ZED SDK

2.5.1

SDK

General

• Fixed segmentation fault when using the ZED in USB2.0 on Ubuntu.
• Fixed memory leak on getDeviceList().
• Fixed a bug that leads to a wrong camera detection in getDeviceList() when this function was called multiple times.
• Fixed wrong timestamp in IMUData when getIMUData(TIME_REFERENCE_CURRENT) was called. Now, you can use the timestamp to check if the values are new (timestamp will be different, otherwise they will be the same).
• Fixed a freeze which can occurs when calling resetTracking() while grab() is running.
• Fixed the return value of getPosition() just after a call to resetTracking().
• Fixed an issue in the linux installer in silent mode where the script could ask for a user input.
• Deprecate SpatialMappingParameters::set(mapping_range). Now appropriate range is derived from selected MAPPING_RESOLUTION when calling enableSpatialMapping() if SpatialMappingParameters::range_meter is not defined.
• Add function getRecommendedRange(mapping_resolution, &camera) to set SpatialMappingParameters::range_meter directly to the recommanded value.

Dependency

• Removed libusb-0.1 dependency to fix an issue when using the ZED for an extended period of time.

Docs

• Updated API documentation. More details and code samples are now available.

2.5.0

SDK

General

• Added support for CUDA 9.2.
• Fixed a random freeze in Camera::close() on Linux Ubuntu when the camera was unplugged during a frame grab.
• Added new coordinate system RIGHT_HANDED_Z_UP_X_FWD for use in ROS.

Depth

• Moved depth computation to a non-default stream to achieve concurrency with external GPU operations and improve performance.
• Fixed an issue leading to NAN values in depth FILL when setting the confidence threshold at 100.

Plane Detection

• Fixed bug that reported wrong planes when the UNIT parameter was not set in METERS.

Plugins

ROS

• Updated wrapper support to ZED SDK 2.5.
• Refactored wrapper code for clarity.
• Added support for spatial memory and pose smoothing.
• Added parameter for changing initial tracking position.
• Added dynamic resolution setting for image/measures to allow testing different accuracy and performance optimizations.
• Updated "package.xml" to "Format 2". Thanks to rbonghi.
• Updated publishing rules to stream Odometry when subscribing to point cloud topics. Thanks to ArkadiuszNiemiec.
• Added launch example to run wrapper nodelet in a standalone nodelet manager. Thanks to Russ76.
• Added publisher for internal IMU data. Thanks to tonftybj.
• Added publisher for disparity image. Thanks to fujimo-t.
• Fixed minor bugs.

Unity

• Major update of the plugin, which now includes several new samples showing how to use advanced interactions between the real and virtual world. See all changes here.

Unreal

• Updated Mixed Reality engine to 4.19.1 version.
• Improved overal engine performance
• Improved Vive support.
• Added option in BP_Initializer for selecting the Pawn tracking mode: ZED, HMD or mixed tracking.
• Added SRemap experimental rendering option which improves visual comfort in AR passthrough.
• Moved BP_ZedCamera blueprint class to C++ only.
• Fixed a bug making the Editor randomly crash when closing the game preview.
• Fixed a bug saying "wrong reference frame" when starting game preview.