The ZED SDK allows you to add depth and motion sensing to your application. Available as a standalone installer, the ZED SDK includes applications, tools and sample projects with source code.
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.
Fixed the Flip mode which should have been fixed in 2.2. It should now, hopefully, be fully functional. Really.
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.
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.
Major update of Unity plugin
The plugin has been completely refactored to simplify the creation of interactive AR applications.
Legacy
For older releases and changelog, see the ZED SDK release archive.
Added Spatial Mapping to enable physical interactions with the real-world environment.
Updated VR Green Screen sample. Improved chroma key, VR controller support, general usability and fixed various bugs.
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-adapt 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 will 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.
Plugins
Unity
Refactored plugin organization and architecture.
Added Spatial Mapping module to allow physical interactions between the virtual and real-world.
Improved chroma key in Green Screen sample. Matte edges are now much cleaner and sharper.
Improved PBS lighting in forward rendering mode.
Added AR post-processing shaders to enable realistic integration of virtual objects in video.
Added OpenGL support.
Added camera loading screen with error reporting.
Added callbacks reporting the camera status.
Fixed SVO reading speed when playing back recorded videos in Unity.
Fixed multithreading issue leading to crashes on computers with low resources.
ROS
Updated wrapper to ensure compatibility with ZED SDK 2.2.
Removed X11 dependency to allow usage of remote ROS nodes without display.
MATLAB
Updated interface to ensure compatibility with ZED SDK 2.2.
Python
Added new interface to ZED SDK in Python (beta). Available on GitHub.
Samples and Tutorials
SVO Export sample is now able to save 16-bit images of the depth from an SVO file.
ZED Depth Viewer: Fixed point cloud rendering and export issues leading to empty files.
Updated Diagnostic tool.
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.
Known Issues
On certain configurations, VRCompositor in SteamVR can freeze when using HTC Vive and ZED. Disabling Async Reprojection in SteamVR can fix the issue.
