2.7.1

SDK

General

• Fixed a minor range issue in the depth confidence.

SVO

• Fixed an issue affecting the playback on a PC of an H264 SVO recorded on Jetson.

2.7.0

SDK

API

• Added support for CUDA 10
• Added support for Ubuntu 18.04
• Added support for the Jetson Xavier platform.
• Added static compilation support on Linux.
• Fixed random freeze when disconnecting a camera while in use.

SVO

• Added H264 and H265 hardware encoding and decoding with NVENC for SVO files. A single SVO is now up to 40 times smaller for the same image quality. Thanks to hardware encoding, CPU utilization is now minimal when recording SVO, and drop frames have been eliminated.

Positional Tracking

• Added enable_imu_fusion parameter in TrackingParameters to disable the camera-IMU odometry fusion when using a ZED Mini.

Samples

• Introduced a TensorFlow sample for 3D object detection with the ZED and TF.
• Introduced a YOLO sample for 3D object detection with the ZED and YOLO in C++ and Python.
• Introduced a Docker example showing how to run a ZED SDK image as a container. Images are available on Docker Hub.

Tools

• Fixed hot plugging that could cause a freeze in ZED Explorer.
• Fixed issue preventing downgrading firmware in ZED Explorer.
• Fixed various minor issues with firmware update in ZED Explorer.
• Fixed various minor memory issues that could lead to stability issues in ZED Explorer.
• Fixed minor memory issue leading to empty mesh in ZEDfu.
• Fixed graphical issue preventing launching ZEDfu on Ubuntu.

Plugins

ROS

• Added covariance data to the odometry message.
• Added pose_with_covariance topic.
• Added Odometry and Pose path messages.
• Added floor alignment feature in positional tracking to align the World Frame orientation with the foor plane.
• Removed OpenCV dependency.
• Added parameter to disable the publishing of the map frame.
• Added parameter to disable the publishing of the covariance in odometry and pose.
• Added three new tutorials about Video, Depth and Pose subscription in C++.
• Updated the plugins structure in RVIZ display.
• Updated documentation with new tutorials about Video, Depth and Positional Tracking modules.
• Moved "zed_nodelet_example" and "zed_rtabmap_example" in the new "examples" folder.
• Fixed reconnection issue. Thanks to @RhysMcK.
• Fixed Pointcloud structure issue. Thanks to @ChristofDubs.

Unity

• Added toggle box to reveal a camera rig used for final HMD output, normally hidden, for advanced users.
• Added toggle boxes for the fade-in effect when the ZED initializes, and setting the ZED rig Gameobject to "DontDestroyOnLoad" on start.
• Updated the previously hard-coded layers the ZED plugin used (8-11) to be adjusted in the Inspector, and set them to 28-31 by default.
• Updated greenscreen config file loading so that it will work in a build when placed in a Resources folder, and changed default save path accordingly.
• Updated error messages from playing SVOs in loop mode with tracking enabled.
• Fixed Rift/Vive controller drift when using ZED's tracking instead of the HMD's.