ZED SDK 2.6

What’s New

ZED SDK 2.6 introduces a major performance improvement to depth and tracking on Tegra and Linux PCs, along with a new firmware update for ZED Mini, which brings IMU data rate from 500 to 800Hz and improves fusion. Read More.

2.6.0

SDK

API

• Added a new field in camera InitParameters optional_settings_path. This allows to move the settings file to a different folder from the default one and call it in the SDK.
• Fixed a random freeze in Camera::close() on Linux Ubuntu when the camera was unplugged during a frame grab.
• Warning messages are now displayed only if InitParameters::sdk_verbose is enabled. This allows for a cleaner console when verbose is not activated.
• Fixed an incorrect string message for the coordinate system RIGHT_HANDED_Z_UP_X_FWD.

Depth

• Improved depth capture framerate by up to 30% on Tegra X1/X2 and up to 20% on Linux Ubuntu desktop platforms if depth stabilizer is enabled (default mode).

Positional Tracking

• Improved positional tracking performance by up to 50%.
  • Positional tracking has been accelerated with NEON and AVX/SSE assembly code on Linux platforms.
  • Tracking is now 50% faster on Tegra X1/X2 and Linux Ubuntu desktop platforms.
  • Tracking is now 15% faster on Windows platforms.
• Added pose uncertainty estimation.
  • A new field has been added in Pose called pose_covariance.
  • In this initial version, pose covariance is only available for pure odometry. It will not be output if enable_spatial_memory is enabled.
• Added automatic detection of initial camera localization relative to the floor.
  • Added new set_floor_as_origin parameter in tracking to automatically detect floor plane and start tracking relative to the floor. Since initial position estimation uses floor plane detection to determine the height and orientation of the camera, the user need to make sure that the floor plane is visible when this option is enabled.
  • Tracking will be in a TRACKING_SEARCH state until the floor plane has been detected and an initial position of the camera has been correctly estimated.

New Firmware

• A new firmware for the ZED Mini is introduced in ZED SDK 2.6.
  • IMU data can now be retrieved at 800Hz, compared to 500Hz in previous firmware version.
  • Data synchronization between IMU data and image stream has been improved, fixing jumps that could sometimes occur.
  • Visual-inertial fusion has been improved resulting in better tracking accuracy and less drift.