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# ZED SDK 1.1

> **Note**
>
> Release notes of the ZED SDK 1.1 series. Patch releases are listed newest first. Download links and the full changelog, including ZED Tools and integrations, are available on the [ZED SDK 1.1 release page](https://www.stereolabs.com/developers/release/1.1.0).

## What's New

The ZED SDK 1.1 release includes a new recording mode and grayscale image output, along with minor improvements and bug fixes.

## 1.1.1

### Platforms

* Added Ubuntu 16.04 compatibility.
* Added CUDA 8 compatibility on Windows and Linux.
* Added JetPack 2.3 compatibility on Jetson TX1.

### SDK

* `grab()` function now returns an appropriate error code `ERRCODE` when issues occur.
* `grab()` function now accepts either a structure as input or a list of variables.
* Minor bug fixes.

## 1.1.0

### New Features

#### New recording pipeline

* SVO or AVI recording can now be started with `enableRecording()` and stopped with `stopRecording()` without deleting the ZED camera object.
* You can also record videos with depth and tracking enabled.
* Use the `record()` function after a `grab()` call to save incoming images in your video file.

#### New grayscale and raw image output

* Grayscale images and raw (unrectified) images can now be retrieved using `retrieveImage*` functions.

### SDK

#### New positional tracking matrix output

* Besides the 4x4 Eigen matrix that contains the position and orientation of the camera, a new structure `MotionPoseData` that contains the rotation, translation and orientation (quaternion) of the camera can be retrieved. This quaternion can be used more easily in OpenGL and Unity applications.

#### New XYZ+Color output

* Added `XYZBGRA`, `XYZARGB`, `XYZABGR` support in `retrieveMeasure*()` function. This improves performance with ROS and other third-party libraries.