Major New Features

Positional tracking API

• New tracking API is introduced in 1.0. It calculates position and orientation of the camera for every frame using a new improved stereo SLAM technology. See Tracking samples to learn how to use the new API.

ZEDfu large-scale 3D reconstruction application

• ZEDfu demonstrates how to combine stereo depth sensing and camera tracking to capture realistic environmental assets for VR, films, games and architecture.
• Now available as a standalone application for Windows platform. Available in the ‘App’ folder of the ZED SDK.

New high-speed Wide VGA mode

• Updated ZED firmware (1142) introduces Wide VGA @100 FPS, replacing previous VGA mode.
• WVGA resolution is increased to 672*376 per image with improved image quality and a much wider field of view.
• Firmware update is done automatically during installation of the ZED SDK (Win, Linux, Jetson).

SVO compression

• New SVO lossless compression now saves 66% in file size and processing time.

Unity support

• Positional tracking API is compatible with Unity.
• Unity plugin for ZED is available as a downloadable package in the SDK Downloads section.

SDK

Added positional tracking API

• New getPosition() function provides position and orientation of the camera for every frame. Use enableTracking() during initialization to use the Tracking API.
• enableAreaLearning parameter can be set to activate camera relocalization and loop closure detection during tracking.

Updated depth sensing mode with up to 2x faster computation

• Updated MODE::PERFORMANCE to new faster than real-time stereo matching algorithm.
• Added MODE::MEDIUM with depth estimation quality and speed similar to the previous MODE:PERFORMANCE.

Added manual control for camera exposure time

• Exposure time can now be configured manually by the user with setCameraSettingsValue() function.

Replaced parameters for Init() function with new "InitParams" structure

• UNIT: Desired metric units can be specified in InitParams structure. All the provided data will be scaled according to the selected units: baseline, depth, XYZ, depthclamp, closestDephValue, tracking information... Therefore, setBaselineRatio() has been removed.
• COORDINATE_SYSTEM: Coordinate systems such as left or right-handed coordinates can now be selected in InitParams structure. The oriented data such as (XYZ) point cloud and tracking information will be expressed in the specified coordinate system.
• minimumDistance: the minimumDistance for depth computation can now be configured manually and set above 50cm. On certain configurations, this can dramatically improve frame-rate.

Updated depth values semantic

• OCCLUSION_VALUE: NaN (not a number), for occlusions.
• TOO_FAR: Inf (infinity), for values above DepthClampValue.
• TOO_CLOSE: -Inf, for values below ClosestDepthValue.
• isValidMeasure(): New macro function that returns false if the given value is one of the above, else returns true.

Added function to calculate ZED camera field of view

• Left and right eye field of view can now be retrieved using getParameters(): LeftCam/RightCam.hFOV/dFOV/vFOV. See StereoParameters structure for more details.

SVO files now record the camera framerate as well as timestamp during recording

• Use getCameraTimestamp() function to extract the timestamp from the current SVO image. This can be used to detect frame drops during recording.

Tools

• New unified GUI for the tools.
• Added two samples using the Positional Tracking API: CPU/Simple Tracking and CPU/Tracking Viewer.
• Grabbing thread sample has been renamed to Optimized Grab.
• Updated all samples with ZED SDK 1.0 compatibility.

API Changes

• Camera::init(...): Replaced arguments with InitParams structure. See SDK Changes.
• SENSING_MODE: RAW and FULL modes have been renamed to STANDARD and FILL. This better reflects the use of the different depth sensing modes. Old names have been removed.

Dependencies

• Updated OpenCV from 2.4.9 to 3.1 on Window and Linux.
• Added Eigen 3.