DevelopmentZED SDKRelease Notes5.x

ZED SDK 5.0

Release notes of the ZED SDK 5.0.x series
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Release notes of the ZED SDK 5.0 series. Patch releases are listed newest first. Download links and the full changelog, including ZED Tools and integrations, are available on the ZED SDK 5.0 release page.

What’s New

ZED SDK 5.0 delivers 5× faster depth sensing, 300% lower compute load on Jetson, and improved depth accuracy in challenging environments. It introduces new depth modes powered by TERRA AI, offering options for higher accuracy and faster depth processing to suit different applications. The update also debuts Magellan™, a vision-based localization system providing centimeter-level positioning indoors and outdoors. Additionally, the capture pipeline architecture has been optimized to improve stability, reduce dropped frames, and lower video latency to under 60ms, delivering one of the lowest latencies in the industry.

5.0.7

Released: Sep 23, 2025

Bug Fixes

  • Fixed a std::future_error that could randomly occur with different frequencies on various setups when the health_check feature is enabled.
  • Fixed a crash that could happen when reading SVO2 files, particularly at end of file.

5.0.6

Released: Sep 9, 2025

Bug Fixes

  • Fixed a crash that occurred with USB cameras when unplugging and re-plugging a ZED, or when calling sl::Camera::reboot in a running application.
  • Fixed an issue where sl::GeoPose returned empty pose_data.
  • Fixed an issue where sl::Pose::valid from sl::Fusion::getPosition always returned true.
  • Improved image sharpening, which previously caused reduced image quality compared to ZED SDK 4.
  • Fixed SVO recording from streaming or from the ZED Media Server in Gen2, where high-frequency IMU data were missing.

5.0.5

Released: Jul 29, 2025

Bug Fixes

  • Fixed a regression in simultaneous GMSL camera listing in multiprocess setups. The ZED X camera can now be concurrently listed and opened in different processes without issues.
  • Fixed an issue when parsing calibration file for ZED X One in QHDPLUS resolution.
  • Fixed a segfault that could occur when restarting the positional tracking module while having the grab running in parallel.
  • Fixed a bug in SVO recording where the camera model could be incorrectly set in the internal metadata.

5.0.4

Released: Jul 22, 2025

SDK

  • Fixed the Positional tracking GEN_3 area map behavior to match GEN_1/GEN_2. It now updates the loaded area map, and it is also possible to save it.

Bug Fixes

  • Fixed a bug that could cause the getAreaExportState function to return an error code when saving an area map using Positional Tracking GEN_3.
  • Fixed an issue preventing retrieval of the absolute positional tracking covariance using Positional Tracking mode GEN_3.
  • Fixed an issue causing CameraOne to return 0 in focal_length_metric.
  • Fixed a conversion issue in findFloorPlane leading to a possible wrong output transform depending on the used coordinate system.

5.0.3

Released: Jul 1, 2025

SDK

  • Changed the default value of svo_real_time_mode from true to false for CameraOne’s InitParametersOne, to match the stereo camera’s default parameters.

Bug Fixes

  • Fixed a race condition that could occur when repeatedly setting the object detection runtime parameters.
  • Fixed an accuracy regression in the Object Detection module’s preprocessing, introduced in version 5.0.0. Bounding boxes could have an incorrect offset when using certain camera resolutions, such as HD1200.
  • Fixed an issue on Windows where the SVO file could not be correctly parsed from within the fusion calibration file.
  • Fixed an issue with ZED X One SVO recording making the resulting SVO size the same size as if recorded with a stereo camera when using the default bitrate. ZED X One SVO recording now has expected sizes.
  • Fixed a memory leak issue that occurred when repeatedly starting and stopping recordings.

