ZED SDK 4.2

What’s New

The ZED SDK 4.2 update introduces compatibility with the new ZED One camera and HDR modes for ZED X One 4K cameras, along with improved memory handling, gravity estimation, and depth mode speed. It also adds a Health Check module for camera status monitoring and enables custom ONNX file inference and semantic mask ingestion. The Fusion module is now compatible with Object Detection, improving data synchronization and positional tracking.

4.2.5

Released: Feb 4, 2025

SDK

• Fixed camera opening for GMSL2 that could have random behavior when using old drivers. This bug was introduced in 4.2.4.
• Fixed recovery behavior and CAMERA_REBOOTING state for GMSL2 cameras, which did not behave as expected.

4.2.4

Released: Jan 29, 2025

SDK

• Improved ZED X capture for stability and performances when using multiple cameras.
• Fixed Area memory support (.area files) for Positional Tracking mode GEN_2
• Fixed memory leak in Positional Tracking mode GEN_2
• Added covariance output for Positional Tracking mode GEN_2, this was previously missing.
• Improved stability and reduced erratic IMU induced behavior of Positional Tracking mode GEN_2

Fusion

• Improved position smoothness returned by sl::Fusion when using Positional Tracking mode GEN_2
• Improved GNSS fusion; fixed some bugs in re-calibration mode. GNSS_DATA_COVARIANCE_MUST_VARY is now a warning instead of a hard error.

4.2.3

Released: Jan 9, 2025

SDK

• Fixed undefined behaviors in specific configurations, mainly related to positional tracking, fusion, and object tracking modules.
• Added gray output for ZED X One in the sl::CameraOne API.
• Fixed an issue with ZED X One opening using the GMSL Camera ID.
• Fixed the ZED X One local streaming timestamp; previously, the timestamp was missing and set to 0.
• Fixed an object tracking issue when the camera was tilted, where the 3D box information could output NaN values or incorrect dimensions.

4.2.2

Released: Nov 19, 2024

SDK

• Fixed a memory leak that occurred when closing GMSL cameras.
• Corrected the serialization of initParameters in JSON, addressing a previous misinterpretation of the InputType.
• Adjusted Neural depth confidence to prevent significant degradation of point cloud density in specific use cases with very low confidence thresholds. Confidence levels now align with those from version 4.1.X, with an improvement for very low values that previously removed too many reliable floor points in the far range.
• Resolved an issue where ZED X One timestamps were set incorrectly, causing issues with camera startup.
• Added capability to handle QHD+ calibration.
• Fixed a random memory leak when using positional tracking GEN2.
• Fixed a race condition in the streaming input causing a random crash. This also enables positional tracking GEN2 with streaming input.
• Fixed an undefined behavior when reading some ZED X serial numbers leading to undetected cameras.
• Updated the GNSS Fusion algorithm to smooth local jumps from GNSS data and propagate these to several frames.

Compatibility

• Added support for Ubuntu 24.04 LTS.
• Added support for JetPack 6.1.

4.2.1

Released: Oct 8, 2024

SDK

• Added verbosity in case of self-calibration issue (a specific error code will be added in the future minor update).
• Removed some GNSS-related verbose.

Bug Fixes

• Fixed Positional tracking initial position scale for tracking GEN_2.
• Fixed SVO recording regression leading to oversized files and high CPU usage.

4.2.0

Released: Sep 30, 2024

SDK

• Allowed the ZED SDK to stream or record SVO2 files at a different framerate than the one of the depth computation. It can be enabled with the InitParameters::async_image_retrieval parameter.
• Improved initial gravity estimation.
• Improved the speed of the NEURAL depth mode, especially when running on several cameras at the same time.
• Added ZED One compatibility with ZED SDK. ZED One can now be created with sl::CameraOne objects and the API is the same as with other ZED cameras. The available modules are Capture, Recording and Streaming. Samples are available too.
• Released HDR modes for ZED X One 4K cameras for two resolutions: 1920x1200 and 3200x1800. You can enable HDR with the boolean sl::InitParametersOne::enable_hdr.
• Added a Health Check module: the status of the camera can now be retrieved with sl::Camera::getHealthStatus. The status will detect and report issues if the camera is down, if the image looks occluded or corrupted, depending on the parameter set in sl::InitParameters::enable_image_validity_check.
• Fixed the mixing of the cameras when using multiple ZED X cameras and a unified driver (on JetPack 6.0).
• Improved ZED X One stability.
• Added the ability to easily load and save ZED SDK parameters.
• Allowed users to provide an ONNX file directly to the ZED SDK, without further coding. The ZED SDK will take care of running the inference. The Custom Object Detection option remains available for users who need the flexibility.
• Allowed users to ingest instance semantic masks instead of custom object detections with the Camera::ingestCustomMaskObjects function.
• Improved the Positional Tracking GEN2 initialization with the IMU data.
• Safer memory handling of sl::Mat.

Fusion

• The Fusion is now compatible with the Object Detection module. It can be enabled with Fusion::enableObjectDetection and objects are retrieved with Fusion::retrieveObjects. A fused_objects_group_name at sender level can be set to group the objects from different detection models.
• Improved the Fusion data synchronization quality when the senders have low or irregular framerates.
• Regions of interest are now correctly applied within the Fusion module.
• Fixed the retrieved position in rare cases where the IMU orientation is corrupted.
• The Fusion module now returns a FusedPositionalTrackingStatus object when retrieving the position. This new object contains information about the status of the different modules acting in the fusion of the positional tracking.
• Updated the FUSION_ERROR_CODE to fit the ZED SDK standard: negative values are a warning, positive are an error.