> For clean Markdown of any page, append .md to the page URL.
> For a complete documentation index, see https://docs.stereolabs.com/llms.txt.
> For AI client integration (Claude Code, Cursor, etc.), connect to the MCP server at https://docs.stereolabs.com/_mcp/server.

# ZED SDK 2.4

> **Note**
>
> Release notes of the ZED SDK 2.4 series. Patch releases are listed newest first. Download links and the full changelog, including ZED Tools and integrations, are available on the [ZED SDK 2.4 release page](https://www.stereolabs.com/developers/release/2.4).

## What's New

ZED SDK 2.4 introduces a major firmware update for ZED and ZED Mini, improving USB connectivity on Windows 10 and bringing multi-camera support to Windows and Linux.

The release also introduces plane detection for a simplified understanding of the environment, improved positional tracking and Jetson support, as well as various fixes and improvements to the ZED API, tools and plugins. [Read More.](https://www.stereolabs.com/blog/zed-sdk-2-4-adds-plane-detection-and-major-firmware-update)

## 2.4.1

### SDK

#### Video

* Improved asynchronous recording of SVO with up to 50% bandwidth. [Read More.](https://www.stereolabs.com/blog/zed-sdk-2-4-adds-plane-detection-and-major-firmware-update)
* Reduced latency on Linux platforms. The image buffer is now filled asynchronously instead of waiting for a `grab()` call.
* Fixed a recording issue leading to IMU data not being saved in SVO file.

#### Depth

* Improved depth estimation and stability for homogeneous surfaces in `FILL` sensing mode.
* Improved depth edges sharpness in `FILL` sensing mode.

#### Tracking

* Improved tracking robustness when objects are moving close to the camera (like user hands in AR).
* Updated visual odometry behavior. Tracking will not jump anymore when spatial memory is not enabled.
* Updated spatial memory behavior. Relocalization is more robust and loops are done more frequently to improve localization. [Read More.](https://www.stereolabs.com/blog/zed-sdk-2-4-adds-plane-detection-and-major-firmware-update)

#### Plane Detection

* Fixed an issue where plane detection could detect the ceiling as a floor plane when using a ZED (which doesn't have an IMU).

#### Jetson

* Improved depth and tracking performance on Jetson thanks to internal optimizations and script update. [Read More.](https://www.stereolabs.com/blog/zed-sdk-2-4-adds-plane-detection-and-major-firmware-update)

## 2.4.0

### SDK

#### API

* Updated the video capture pipeline to improve USB 3.0 capture on Windows 10 and make it significantly more reliable. All recent laptops should now be able to run the ZED without dropping or skipping frames.
* Added `Camera::findFloorPlane` function for floor detection and improved tracking initialization.
* Added `Camera::findPlaneAtHit` function that returns the best matching plane at a selected pixel position in the image.
* Added Plane object to store information about a detected plane, such as its center, normal, bounds, etc.
* Updated `open()` function to open a camera 0.5 s faster.
* Reduced SVO compression ratio in Lossy mode to improve image quality.
* Deprecated function `Camera::setFPS`.
* Fixed an issue that could allow `CameraInformation::camera_imu_transform` to be empty.

#### Depth

* Improved depth edges and details in `PERFORMANCE` and `ULTRA` modes.
* Confidence maps have been updated for better usability.
* Removed saturated bright areas from depth maps in all modes.
* Fixed depth stabilization bug that would disable the stabilizer if tracking state switched to `SEARCH`.
* Fixed depth stability bug on `MEDIUM` and `QUALITY` depth modes in `STANDARD` sensing.

#### Tracking

* Fixed issue with IMU that would increase drift when using visual-inertial positional tracking.
* Fixed a potential crash when restarting positional tracking.
* Fixed memory allocation bug that would not completely free memory when enabling, disabling or resetting tracking.

#### SVO

* Fixed an issue where the initial tracking position would be incorrect when playing back an SVO taken with a ZED Mini.
* Fixed an issue preventing tracking from being enabled if self-calibration was disabled for an SVO recorded with a ZED Mini.
* Fixed an issue where some raw IMU data could be corrupted when recording an SVO in Lossy mode.
* Fixed depth stabilization bug that would produce incorrect depth data when pausing an SVO.

### Platforms

* Updated to JetPack 3.2 for Jetson TX1 and TX2.
* Updated Jetson installer to enable MAX-N performance mode by default.
* Added Ubuntu installer compiled with CUDA 9 for better TensorFlow compatibility.