What's New
2019-07-22

ZED SDK 2.8 introduces streaming ZED's video feed across a network, turning ZED cameras into IP cameras. It also adds support for point cloud-based spatial mapping, simpler Jetson installation process and major wrapper/plugin updates. Read More.

2.8.3
SDK

    General

  • Fixed multiple camera detection on Ubuntu 18.
  • Fixed getCameraSettingsValue() when using network streaming input. It was not fully supported on previous versions.
  • Fixed random freeze on Windows when using network streaming input.
  • Fixed retrieveImage() for Side by Side View mode that would lead to an empty image.
  • Fixed error code that returned SUCCESS when retrieveImage() or retrieveMeasure() was used with a resolution higher than the camera resolution. Functions will now return ERROR_CODE_INVALID_RESOLUTION.

    SVO

  • Fixed a bug in LOSSLESS compression on Linux when using ZED Mini cameras. IMU metadata was not reported in the SVO file, leading to wrong tracking states.
  • Fixed metadata synchronization issue where IMU and image data could be out of sync in H264 (AVCHD) and H265 (HEVC) SVO files recorded on Desktop platforms.

    Samples

  • Fixed support of Visual Studio 2019 for Samples that required GLEW library.
  • Improved mouse control in Positional Tracking sample.

    Tools

  • Fixed SVO playback controls in ZED Explorer. Previously, the "+/-" button could jump one frame each time it was clicked.
  • Fixed SVO conversion to H264 (AVCHD) and H265 (HEVC) in ZED SVO Editor tool.
  • Improved zoom in/out control in Depth Viewer.
Plugins

    Unity

  • Added support for building applications with Unity and ZED on Linux. See zed-unity repository for more information.
  • Fixed issue when using multiple cameras that could lead to a crash if both cameras shared the same CAMERA_ID.
  • Fixed minor issues in the plugin. See zed-unity release notes for more details.
2.8.2
SDK

    General

  • Added static sl_svo library on Linux. All ZED SDK libraries are now available as static libraries.
  • Fixed SVO playback speed in ZED Explorer. SVO are now played at their capture speed.
  • Applied multiple minor UI updates in ZED Explorer.
  • Fixed an issue preventing the tools to be launched with a double click on Ubuntu 18.

    Video

  • Fixed unrectified image orientation in Flip mode.
  • Fixed a potential issue leading to file corruption when multiple programs accessed the camera calibration file at the same time.

    Positional Tracking

  • Updated IMU output to remove gyroscope bias correction from raw data. This will improve SLAM algorithms that include online bias estimation and use the IMU raw data.
  • Fixed enable_imu_fusion function. When set to false, it now effectively disables IMU use for visual odometry estimation.

    Spatial Mapping

  • Fixed a memory detection issue preventing the mapping to start when <2GB of RAM was available.

    SVO

  • Fixed a potential issue when reading the last frame of an SVO file.
  • Added support for ~ character in SVO paths on Linux.

    Samples

  • Added ArUco Marker detection sample showing how to relocalize the camera during tracking.
  • Updated OpenCV-related samples for compatibility with OpenCV 4.
  • Fixed installation of the SVO recording sample.
2.8.1
SDK

    Positional Tracking

  • Fixed IMU bias correction that could lead to slow movement not being correctly tracked.

    SVO

  • Fixed automatic low recording bitrate when target FPS is not reached.

    Tools

  • Fixed ZED Explorer image stall when taking a screenshot.
  • Removed debug message in ZED Explorer console.
2.8.0
New Features

    Streaming over IP network

  • ZED SDK 2.8 introduces a brand new streaming feature. Users can now connect as many ZED cameras as needed directly to a network and conveniently access the video feeds simultaneously, on multiple devices and applications. Get Started.
  • Also, Ethernet cabling greatly extends the distance allowed between the ZED camera and the host device making installation and placement of ZED cameras more flexible and scalable.

    ROS 2

  • Introducing a brand new ROS 2 wrapper for the ZED SDK, taking advantage of all the new features and optimization of the new ROS 2 version.
SDK

    General

  • Added Streaming capabilities. The ZED SDK can now stream data from local cameras over the network, for multiple remote computers running the SDK to use as input.
  • Added support for scanning into point clouds using Spatial Mapping.
  • In collaboration with NVIDIA, solved an issue on Jetson preventing the ZED Mini from being detected after reboot. Fix is available in Jetpack 4.2 and will be applied to older versions.
  • Fixed an issue on Jetson TX2 leading to incorrect floor plane detection with the ZED Mini.
  • Fixed image timestamping issue that could lead to offsets when using getTimestamp(TIME_REFERENCE_IMAGE).

    Streaming

  • Added input.setFromStream(...) function in InitParameters to open a streaming camera.
  • Added enableStreaming(...) and disableStreaming() functions to start and stop a stream from a camera.
  • Added StreamingParameters structure to setup custom bitrate, port and codec of a camera stream.
  • Added isStreamingEnabled() function to get the streaming status of a camera.
  • Added getStreamingDeviceList() function to list the camera streams available on the network.

    Spatial Mapping

  • Added map_type parameter in SpatialMappingParameters to select between mesh or point cloud-based mapping.
  • Added SPATIAL_MAP_TYPE enumerate to list available mapping types (mesh vs. point cloud).
  • Added extractWholeSpatialMap(...) function, deprecating extractWholeMesh(...).
  • Added retrieveSpatialMapAsync(...) function, deprecating retrieveMeshAsync(...).
  • Added requestSpatialMapAsync() function, deprecating requestMeshAsync().
  • Added getSpatialMapRequestStatusAsync() function, deprecating getMeshRequestStatusAsync().
  • Fixed an issue that could lead to a crash during mesh texturing in Unity.

