ZED SDK

2.1.0

New Features

Depth Sensing API update

• New depth stabilization mode is introduced in 2.1. It brings significant improvement to depth sensing accuracy and stability, and is now enabled by default.
• Different depth resolutions can now be selected, speeding up applications that need lower resolution depth maps.
• Normal maps can now be retrieved along with depth and point cloud.
• Depth map, point cloud and normal maps are now available for the right eye. This will allow for stereo mixed-reality in future updates.

Spatial Mapping API update

• Introduced Mesh Chunks for spatial mapping. Spatial mapping now divides the world in fixed-size blocks called chunks. Instead of storing and accessing a single mesh with a million+ vertices, this allows to store and access multiple local submeshes with a much lower number of vertices.
• Chunks within a certain distance of the camera can be accessed through Visibility and Surrounding lists. See sl::Mesh API documentation for more information.
• Additional optimization techniques based on chunks will be introduced in later updates.

Unity plugin and samples update

• Plugin now supports Unity 5.6 and 2017 Beta.
• Added Vive tracker support.
• Added Oculus Rift and Oculus Touch support in Green Screen MR sample (through SteamVR only).
• Added Lighting script to allow for light interactions between the real and virtual world in Mixed-reality and Green Screen samples.
• Added Garbage Matte script to extend the virtual world beyond green screen boundaries in the Green Screen MR sample.
• Added a semi-automated Calibration application to help users align the real and virtual world in the Green Screen MR sample.

Dependencies

• Removed OpenCV as a dependency. This simplifies the integration of ZED SDK with applications already using OpenCV.

SDK

Updated Depth API

• Added width and height parameters in retrieveMeasure() function to allow retrieval of smaller depth resolutions.
• Added InitParameters::depth_stabilization to enable depth stabilization. Enabled by default in 2.1.
• Added MEASURE_NORMALS as a new MEASURE to extract the normal map of the scene. The output is an sl::Mat with 4 channels (x,y,z,empty) of 32-bit float.
• Added InitParameters::enable_right_measure to extract any type of measure MEASURE_XXX_RIGHT mapped on the right image.
• Fixed bug in the confidence map for PERFORMANCE mode.

Updated Positional Tracking API

• Added getEulerAngles() to retrieve camera rotations in degrees or radians.
• Renamed getRotation() into getRotationMatrix().
• Updated Positional Tracking sample.

Updated Spatial Mapping API

• Added vector of sl::Chunk to allow access to smaller parts of a mesh ("chunks").
• Added Mesh::getVisibilityList() to get the list of chunks visible by the ZED.
• Added Mesh::getSurroundingList() to get the list of chunks located within a specific distance of the ZED.

Samples

• Tutorials and Samples have been updated on GitHub to support ZED SDK 2.1.

Known Issues

• On certain configurations, VRCompositor in SteamVR can freeze when using Vive and ZED in Unity. Deactivating Async Reprojection in SteamVR and updating Nvidia drivers can fix the issue.