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# ZED SDK 2.2

> **Note**
>
> Release notes of the ZED SDK 2.2 series. Patch releases are listed newest first. Download links and the full changelog, including ZED Tools and integrations, are available on the [ZED SDK 2.2 release page](https://www.stereolabs.com/developers/release/2.2).

## What's New

The ZED SDK 2.2 release includes general performance improvements, a major update of the Unity plugin, new Python interface, support for CUDA 9 and JetPack 3.1, along with new features and bug fixes.

## 2.2.1

### Bug Fixes and Compatibility Update

* Added support for Linux Kernel 4.14.
* Fixed the Flip mode which should have been fixed in 2.2. It should now be fully functional.
* Fixed saving and loading calibration files for non-administrator users and usernames containing non-ASCII characters. You can now use the SDK without admin rights.

## 2.2.0

### New Features

#### General performance improvements

* Improved depth computation performance by 20%. Reduced memory usage.
* Improved positional tracking speed by 15%.
* Updated internal SDK architecture to reduce and stabilize overall `grab()` time. 2.3 will further improve `grab()` time, especially for applications using depth and positional tracking.

#### SDK version detection

* Applications that use the ZED SDK are now able to identify the installed SDK version before loading it.
* When loaded by an executable, the ZED SDK now detects the expected ZED SDK version and self-adapts to ensure runtime compatibility.

#### External CUDA context

* SDK CUDA context can now be retrieved to allow context sharing within an application.

#### Gravity orientation estimation

* Real-world gravity orientation can now be estimated after mapping an area.
* The dominant floor plane is extracted from the mesh and its normal is used to estimate the gravity vector.

### SDK

#### Updated Video API

* Improved real-time SVO playback mode. SVO files now always play at their capture frame-rate, not faster.
* Fixed `FLIP` mode on NVIDIA Jetson boards.
* Fixed an issue affecting SVO recording on Linux.

#### Updated Depth API

* Reduced depth computation time by 20% and improved stability.
* Reduced GPU memory usage by x2 in `PERFORMANCE` mode.

#### Updated Positional Tracking API

* Updated positional tracking behaviour. Tracking now always returns a camera pose, even when tracking state is "Searching..." or when saving an area file.
* Fixed tracking reset. Reset tracking no longer freezes the application when calling disable/enable in a row.
* Fixed tracking bug at high velocity. Tracking now correctly returns a pose when moving at high speed.
* Fixed bug in Spatial Memory that would sometimes make the pose jump to an incorrect location.
* Added `Camera::saveCurrentArea()` function to save an area file without having to disable tracking.

#### Updated Spatial Mapping API

* Improved Spatial Mapping API stability.
* Added `Mesh::getGravityEstimate()` to estimate gravity vector using mesh.
* Renamed `SpatialMappingParameters::RESOLUTION` parameter as `MAPPING_RESOLUTION` to avoid confusion with `sl::RESOLUTION`.
* Renamed `SpatialMappingParameters::RANGE` parameter as `MAPPING_RANGE`.
* Renamed `MeshFilterParameters::FILTER` parameter as `MESH_FILTER`.
* Renamed `SpatialMappingParameters::keep_mesh_consistent` as `use_chunk_only`. This parameter allows to disable mesh update and speed up applications which only use chunk lists.
* Renamed `SpatialMappingParameters::invert_vertex_order` as `reverse_vertex_order`. This parameter allows to retrieve mesh vertices in clockwise or counterclockwise order.

#### General SDK changes

* Simplified CMake files by using `find_package()`.
* Added `Camera::getZEDSDKBuildVersion()` and `Camera::getZEDSDKRuntimeVersion()` functions to allow SDK version detection at runtime. Applications on Windows are now able to check if a compatible version of the SDK is available before loading the SDK libraries.
* Added `InitParameters::sdk_cuda_ctx` input to allow context sharing within an application.
* Improved thread safety.
* Improved ZED USB device detection on certain Windows 10 configurations.
* Removed `keep_occluded_point` parameter in `savePointCloudAs()`. New behavior is set to `keep_occluded_point = false`.
* Deprecated independent string conversion functions `*2str()` in favor of a new universal `toString()` one.
* Fixed "Corrupted SDK" error message that would sometimes appear when opening the camera.

### Dependencies

* Removed X11 on Linux to allow SDK access and control from a remote SSH connection.

### Platform Support

* Added support for CUDA 9. Next updates will support CUDA 9 only, which drops support for [Fermi](https://en.wikipedia.org/wiki/CUDA#GPUs_supported) cards.
* Added support for JetPack 3.1.