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# ZED SDK 2.3

> **Note**
>
> 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](https://www.stereolabs.com/developers/release/2.3).

## 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 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` depth mode. Depth maps can 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 from 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.