ZED SDK 2.1

What’s New

The ZED SDK 2.1 release includes an update of the Depth Sensing API, Spatial Mapping API and Unity plugin, along with removal of OpenCV dependency for all platforms.

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 sub-meshes 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.

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_side_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.