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# ZED SDK 2.5

> **Note**
>
> Release notes of the ZED SDK 2.5 series. Patch releases are listed newest first. Download links and the full changelog, including ZED Tools and integrations, are available on the [ZED SDK 2.5 release page](https://www.stereolabs.com/developers/release/2.5).

## What's New

The ZED SDK 2.5 release includes support for CUDA 9.2, along with a major update of ROS, Unreal and Unity plugins.

## 2.5.1

### SDK

#### General

* Fixed segmentation fault when using the ZED in USB2.0 on Ubuntu.
* Fixed memory leak on `getDeviceList()`.
* Fixed a bug that leads to a wrong camera detection in `getDeviceList()` when this function was called multiple times.
* Fixed wrong timestamp in IMUData when `getIMUData(TIME_REFERENCE_CURRENT)` was called. Now, you can use the timestamp to check if the values are new (timestamp will be different, otherwise they will be the same).
* Fixed a freeze which could occur when calling `resetTracking()` while `grab()` is running.
* Fixed the return value of `getPosition()` just after a call to `resetTracking()`.
* Fixed an issue in the Linux installer in silent mode where the script could ask for a user input.
* Deprecated `SpatialMappingParameters::set(mapping_range)`. Now appropriate range is derived from selected `MAPPING_RESOLUTION` when calling `enableSpatialMapping()` if `SpatialMappingParameters::range_meter` is not defined.
* Added function `getRecommendedRange(mapping_resolution, &camera)` to set `SpatialMappingParameters::range_meter` directly to the recommended value.

#### Dependency

* Removed `libusb-0.1` dependency to fix an issue when using the ZED for an extended period of time.

## 2.5.0

### SDK

#### General

* Added support for CUDA 9.2.
* Fixed a random freeze in `Camera::close()` on Linux Ubuntu when the camera was unplugged during a frame grab.
* Added new coordinate system `RIGHT_HANDED_Z_UP_X_FWD` for use in ROS.

#### Depth

* Moved depth computation to a non-default stream to achieve concurrency with external GPU operations and improve performance.
* Fixed an issue leading to `NaN` values in depth FILL when setting the confidence threshold at 100.

#### Plane Detection

* Fixed bug that reported wrong planes when the `UNIT` parameter was not set in `METERS`.