    API

  • Added CAMERA_SETTINGS_LED_STATUS in CAMERA_SETTINGS to allow users to enable or disable the camera LED.
  • Updated Jetson installers. There is now one installer per Jetpack version that covers all supported Jetson boards, instead of one installer per board and per Jetpack.

    SVO

  • Fixed memory leak in disableRecording() function.
  • Introduced optional_settings_path to select a custom calibration file path.

    Positional Tracking

  • Added enable_imu_fusion parameter in TrackingParameters to disable camera-IMU odometry fusion when using a ZED Mini in specific environments such as high vibration platforms.
  • Updated TrackingParameters.enable_pose_smoothing behavior to better track high-speed movements of the camera when disabled.
  • Updated Pose.pose_covariance behavior when using spatial memory. The covariance is now accessible when TrackingParameters.enable_spatial_memory is activated.
  • Deprecated Pose.pose_confidence attribute. Use Pose.pose_covariance instead.
  • Introduced camera_disable_imu to disable the imu opening in live mode. This allows opening a ZED-M on USB 3.0 only extensions cord such as optical fiber.

    Tools

  • Added a feature to ZEDfu to scan and export as fused point cloud.
  • Fixed a graphics resizing issue in ZED Explorer on Ubuntu 18.
  • Fixed an issue in SVO Editor that prevented cutting an SVO within the first few frames.
Plugins

    Python

  • Updated API for compatibility with 2.8 release.
  • Added 2.8 streaming capabilities.
  • Added native OpenCV sample to open the camera without the ZED SDK on non-NVIDIA computers.

    ROS

  • Updated API for compatibility with 2.8 release.
  • Moved parameters from launch files to YAML files. This makes them clearer and unifies parameters between different launch files.
  • Added minimum depth parameter (min_depth).
  • Added base_link to the TF tree to improve user experience when adding ZED cameras to a standard ROS robot configuration. Pose and Odometry are now referred to base_link instead of zed_camera_center.
  • Added a separated launch file for ZED Mini (zedm.launch and display_zedm.launch).
  • Added a service to set the ON/OFF status of the blue LED (firmware > 1523).
  • Added a service to toggle the status of the blue led (firmware > 1523).
  • Added a parameter to choose the default SVO compression mode for SVO recording.
  • Added 2D mode for stable navigation on planar surfaces.
  • Added option to set a fixed pose/odometry covariance or use the dynamic matrices calculated by the SDK.
  • Added SVO recording services.
  • Added zero-copy to Pointcloud publishing (thanks @RhysMcK).
  • Added dynamic parameter to change the frequency of point cloud publishing. Now the point cloud can have a frequency different from the grab frequency (always less than or equal to the grab frequency).
  • Added services to start/stop network streaming, which allows remote machines to acquire and process images using a ROS node or a "not ROS" application.
  • Added stereo side-by-side image topic for raw and rectified images.
  • Removed initial warning about TF not being available.
  • Improved console logging for a better vision of the node configuration.
  • Fixed additional minor issues.

    Unity

  • Updated API for compatibility with 2.8 release.
  • Added support for multiple cameras on the same PC - complete refactoring of the plugin to support this.
  • Added Multicam sample to demonstrate how to use more than one ZED camera at once.
  • Added support for the SDK's new streaming features - direct USB connection no longer required.
  • Added Pose Smoothing to positional tracking relocalization. Enabling spatial memory for tracking no longer creates "jumps" in position estimation.
  • Added Estimate Initial Position feature to set the ZED's pitch and height based on automatic floor plane detection at start.
  • Removed dependence on Unity layers for showing the correct real-world feed to the proper camera. Users can now adjust ZED rig culling masks like any Unity Camera.
  • Moved Spatial Mapping and SVO recording/playback to ZEDManager, removing ZEDSpatialMappingManager and deprecating ZEDSVOManager.
  • Simplified how detected planes are drawn in scene, giving more control and allowing them to be drawn at the same time as a spatial mapping mesh.
  • Fixed ZED rig drift when tracked with ZEDControllerTracker. This was caused by how the latency compensation was handled.
  • Fixed long pause when closing applications while a ZED was initializing.
  • Updated controller scripts to work with SteamVR Unity plugin version 2.
  • Fixed additional minor issues.

    Unreal

  • Updated engine and plugin to support 2.8 release.
  • Added Pose Smoothing to positional tracking relocalization. Enabling spatial memory for tracking no longer creates "jumps" in position estimation.
  • Unreal enigne version updated to 4.21.
SDK Downloads
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. Please check out our GitHub page and SDK documentation for additional resources.
CUDA 10 (Recommended)
  • ZED SDK for Windows v2.8.3 (Windows 7-10)
  • ZED SDK for Ubuntu 18 v2.8.3
  • ZED SDK for Ubuntu 16 v2.8.3
  • CUDA 9
  • ZED SDK for Windows v2.8.3 (Windows 7-10)
  • ZED SDK for Ubuntu 16 v2.8.3

  • Jetson
  • ZED SDK for Jetpack 3.3 v2.8.3 (Jetson TX1 / TX2, CUDA 9)
  • ZED SDK for Jetpack 4.2 v2.8.3 (Jetson Nano / TX2 / Xavier, CUDA 10)
  • Plugins
    Build applications with your favorite tools and development environments using these standalone packages, which provide access to the complete feature set of the ZED SDK.
    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.
    Legacy
    For older releases and changelog, see the ZED SDK release archive.