5.0.2 (General Availability)

Released: Jun 17, 2025

SDK

  • Significantly improved the accuracy of NEURAL and NEURAL_PLUS depth modes, even compared to the NEURAL model released in 5.0.0 Early Access, with enhanced temporal stability and robustness against reflections, repetitive patterns, and complex-structured objects.
  • Added NEURAL model files in the ZED SDK installer to avoid additional downloads at runtime.
  • Added supporting functions isCameraOne, isAvailable, supportHDR, and getAvailableCameraFPS to easily check camera compatibility, available modes and capabilities.
  • Switched default streaming mode to GEN1 while GEN2 is being improved and stabilized. Users can still use streaming GEN2 by setting the environment variable ZED_SDK_STREAM_VERSION=2.

Bug Fixes

  • Fixed a crash that occurred when calling retrieveObjects using CUSTOM_BOX_OBJECTS with the resolution set to VGA.
  • Fixed a rare undefined behavior that led to random values when calling getCurrentFPS.
  • Fixed a rare crash that could occur after repeatedly opening and closing the same camera within the same process.
  • Fixed a possible race condition when opening multiple GMSL cameras from different processes.
  • Fixed a crash when using Fusion with multiple cameras and multiple GPUs.
  • Fixed an accuracy regression with body fitting in NEURAL modes.
  • Fixed a UDPSocket crash when streaming from a Jetson to a desktop.
  • Fixed an issue that prevented enableRecording from working with localhost. This is now supported.
  • Fixed a memory leak in Local Streaming IPC mode (with the ZED Media Server).
  • Fixed a segmentation fault on the sender side in Local Streaming that occurred randomly after some time.
  • Fixed getCameraSettings(sl::VIDEO_SETTINGS::WHITEBALANCE_AUTO) on ZED X / ZED X One, which was returning an incorrect value at launch (noticeable in ZED Explorer with multiple cameras).

5.0.1 (Release Candidate)

Released: May 16, 2025

Please note that 5.0.1 and 5.0.0 are not binary compatible. The Python API package will only work with 5.0.1. You should compile it from source if needed to run with 5.0.0.

SDK

  • Added SVO real-time mode pausing function.
  • Added dedicated setter functions for the Object Detection and Body Tracking runtime parameters. New retrieveObjects and retrieveBodies functions without runtime parameters have been added as well.
  • Added functions ENU2Geo and Geo2ENU in sl::Fusion, making it easy to compute latitude-longitude coordinates of a 3D point. See the C++ Geoloc playback sample (convert2Geo function).
  • Improved SVO playback for large files.
  • Added covariance output for Positional Tracking GEN_3.
  • Improved Positional Tracking GEN_3 loop closure detection and map optimization.
  • Reduced Positional Tracking GEN_3 area mapping file size and saving/loading times.
  • Improved Region of Interest precision when using Object Detection or Body Tracking. The boxes are now filtered depending on the ratio in the region of interest mask instead of the center and bounding box edges.
  • Improved Object Detection fusion internal synchronization; the process is now safer and more efficient.
  • Added ONNX model name as a prefix in the optimized model name when using Object Detection with a custom YOLO-like ONNX model.

Bug Fixes

  • Fixed ZED X auto-recovery function. A regression introduced in 5.0.0 prevented the GMSL camera recovery in case of an interruption.
  • Fixed a rare crash that could occur when enabling NEURAL depth mode.
  • Fixed a deadlock in the Object Detection module with the new internal threaded mode introduced in 5.0.0.
  • Fixed an unclosed file descriptor on Jetson when using SVO H26X input. This could lead to undefined behavior if the Camera class was opened and closed hundreds of times in the same instance processing hardware-decoded SVOs.
  • Fixed a regression when using multiple GPUs. It now correctly uses the selected device ID.
  • Fixed multiple bugs in setSVOPosition functions using index or timestamp input. It should now set the expected frame.
  • Fixed a small memory leak when using Fusion.
  • Fixed Object Detection crash when passing an invalid or missing custom YOLO-like ONNX file.
  • Fixed undefined behavior in Object Detection and Body Tracking when processing detector output.
  • Fixed incorrect retrieveImage output when using specific resolutions. The issue could affect grayscale or low-resolution images.
  • Fixed isCameraSettingSupported function with the AEC_AGC_ROI setting that would return invalid results.

