DevelopmentZED SDKRelease Notes2.x

ZED SDK 2.3

Release notes of the ZED SDK 2.3.x series
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Release notes of the ZED SDK 2.3 series. Patch releases are listed newest first. Download links and the full changelog, including ZED Tools and integrations, are available on the ZED SDK 2.3 release page.

What’s New

ZED SDK 2.3 includes several new features and improvements. It introduces support for ZED Mini, new ULTRA depth mode, visual-inertial technology for camera tracking and a new Unreal Engine plugin. Stereo pass-through is now supported in both Unity and UE4 along with our new Video Async Reprojection (VAR) technology for reduced latency.

The 2.3 release also includes support for CUDA 9.1, JetPack 3.2 along with general SDK improvements and bug fixes.

2.3.3

Depth

  • Fixed right disparity values being over filtered when using enable_right_side_measure.

2.3.2

SDK

ZED SDK installer

  • Removed a registry key that could prevent from loading Windows Mixed Reality headsets on a system.
  • Fixed CUDA automated installation on Windows 7.
  • Fixed Visual C++ redistributable installation on Windows 10.

SDK

  • Fixed crashes due to camera disconnection.
  • Improved overall input stability.

Depth

  • Improved depth map edges in ULTRA mode.
  • Reduced depth estimation holes on the floor in STANDARD mode.
  • Updated confidence map to add more steps when tuning the confidence parameter in PERFORMANCE and ULTRA modes.

2.3.1

Performance Improvements and Bug Fixes

  • Improved ULTRA depth performance by up to 200% on desktop and Jetson when depth stabilization is enabled.
  • Reduced memory usage of ULTRA depth mode by 50%.
  • Optimized confidence maps for ULTRA and PERFORMANCE modes. Confidence values are now more linear and accurate.
  • Fixed an issue where exposure and gain settings were applied on the left image only.
  • Fixed an issue when retrieving normals in VGA resolution with the ULTRA mode.
  • Fixed tracking behavior during the playback of an SVO recorded with a ZED Mini.

2.3.0

New Features

Added support for ZED Mini

  • Updated SDK and plugins to support ZED Mini.

New ULTRA depth mode

  • Introduced a new ULTRA septh mode. Depth maps can be now be extracted at the native resolution of the video, improving significantly depth sharpness, accuracy and range in both STANDARD and FILL modes.
  • In ULTRA mode, ZED can perceive depth up to 40 m and ZED Mini up to 20 m.

New visual-inertial tracking for ZED Mini

  • New hybrid positional tracking technology is introduced for the ZED Mini.
  • By taking advantage of ZED Mini integrated IMU, camera pose estimation is improved and drift is reduced.

SDK

Added ZED Mini support

  • Updated SDK modules to support ZED Mini.
  • Added Camera::getDeviceList() static function to know which devices are connected.
  • Added DeviceProperties structure to store information about connected devices.
  • Added MODEL enumeration to differentiate between ZED Mini and ZED.
  • Added camera_model information in the CameraInformation structure.

Added IMU support

  • Added Camera::getIMUData() function that gives access to the quaternion and raw IMU data in ZED Mini.
  • Added IMUData structure to store the IMU values filled by getIMUData() function.

Updated Depth API

  • Added DEPTH_MODE_ULTRA for the new ULTRA depth mode. It significantly improves depth estimation of both STANDARD and FILL sensing modes.
  • Improved normal map estimation.
  • Fixed depth map bug in Flip mode on Jetson.

Updated Positional Tracking API

  • Introduced new visual-inertial tracking algorithm for ZED Mini.
  • Reduced positional tracking time on Jetson when Spatial Memory is not activated.

Updated timestamp functions

  • Timestamp functions have been updated to simplify camera and IMU data access and synchronization.
  • Introduced Camera::getTimestamp() that replaces previous timestamp functions.
  • Changed timestamp reference form PC uptime to epoch format.
  • Deprecated Camera::getCurrentTimestamp(), replaced by Camera::getTimestamp(TIME_REFERENCE_CURRENT) which returns the current timestamp.
  • Deprecated Camera::getCameraTimeStamp(), replaced by Camera::getTimestamp(TIME_REFERENCE_IMAGE) which returns the latest image timestamp.
  • Updated getCameraFPS() function to return the actual camera FPS and not the requested FPS. This is helpful to detect USB bandwidth bottlenecks on certain platforms.

Platform Support

  • Added support for CUDA 9.1.
  • Added support for JetPack 3.2 for Jetson TX2.