DevelopmentZED SDKRelease Notes2.x

ZED SDK 2.2

Release notes of the ZED SDK 2.2.x series
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Release notes of the ZED SDK 2.2 series. Patch releases are listed newest first. Download links and the full changelog, including ZED Tools and integrations, are available on the ZED SDK 2.2 release page.

What’s New

The ZED SDK 2.2 release includes general performance improvements, a major update of the Unity plugin, new Python interface, support for CUDA 9 and JetPack 3.1, along with new features and bug fixes.

2.2.1

Bug Fixes and Compatibility Update

  • Added support for Linux Kernel 4.14.
  • Fixed the Flip mode which should have been fixed in 2.2. It should now be fully functional.
  • Fixed saving and loading calibration files for non-administrator users and usernames containing non-ASCII characters. You can now use the SDK without admin rights.

2.2.0

New Features

General performance improvements

  • Improved depth computation performance by 20%. Reduced memory usage.
  • Improved positional tracking speed by 15%.
  • Updated internal SDK architecture to reduce and stabilize overall grab() time. 2.3 will further improve grab() time, especially for applications using depth and positional tracking.

SDK version detection

  • Applications that use the ZED SDK are now able to identify the installed SDK version before loading it.
  • When loaded by an executable, the ZED SDK now detects the expected ZED SDK version and self-adapts to ensure runtime compatibility.

External CUDA context

  • SDK CUDA context can now be retrieved to allow context sharing within an application.

Gravity orientation estimation

  • Real-world gravity orientation can now be estimated after mapping an area.
  • The dominant floor plane is extracted from the mesh and its normal is used to estimate the gravity vector.

SDK

Updated Video API

  • Improved real-time SVO playback mode. SVO files now always play at their capture frame-rate, not faster.
  • Fixed FLIP mode on NVIDIA Jetson boards.
  • Fixed an issue affecting SVO recording on Linux.

Updated Depth API

  • Reduced depth computation time by 20% and improved stability.
  • Reduced GPU memory usage by x2 in PERFORMANCE mode.

Updated Positional Tracking API

  • Updated positional tracking behaviour. Tracking now always returns a camera pose, even when tracking state is “Searching…” or when saving an area file.
  • Fixed tracking reset. Reset tracking no longer freezes the application when calling disable/enable in a row.
  • Fixed tracking bug at high velocity. Tracking now correctly returns a pose when moving at high speed.
  • Fixed bug in Spatial Memory that would sometimes make the pose jump to an incorrect location.
  • Added Camera::saveCurrentArea() function to save an area file without having to disable tracking.

Updated Spatial Mapping API

  • Improved Spatial Mapping API stability.
  • Added Mesh::getGravityEstimate() to estimate gravity vector using mesh.
  • Renamed SpatialMappingParameters::RESOLUTION parameter as MAPPING_RESOLUTION to avoid confusion with sl::RESOLUTION.
  • Renamed SpatialMappingParameters::RANGE parameter as MAPPING_RANGE.
  • Renamed MeshFilterParameters::FILTER parameter as MESH_FILTER.
  • Renamed SpatialMappingParameters::keep_mesh_consistent as use_chunk_only. This parameter allows to disable mesh update and speed up applications which only use chunk lists.
  • Renamed SpatialMappingParameters::invert_vertex_order as reverse_vertex_order. This parameter allows to retrieve mesh vertices in clockwise or counterclockwise order.

General SDK changes

  • Simplified CMake files by using find_package().
  • Added Camera::getZEDSDKBuildVersion() and Camera::getZEDSDKRuntimeVersion() functions to allow SDK version detection at runtime. Applications on Windows are now able to check if a compatible version of the SDK is available before loading the SDK libraries.
  • Added InitParameters::sdk_cuda_ctx input to allow context sharing within an application.
  • Improved thread safety.
  • Improved ZED USB device detection on certain Windows 10 configurations.
  • Removed keep_occluded_point parameter in savePointCloudAs(). New behavior is set to keep_occluded_point = false.
  • Deprecated independent string conversion functions *2str() in favor of a new universal toString() one.
  • Fixed “Corrupted SDK” error message that would sometimes appear when opening the camera.

Dependencies

  • Removed X11 on Linux to allow SDK access and control from a remote SSH connection.

Platform Support

  • Added support for CUDA 9. Next updates will support CUDA 9 only, which drops support for Fermi cards.
  • Added support for JetPack 3.1.