Camera Drivers

Deprecation

  • Using retrieveObjects and retrieveBodies with runtime parameters is now deprecated. Setting runtime parameters should now be done using the dedicated setters.

5.0.0 (Early Access)

Released: Mar 19, 2025

SDK

  • Introduced new NEURAL models. Added a new NEURAL_LIGHT mode, and updated NEURAL and NEURAL_PLUS. They’re faster, more precise, and more robust. The older computer vision modes are now deprecated, the previous NEURAL models can still be accessed for retro compatibility.
  • Added a new sl::Camera::read() function that optionally separates the grab() function into two distinct operations: acquiring new images and processing data. This function does not affect existing applications using grab(), it will detect if the read() function was called or not. It enables parallel computing tasks, such as object detection.
  • Introduced new optimized resolutions for retrieveMeasure, using a sl::Resolution(-1,-1) selecting the internal best compromise for both quality and speed.
  • Improved GMSL image capture to reduce frame drops.
  • Enhanced detection reliability when accessing cameras using serial numbers or IDs. When using IDs for ZED X, it now correctly matches the GMSL port.
  • Introduced a new early access Positional Tracking mode, GEN_3, which offers enhanced accuracy and stability.
  • Improved floor plane detection stability, now includes better temporal filtering internally.
  • Improved camera health check API and algorithm, better performances, and more feedback.
  • Added video settings VIDEO_SETTINGS::SCENE_ILLUMINANCE to get the Luminance (LUX) of the scene when using ZED X cameras
  • Added support for custom data input into ZED One SVO.
  • Added functions to retrieve the current tracked keypoint when using Positional Tracking GEN_2
  • Added CUDA stream input to Camera::retrieveImage and Camera::retrieveMeasure for improved performance in GPU asynchronous workflows.
  • Added GPU-optimized functions, blobFromImage, and blobFromImages, for converting images to Deep Learning model tensor inputs.
  • Added utility functions, Mat::convertColor, for common color conversions, such as swapping red and blue channels and removing the alpha channel.
  • Added support for Custom OpenCV Calibrations with sl::CameraOne
  • Updated the default image framerate to 30 FPS, which provides the best performance compromise.
  • Updated the IMU data rate for ZED X cameras to 200Hz instead of 400Hz, which improves stability and performance, especially for multi-camera setups.
  • Updated the default InitParameters::depth_stabilization value to 30, which provides a more stable depth with minimal motion artifacts.
  • Renamed Camera::retrieveObjects to Camera::retrieveCustomObjects for custom object detection. The default behavior remains unaffected, but the new method is required when using CustomObjectDetectionRuntimeParameters.
  • Added new parameters to the CustomObjectDetectionProperties struct:
    • (min|max)_box_(width|height)_meters, to give control to maximum 3D objects dimensions
    • native_mapped_class, to allow remapping a custom label to the SDK’s internal SUBCLASS and benefit from the internal tuning
    • object_acceleration_preset and max_allowed_acceleration to have better control of the tracked objects’ maximum acceleration

Bug Fixes

  • Fixed a potential deadlock in Positional Tracking GEN_2
  • Fixed the function to retrieve unified point clouds from multiple camera setup within the Fusion API
  • Fixed a random issue leading to NAN values in IMU orientation.
  • Fixed the function resetPositionalTracking when using Positional Tracking GEN_2
  • Fixed a random issue leading to NAN position in Object Tracking
  • Fixed random memory leak in Fusion when playing back SVO files
  • Fixed ZED X One 4K SVO recording/playback
  • Fixed a potential deadlock occurring in Object Detection within the Fusion API

Platform

  • Removed support for legacy JetPack 4.6, 5.0.2, and 5.1 (L4T 32.7, 35.1, and 35.2 respectively)
  • Added support for TensorRT 10, this version introduced Blackwell GPU support (with CUDA 12.8) but dropped Pascal GPU support. For GTX 10X0 series GPU, TensorRT 8 installers should be used.
  • Added support for Blackwell GPU.