4.2.0/4.2.1

Download the ZED SDK 4.2

4.2.1

SDK

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

Bug fixes

• Fixed Positional tracking initial position scale for tracking GEN_2.
• Fixed SVO recording regression leading to oversized file.

4.2.0

SDK

• Added a new InitParameters::async_image_retrieval parameter that enables the ZED SDK to stream or record SVO2 files at a different framerate than the one of the depth computation.
• 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.
• Added support for HDR modes for ZED X One 4k cameras for two resolutions: 1290x1200 and 3200x1800. You can enable HDR with the boolean sl::InitParametersOne::enable_hdr, or within ZED Media Server.
• 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, the image looks occulted or corrupted, depending on the parameter set in sl::InitParameters::enable_image_validity_check.
• Improved the speed of the NEURAL depth mode, especially when running on several cameras at the same time, by reducing internal data copy and improving computation parallelism.
• Added a new custom ONNX Object detection model input for YOLO models. This allows users to provide an ONNX file directly to the ZED SDK, without further coding. The ZED SDK will take care of running the inference using an optimized workflow with TensorRT. The Custom Object Detection box input option is still available for users who need flexibility.
• Improved initial gravity estimation.
• 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 a new way of serializing ZED SDK parameters using JSON to easily load and save.
• Added a semantic mask input in the Object Detection module, similar to bounding box input using the Camera::ingestCustomMaskObjects function. The instance mask is used to compute the object's 3D position in addition to the previous way when the instance mask is not available.
• Improved the Positional Tracking GEN2 initialization with the IMU data.
• Improved sl::Mat memory handling safety by switching to smart pointers.

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 the sender level can be set to group the objects from different detection models.
• Improved the Fusion data synchronization quality when the sender has low or irregular framerates.
• Fixed incorrect application of Regions of interest within the Fusion module.
• Fixed the retrieved position in rare cases where the IMU orientations are corrupted.
• Added a FusedPositionalTrackingStatus in the Fusion module when retrieving the position. This new object contains information on 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, and positive values are errors.

Tools

• Added ZED One compatibility with ZED Explorer.
• Added ZED One compatibility with ZED Sensor Viewer.
• Fixed IMU recording at full frame rate for ZED Sensor Viewer.
• Improved ZED Depth Viewer opening reliability.
• Added accelerometer bias calibration for Sensor Viewer, see --help.

Wrappers

• Added ZED One compatibility with Python.
• Fixed the Fusion implementation of the C# wrapper.

4.1.3

Download the ZED SDK 4.1

4.1.3

SDK

• Added status reporting for NEURAL depth model optimization errors. The Camera::open() function can now fail to reflect the NEURAL depth status.
• Enabled mask retrieval for custom object detection.
• Improved GNSS calibration speed when covariance is very low, such as with RTK.

Bug fixes

• Fixed an issue with the quad camera configuration that prevented all cameras from opening on Jetpack 6.
• Fixed the depth min and max getter methods in the Python API.
• Fixed an issue with custom object detection where the 3D bounding box height increased along with the width.
• Fixed several edge cases in positional tracking generation 2.

Tools

• Added the ability to enable and disable the zed_media_server_cli.service from the ZED Media Server.
• Fixed a crash in Depth Viewer on Windows when opening SVO files.

Samples

• Improved Global Localization samples.

4.1.2

Download the ZED SDK 4.1

4.1.2

SDK

• Improved fusion sources synchronization for enhanced robustness in case of inconsistent data rates.
• Improved robustness of Positional Tracking Gen 2 IMU initialization.
• Added support for the Jetpack 6.0 Production Release.

Bug fixes

• Fixed a memory leak when closing the camera during SVO playback.
• Fixed a bug that could prevent recording lossless H26X SVO on Jetson.
• Fixed a regression in the image acquisition pipeline for HD1080 at 30FPS in USB mode that could impact performance.
• Fixed SVGA capture mode with ZED X cameras, which could result in black images.

Tools

• Fixed the AI model diagnostic not being available in the command line option for ZED_Diagnostic.

Samples

• Improved Global Localization Python samples.

4.1.1

Release Notes
Download the ZED SDK 4.1

4.1.0

This release of the ZED SDK is now a stable release of the major version 4. It brings significant stability and performance improvements. We're introducing a new generation of the Positional Tracking module for more precise and robust localization. A new version of SVO is also available, recording full sensor data and supporting custom user data for ease of use.

Release Notes
Download the ZED SDK 4.1

Features

What’s new with the fourth generation of ZED SDK ? With the release of 4.1, we have focused on:

Positional Tracking GEN2
Recording using SVO2
Improved Neural Depth
Region of interest per module
Improved Global localization / Geo Tracking

4.0 Early Access

We are excited to announce the release of ZED SDK 4.0, which introduces a range of new features and enhancements to our ZED cameras. Our latest update supports the ZED X and ZED X Mini cameras, designed specifically for autonomous mobile robots in indoor and outdoor environments. It also introduces an improved Neural depth, a new global-scale location tracking API and a new body tracking technology for smart spaces.

We are also proud to introduce the new multi-camera Fusion API, which makes it easier than ever to deploy multi-camera setups with data fusion. This module handles time synchronization and geometric calibration issues, along with 360° fusion coming from multiple cameras and sensor sources. We believe that these updates will unlock even more potential for our users to create next-generation space aware applications that push the boundaries of what is possible with AI and vision.

• Release Notes
• Download the ZED SDK 4.0

Features

What’s new with the fourth generation of ZED SDK ? With the release of 4.0, we have focused on:

• Support for the new ZED X and ZED X Mini cameras
• Introducing new Multi-camera Fusion API
• Introducing new Geotracking API for real-time location monitoring at global scale
• Improved Neural depth which is now more robust to challenging situations such as low-light, image compression, noise and textureless areas
• Introducing new Body Tracking Gen2

There’s some other features and improvements in 4.0 too, so without any further delay head over to the announcement on the Stereolabs website for all the details.

Upcoming Changes

Our SDK 4.0 is currently in early access and we would love to hear your feedback on Discourse or by email. Our team is working tirelessly to implement the changes and improvements based on the community feedback to ensure that the final RC version release exceeds your expectations. So stay tuned for upcoming updates!

3.8

3.8

ZED SDK 3.8 is a major release that includes new features and performance improvements to depth sensing and body tracking. This update brings up to 50% performance improvement for Neural depth sensing. Human skeleton tracking has also been sped up by +40% on most platforms. The Linux installer size has been reduced by 50%.

You can find the full Release Notes and SDK download page here:

• Release Notes
• Download the ZED SDK 4.0

v2.X

Update README

v2.0.x

For the ZED SDK 2.0.x