> 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 3.2 > **Note** > > Release notes of the ZED SDK 3.2 series. Patch releases are listed newest first. Download links and the full changelog, including ZED Tools and integrations, are available on the [ZED SDK 3.2 release page](https://www.stereolabs.com/developers/release/3.2). ## What's New ZED SDK 3.2 introduces a new Body Tracking module and brings major performance improvement for Object Detection. The release also adds support for Jetson Xavier NX and JetPack 4.4, a new [C# wrapper](https://github.com/stereolabs/zed-csharp-api) and an open source [capture library](https://github.com/stereolabs/zed-open-capture) for using the ZED camera family on any hardware platform. To update to 3.2 from previous 2.X versions, read the [migration guide](https://www.stereolabs.com/developers/release/3.0/migration-guide/). ## 3.2.2 ### Bug Fixes * Fixed a bug on H264/5 SVO playback on desktop when trying to read the last frame and that last frame was a keyframe. * Fixed a bug on H264/5 SVO playback for last frame. It was sometimes not readable even if available. * Fixed depth occlusion detection issue that leads to misaligned depth especially on image movement. It also had an impact on plane detection that was not consistent between 2.7/2.8 and 3.X versions. * Fixed a bug in object detection masks that were not properly estimated and rendered. * Fixed camera detection ID on Windows when other USB or integrated cameras were detected. ## 3.2.1 ### SDK #### Platforms * Introduced Ubuntu 20.04 and CUDA 11 support. * Added support for NVIDIA JetPack 4.4 official release. #### Improvements * Improved object detection accuracy and stability, increasing AP by +15%. Object boxes are now more stable both in detection and tracking modes. * Improved skeleton tracking: 3D localization of skeletons has been improved, along with their bounding boxes and head position. Skeletons with unrealistic sizes have also been removed. Body tracking is still in Beta, and further improvements will be released in future updates. * Improved playback of SVO recorded in Flip mode. They will be automatically flipped when necessary. * Improved AI model optimization process on Jetson platforms. #### Bug Fixes * Fixed a camera freeze issue on Jetson caused by the internal USB hub of the board. Now the camera will reconnect automatically if the hub disconnects the device. * Fixed a bug in confidence of detected objects. When `detection_confidence_threshold` was changed, an object that was previously tracked could still be output even if the confidence was below the new threshold value. They are now removed. * Fixed a H264/5 decoding issue when playing back SVO on Jetson platforms. Setting a frame position could previously lead to an SVO freeze. * Fixed a positional tracking bug when using Local Streaming as input. An invalid tracking state was generated that would lead to wrong camera pose in Streaming mode. * Fixed `setSVOPosition()` on Jetson platforms that was generating a wrong image sequence when `grab()` was called. * Fixed a bug on `sl::Mat` initialisation by reference if that reference was empty. Now the `sl::Mat` created will be seen as uninitialized. * Fixed an incorrect CMake output into stderr for a status message, reported by @spiderkeys. * Fixed the performance optimizer script for Jetson NX where an incorrect power profile was selected. ## 3.2.0 ### New Features #### Body Tracking (beta release) * Added a new AI-powered detection model that detects and tracks body skeletons in 2D and 3D. Skeleton tracking can be used on both desktop and embedded platforms such as NVIDIA Jetson. * Body tracking is part of the Object Detection module and can be called using `DETECTION_MODEL::HUMAN_BODY_FAST` or `HUMAN_BODY_ACCURATE` for a more accurate skeleton tracking at a lower FPS. * Added new objects in the ObjectData class that contain skeleton and head data: * `keypoint` for 3D human keypoints/joints * `head_bounding_box` for head 3D bounding box * `keypoint_2d` for 2D human keypoints/joints * `head_bounding_box_2d` for head 2D bounding box * `head_position` for head 3D location * Added 3D uncertainty (covariance) of a body root position in `ObjectData::position_covariance[6]`. #### Object Detection * Improved Object Detection FPS on NVIDIA Jetson (requires JetPack 4.4). Detection and tracking is now **2x faster** on Jetson Nano compared to 3.1. * Added 3D uncertainty (covariance) of an object position in `ObjectData::position_covariance[6]`. #### Video Streaming & Recording * Added direct stream-to-record feature to allow recording from a streaming input without re-encoding the video. This allows to dramatically reduce hardware resources when ingesting and recording multiple streams on a single PC. Use `RecordingParameters::transcode_streaming_input = false`. * Added framerate parameter for video recording and streaming. It is now possible to capture at 60FPS for example and record or stream at 15FPS. See `RecordingParameters::target_framerate` and `StreamingParameters::target_framerate`. * Added bitrate parameter for SVO recording with specific bitrate values (for H264/H265 only). See `RecordingParameters::bitrate`. * Added new Auto Flip mode for ZED 2 and ZED Mini (using IMU). Using `InitParameters::camera_image_flip = FLIP_MODE::AUTO` will automatically set the correct flip mode for the camera, so that you don't need to set it manually either in Live or SVO mode.\ This parameter also works for SVO files recorded with 3.X SDK versions, since the flip mode was already recorded in the metadata. See `InitParameters::camera_image_flip = FLIP_MODE::AUTO`. ### SDK #### General Improvements * Improved floor plane detection for ZED Mini and ZED 2 (using IMU). * Improved barometer readings with sensor fusion to reduce drift during camera movements. It requires a ZED 2 sensor firmware update to v777. * Updated `toVerbose()` function. Added CUDA error code/string in verbose message when `ERROR_CODE::CUDA_ERROR` is returned. #### Bug Fixes * Fixed IMU data that was not flipped correctly when flip was enabled with `camera_image_flip`. * Fixed bug in IMU orientation covariance, leading to `NaN` occurrences. * Fixed `grab()` error code that could generate an `ERROR_CODE::CAMERA_NOT_INITIALIZED` at the end of an SVO file read in real time mode. It now generates a correct `ERROR_CODE::END_OF_SVOFILE_REACHED`. #### Platforms * Introduced [Jetson Xavier NX](https://www.stereolabs.com/blog/getting-started-with-jetson-xavier-nx) and JetPack 4.4 support. #### Known Issues * Static libraries are not available on JetPack 4.4 due to a linking issue with TensorRT static library. This should be fixed in the next patch. * Updating ZED 2 sensor firmware on Windows can sometimes be unreliable. While we are working on a fix, we recommend updating your camera firmware on Linux.