3.0 Migration Guide

• All headers are now fused into a single one: sl/Camera.hpp
• The ZED SDK is now available as a single sl_zed library (sl_zed64.dll or libsl_zed.so)

Overview

• Added support for the new ZED 2 camera.
• Camera::grab() function is now blocking: each call waits for a new image. If the camera is connected (or the SVO file isn't finished) the call is guaranteed to compute everything on a new frame. ERROR_CODE_NOT_A_NEW_FRAME has been removed accordingly. If the camera is disconnected, the grab() function will time out and return ERROR_CODE::CAMERA_NOT_DETECTED. For SVO files, if the end of file is reached, it will return a new error code created specifically for this: ERROR_CODE::END_OF_SVOFILE_REACHED.
• ENUMs have been refactored under the following convention: ENUM_NAME::VALUE instead of the current ENUM_NAME::ENUM_NAME_VALUE or sometimes ENUM_NAME_VALUE.
  For example, the 2K resolution is now set with RESOLUTION::HD2K instead of RESOLUTION::RESOLUTION_HD2K or RESOLUTION_HD2K.
• All deprecated functions have been removed such as resetSelfCalibration(), getSelfCalibrationState(), setCameraFPS(), SticktoCPUCore(), isZEDConnected() (use getDeviceList().size() instead).
• Every module parameter can now be retrieved directly from Camera, such as Camera::getInitParameters(), Camera::getPositionalTrackingParameters(), etc.
• Camera::retrieve* functions now take a Resolution instead of height and width integers.
• CalibrationParameters::getCameraBaseline() has been added in the calibration parameters to access the distance between the left and right sensors (called the "baseline").
• Added Mat::save() function, replacing SaveAs function
• Added static function Camera::reboot() to perform a hardware reset of the camera. It simulates physically unplugging and replugging the camera. This feature is only available for ZED 2.
• ERROR_CODE_SENSOR_NOT_DETECTED has been replaced with ERROR_CODE::SENSORS_NOT_AVAILABLE since the ZED 2 contains multiple sensors (IMU, barometer, etc.). Added ERROR_CODE::MOTION_SENSORS_REQUIRED.
• ERROR_CODE_CAMERA_ALREADY_IN_USE has been replaced by ERROR_CODE::CANNOT_START_CAMERA_STREAM to be more coherent with what actually happens on the system. In most cases, it means the camera is being used by another process, but in rare cases, a firewall or antivirus software can prevent the camera from starting.

Video

• Enum CAMERA_SETTINGS is renamed to VIDEO_SETTINGS to be consistent with other modules naming.
• Camera::setCameraSettings now takes the enum and a value. Default values are enabled through an alias VIDEO_SETTINGS_AUTO (=-1)
• CAMERA_SETTINGS_WHITEBALANCE has been renamed in VIDEO_SETTINGS::WHITEBALANCE_TEMPERATURE since it controls the manually-adjustable color temperature of the camera.
• CAMERA_SETTINGS_AUTO_WHITEBALANCE has been changed to VIDEO_SETTINGS::WHITEBALANCE_AUTO. It only controls whether the camera will use automatic or manual white balance. If the manual mode is set, then the color temperature can be controlled with VIDEO_SETTINGS::WHITEBALANCE_TEMPERATURE.
  Note that setting a value to VIDEO_SETTINGS::WHITEBALANCE_TEMPERATURE will automatically disable VIDEO_SETTINGS::WHITEBALANCE_AUTO.
• Added VIDEO_SETTINGS::AEC_AGC to control if the Exposure/Gain are in automatic mode or not. This was previously mixed into the default value of Exposure or gain control and is now separated.
• Added VIDEO_SETTINGS::SHARPNESS, a digital two-pass sharpening control that improves image quality.
• Camera::getResolution has been moved to Camera::getCameraInformation().camera_resolution.
• Camera::getCameraFPS has been moved to Camera::getCameraInformation().camera_fps.
• MAT_TYPE format enums are slightly modified to fit the new convention: MAT_TYPE_32F_X and MAT_TYPE_8U_X are now respectively MAT_TYPE::F32_X and MAT_TYPE::U8_X.
• Added InitParameters::image_enhancement for improved image quality. Available for ZED, ZED Mini and ZED 2.

Recording

• Added RecordingParameters struct (input of enableRecording function).
• RecordingState has been renamed into RecordingStatus for homogenization.
• Camera::record() function has been removed.
• enableRecording() will automatically start recording, and disableRecording() will stop it. Camera::grab() now contains the previous per-frame record function internally.
• Added getRecordingStatus() to get info about the RecordingStatus.
• Removed isRecordingEnabled() function, which is now merged with getRecordingStatus.
• SVO_COMPRESSION_MODE: AVCHD and HEVC have been renamed to H264 and H265.
• Removed deprecated RAW and LOSSY modes for recording in the SDK.
  ZED Explorer can still record in LOSSY mode if H264/H265 is not supported (ex: when not using an NVIDIA graphics card).
• Added pause recording function pauseRecording().

Streaming

• STREAMING_CODEC: AVCHD and HEVC are renamed into H264 and H265
• Added StreamingParameters::chunk_size attribute.

Depth

• Depth range related functions like setDepthMaxRangeValue() are converted to parameters like depth_maximum_distance in the InitParameters. As a result, the maximum depth range is no longer a dynamic parameter.
• Depth confidence related parameters are moved into RuntimeParameters.
• DEPTH_MODE_MEDIUM has been removed. Use PERFOMANCE, QUALITY or ULTRA instead.

Positional Tracking

• Positional Tracking module functions have been renamed to include "positional" :
• Camera::enableTracking -> Camera::enablePositionalTracking
• Camera::disableTracking -> Camera::disablePositionalTracking
• Camera::resetTracking -> Camera::resetPositionalTracking
• Camera::isTrackingEnabled -> Camera::isPositionalTrackingEnabled
• TrackingParameters -> PositionalTrackingParameters
• TRACKING_STATE -> POSITIONAL_TRACKING_STATE
• PositionalTrackingParameters::enable_spatial_memory has been renamed to enable_area_memory to make the naming consistent with other references to this memory.
• Rename Camera::saveCurrentArea() to Camera::saveAreaMap().
• Rename AREA_EXPORT_STATE to AREA_EXPORTING_STATE.

Spatial Mapping

• Removed all deprecated Mesh functions: requestMeshAsync(), getMeshRequestStatusAsync(), retrieveMeshAsync(), extractWholeMesh().
  The overloaded SpatialMap functions, which include support for both Mesh and FusedPointCloud, should be used instead.
• extractWholeSpatialMap is now more efficient. If a previously retrieved map is given as an argument, it only retrieves the updated difference.
• Removed Texture class as it is redundant with a simple sl::Mat.

Object Detection

• New module that detects and tracks objects in 2D and 3D, such as people and cars. Available only for ZED 2.
• Added enable/disableObjectDetection() and retrieveObjects() functions.
• Added ObjectData class to hold information about each detected object, such as 2D and 3D bounding boxes, tracking information, dimensions, and its 2D mask.
• New ERROR_CODE: MODULE_NOT_COMPATIBLE_WITH_CAMERA.

Moving from ZED SDK 2.8 to 3.0 should be quick and easy, and brings many performance improvements along with new features. For more information, take a look at our improved online documentation or contact our support team. We’d be happy to help you make the switch to 3.0.