STEREOLABS

ZED SDK

3.3.0

What's New

2020-10-23

ZED SDK 3.3 brings major updates of Object Detection and Body Tracking modules, along with many SDK fixes and improvements. Object Detection is now 2x faster and more accurate. Body Tracking is also improved thank to new body fitting technique.

The release also adds support for CUDA 11.1 and the new RTX 30x GPUs

To update to 3.3 from previous 2.X versions, read the migration guide.

3.3.0

New Features

Object Detection
  • Improved Object Detection accuracy and speed while reducing memory usage, up to 40% faster inference speed on Jetson Nano JP44 and 40% more accuracy compared to previous versions.
  • Add a new Detection Model MULTI_CLASS_BOX_ACCURATE, 3x times more accurate than the standard 3.2 model (while being only 30% slower).
  • New objects classes can now be detected, such as BAG, ANIMAL, ELECTRONICS, FRUIT_VEGETABLE.
  • Detected Objects now have a sub-class, which is more descriptive.
  • Detected Objects are now sorted by depth, from the closest to the farthest.
Body Tracking
  • Add body fitting mode, resulting in smooth and realistic skeletons movements. Can be enabled using ObjectDetectionParameters::enable_body_fitting.
  • Improved speed of skeleton detection by +40% on all platforms.
  • Reduced CPU usage when using skeleton tracking.

SDK

General Improvements
  • Camera capture and grab is now more stable during long-term usage and can recover from USB connection drops.
  • Camera capture timestamps (from sl::zed::getTimestamp()) are now continuously adjusted to host clock changes (for example when using NTP or PTP synchronization). This allows for better synchronization between multiple ZED cameras connected to different hosts sharing the same sync source (NTP or PTP).
  • Camera::saveAreaMap() function now check if the ".area" extension is used and adds it if necessary.
  • On Linux, the SDK installer has been split into a standard and full version. The installer is up to 50% lighter on desktop using the standard version. The major difference between the two version is that the full SDK installer contains the static ZED library.
Bug Fixes
  • Resolve symbols conflicts when linking with OpenCV using the static ZED library.
  • Improve CUDA version detection in the Python installer script.
  • Windows installers are now signed again.
  • Improve ZED2 connection reliability (open()) when LOW_USB_BANDWIDTH was triggered as output. It can now automatically recover by restarting the camera module.
  • Fix missing linear acceleration metadata in SVO files (for ZED2) recorded with ZED Explorer.
  • Fix RecordingStatus linking error that could occurs in some cases like dynamically loading the zed library
  • Fix download location when using custom settings filepath (InitParameters::optional_settings_path), the previous behavior incorrectly downloaded the file into the standard path.
  • getCurrentFPS() function now reports correctly the application FPS (computed from the time between two consecutive grab calls), even when using SVO or Streaming inputs.
  • Fix and improve Plane Detection with Depth Mode set in QUALITY.
  • Fix Object Detection sample crash when using 2D mask that could occurs when the mask was empty.
  • Fix Spatial mapping chunk usage with fused point clouds. The chunk::has_been_updated flag was not correctly set, leading to all the chunks marked as updated. Now only the chunks that have been updated during the last loop are marked as true.
  • Spatial Mapping can now use all the available memory and is not limited to a power of 2 amount.
  • Spatial Mapping from a SVO now processes each frame, unless it is set as real time mode. It was previously in a non synchronized thread and could skip frames when using in offline mode.
  • Fix usage of an initial transform matrix in positional tracking initialization in the Python wrapper (it was previously partially ignored).
Integrations
  • ROS2 Eloquent is now supported in the latest ZED ROS 2 wrapper update.
  • Updated and fixed various ROS wrapper issues.
  • Improved Unity plugin support of Object detection and Skeleton tracking.
  • Updated C++, Python and C# wrappers and samples. Tutorials codes are now available in the installer package.
Known Issues
  • ZED Static library is not available with JetPack 4.4.
Deprecation
  • JetPack 4.3 support is now deprecated and will be removed in the next release. In 3.3, JetPack 4.3 SDK uses the previous version of Object detection module (MULTI CLASS BOX model).
  • CUDA 10.0 support is now deprecated. Users are encouraged to move to CUDA 11.0 or newer.
  • Ubuntu 16.04 support is deprecated and will be removed in the next release.
  • CUDA 9.0 and JetPack 4.2 support have been removed.

Legacy

For older releases and changelog, see the ZED SDK release archive.

SDK Downloads

The ZED SDK allows you to add depth, motion sensing and spatial AI to your application. Available as a standalone installer, it includes applications, tools and sample projects with source code. Please check out our GitHub page and SDK documentation for additional resources.

Standard installer

This version of the installer includes the standard dynamic libraries, tools and samples.

Full installer

This version of the installer includes the standard dynamic libraries, tools and samples but also the static libraries and their dependencies.

Legacy

For older releases and changelog, see the ZED SDK release archive.

Integrations

Build applications with ZED and your favorite tools and languages using these integrations. View all integrations >

App

ZED World is a standalone application that allows you to experience mixed reality with stereo pass-through in VR headsets. Requires ZED Mini, Oculus Rift or HTC Vive.