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# ZED SDK 1.0

> **Note**
>
> Release notes of the ZED SDK 1.0 series. Patch releases are listed newest first. Download links and the full changelog, including ZED Tools and integrations, are available on the [ZED SDK 1.0 release page](https://www.stereolabs.com/developers/release/1.0.0).

## What's New

The ZED SDK 1.0 release introduces positional tracking, `ZEDfu` mapping application and Wide VGA video mode.

## 1.0.0

### Major New Features

#### Positional tracking API

* New tracking API is introduced in 1.0. It calculates position and orientation of the camera for every frame using a new improved stereo SLAM technology. See Tracking samples to learn how to use the new API.

#### New high-speed Wide VGA mode

* Updated ZED firmware (1142) introduces Wide VGA @100 FPS, replacing previous VGA mode.
* WVGA resolution is increased to 672\*376 per image with improved image quality and a much wider field of view.
* Firmware update is done automatically during installation of the ZED SDK (Win, Linux, Jetson).

#### SVO compression

* New SVO lossless compression now saves 66% in file size and processing time.

### SDK

#### Added positional tracking API

* New `getPosition()` function provides position and orientation of the camera for every frame. Use `enableTracking()` during initialization to use the Tracking API.
* `enableAreaLearning` parameter can be set to activate camera relocalization and loop closure detection during tracking.

#### Updated depth sensing mode with up to 2x faster computation

* Updated `MODE::PERFORMANCE` to new faster than real-time stereo matching algorithm.
* Added `MODE::MEDIUM` with depth estimation quality and speed similar to the previous `MODE::PERFORMANCE`.

#### Added manual control for camera exposure time

* Exposure time can now be configured manually by the user with `setCameraSettingsValue()` function.

#### Replaced parameters for Init() function with new "InitParams" structure

* `UNIT`: Desired metric units can be specified in `InitParams` structure. All the provided data will be scaled according to the selected units: baseline, depth, XYZ, depthclamp, closestDepthValue, tracking information... Therefore, `setBaselineRatio()` has been removed.
* `COORDINATE_SYSTEM`: Coordinate systems such as left or right-handed coordinates can now be selected in `InitParams` structure. The oriented data such as (XYZ) point cloud and tracking information will be expressed in the specified coordinate system.
* `minimumDistance`: the `minimumDistance` for depth computation can now be configured manually and set above 50cm. On certain configurations, this can dramatically improve frame-rate.

#### Updated depth values semantic

* `OCCLUSION_VALUE`: `NaN` (not a number), for occlusions.
* `TOO_FAR`: `Inf` (infinity), for values above `DepthClampValue`.
* `TOO_CLOSE`: `-Inf`, for values below `ClosestDepthValue`.
* `isValidMeasure()`: New macro function that returns false if the given value is one of the above, else returns true.

#### Added function to calculate ZED camera field of view

* Left and right eye field of view can now be retrieved using `getParameters()`: LeftCam/RightCam.hFOV/dFOV/vFOV. See `StereoParameters` structure for more details.

#### SVO files now record the camera framerate as well as timestamp during recording

* Use `getCameraTimestamp()` function to extract the timestamp from the current SVO image. This can be used to detect frame drops during recording.

### API Changes

* `Camera::init(...)`: Replaced arguments with `InitParams` structure. See SDK Changes.
* `SENSING_MODE`: `RAW` and `FULL` modes have been renamed to `STANDARD` and `FILL`. This better reflects the use of the different depth sensing modes. Old names have been removed.

### Dependencies

* Updated OpenCV from 2.4.9 to 3.1 on Windows and Linux.
* Added Eigen 3.