummy display plug (HDMI or DisplayPort) to your Jetson device. By using a dummy plug, EGLStream can run as if a real display is connected to the Jetson, allowing it to create a valid context and enabling the ZED X Driver to function properly.
Note: If the remote machine is another Jetson device, dummy plugs are usually unnecessary, as a valid EGLContext can be established because it supports EGL.
Software
We provide a step-by-step guide and a ready-to-use script that allows you to disable the physical display output and enable a software-based virtual display instead.
With this setup, you can connect to a remote NVIDIA® Jetson device via SSH or a virtual desktop application, without requiring a dummy display plug.
Note: X11 forwarding is not supported.
You can find the full guide in the ZED SDK section of the Stereolabs documentation.
Warning
Note: This guide does not apply to the ZED SDK Tools (i.e., ZED Explorer, ZED Depth Viewer, ZEDfu, ZED Sensor Viewer), as they remain incompatible with ssh -X, even when utilizing a dummy plug or the software solution.