ZED SDK 5.1

What’s New

ZED SDK 5.1 introduces a fully reworked image capture and recording pipeline delivering stability, maximum performance, and reliability. It adds Jetson Thor support, delivering up to 2.5× higher performance. An extra-close depth range is now supported. Streaming latency is significantly reduced, ensuring smoother real-time operation. A redesigned Virtual Stereo workflow for ZED X One now achieves up to 60% lower CPU usage. OpenCV fisheye calibration is now supported natively, and the new ZED Studio app unifies camera, stream, and SVO management. Improved Positional Tracking boosts robustness, introduces a 2D mode, and refines statuses. Expanded support for CUDA 13, JetPack 7, Python 3.14, and C++17/20 makes ZED SDK 5.1 faster, more stable, and ready for the next generation of robotics and spatial AI.

5.1.2

Released: Dec 17, 2025

Bug Fixes

General

• Fixed corrupted frame detection, which could lock upon closing the camera if only Camera::read was used and not Camera::grab.
• Fixed Virtual Stereo opening from ZED Ones when the right ZED One has the cameraID 0.
• Fixed an issue preventing the proper load of a saved sl::InputType for a virtual stereo configuration.
• Added support for uncalibrated mode in CameraOne for ZED Ones. This is enabled with the environment variable export ZED_SDK_ALLOW_UNCALIBRATED_MODE=1. Like Camera, this allows retrieving unrectified images, streaming, or recording when the calibration file is invalid or cannot be found.
• Fixed CAMERA_MOTION_SENSORS_NOT_DETECTED when opening a CameraOne when forcing the disablement of the IMU (with the environment variable ZED_SDK_IMU_DISABLE=1).
• Reduced the CPU memory usage by the self-calibration process during the call to sl::Camera::open(). This usage is now limited to a temporary pool of 40MB.
• Added beta support of H264 software (CPU) encoding for Orin Nano for SVO recording / local streaming.

SLAM

• Fixed repeatability issues of GEN_3 SLAM module. This ensures greater consistency and reliability in module performance across all operational scenarios.
• Added missing support of landmark2D for POSITIONAL_TRACKING_MODE::GEN_1.
• Fixed an issue of POSITIONAL_TRACKING_MODE::GEN_3 producing incorrect gravity alignment when the first metadata of an SVO was corrupted.

Object Detection

• Fixed a random crash occurring when using Custom Object Detection and repeatedly setting custom parameters for multiple hours.
• Fixed a random crash when tracking objects whose estimators failed to initialize; tracks now bail out safely when measurements disappear mid-frame.
• Improved Object Detection velocity accuracy.
• Fixed segmentation mask output when using CUSTOM_YOLOLIKE_BOX_OBJECTS with enable_segmentation = true.
• Fixed CUSTOM_YOLOLIKE_BOX_OBJECT post-processing when using YOLOv10 models. Previously, only a small subset of the detected objects was returned.

5.1.1

Released: Nov 12, 2025

Bug Fixes

General

• Fixed an issue preventing setting a specific value for sl::InitParameters::depth_minimum_distance in all Neural depth modes.

SLAM

• Improved overall stability of POSITIONAL_TRACKING_MODE::GEN_3. This update resolves random race conditions.
• Fixed a GPU stream synchronization issue that occurred when using POSITIONAL_TRACKING_MODE::GEN_3 with DEPTH_MODE::NONE. This race condition resulted in inconsistent computation.
• Improved runtime performance of getPositionalTrackingLandmarks and getPositionalTrackingLandmarks2D methods. Performance gains are especially visible in large mapped areas.

Fusion

• Added missing documentation for the FUSION_REFERENCE_FRAME enum.

5.1.0

Released: Oct 23, 2025

SDK

Depth

• Improved depth for close range, the new ZED SDK now provides depth values even at very short range.

Capture

• Enhanced GMSL camera acquisition, resulting in improved overall stability and fewer frame drops.
• Introduced Live Virtual Stereo from 2 ZED X One cameras directly via the API. It uses the Camera class and new functions sl::InputType::setVirtualStereoFromCameraIDs or sl::InputType::setVirtualStereoFromSerialNumbers. It shows significant performance optimization: CPU usage decreased by 60%, making this version 2.5x more CPU efficient than ZED_MediaServer, even in IPC mode. Refer to the sample virtual stereo/cpp for an example on how to use it
• Introduced an uncalibrated mode for Virtual Stereo. This enables viewing unrectified images, recording to SVO, or streaming for future calibration or troubleshooting purposes. Note: depth sensing, positional tracking, and other modules are not available in this mode.
• Improved self-calibration in the near-range scenario. Improved robustness to more challenging conditions, and self-diagnostic. Added a new warning sl::ERROR_CODE::POTENTIAL_CALIBRATION_ISSUE returned by the sl::Camera::open function, if camera calibration is poor and may require a recalibration. To verify this, open ZED_DepthViewer and perform a visual check on the scene (is the depth image full, are planes flat, are objects’ shapes correct, …).
• Added OpenCV fisheye calibration support for Camera and CameraOne.
• Added support for Windows for CameraOne API. It is now possible to stream or read SVOs from ZED X Ones on Windows.
• Added a new function getSensorsDataBatch() to retrieve all high-frequency sensor data associated with the latest grabbed frame.
• Added new sl::VIEW to handle more color conventions. Added additional 3-channel (BGR) and GRAY color modes. DEPTH and CONFIDENCE views are now retrieved in color.
• Fixed hue control for USB cameras
• Improved VIDEO_SETTINGS reset calls. Now all the settings can be reset with the base function sl::Camera::setCameraSettings(setting, sl::VIDEO_SETTINGS_VALUE_AUTO), for sl::Camera and sl::CameraOne (in live and streaming mode).
• Removed the default parameter camera_type from sl::InputType::setFromCameraID and bus_type from sl::InputType::setFromSerialNumber. Also removed the enum CAMERA_TYPE. Now, objects Camera and CameraOne handle the camera and bus types automatically.
• Fixed an inconsistency in frame rate selection with GMSL Cameras when the requested frame rate was not supported.
• Set default sdk_verbose of InitParametersOne to 1 to match InitParameters.
• Fixed rectified field of view for some sl::CameraOne. On some camera the rectified field of view was much lower than expected. To revert to the previous rectification, set the environment variable: ZED_SDK_OLD_FOV_COMPUTE=1
• Resolved an issue that could prevent GMSL cameras from detecting and reporting faulty sensors.
• Added DRIVER_FAILURE in the enum sl::ERROR_CODE. This error code can be returned when the driver’s initialization has failed. When using gmsl cameras, it is then recommended to restart it with sudo systemctl restart zed_x_daemon.service.

Object Detection

• Fixed a random crash when using Custom Object Detection for multiple hours.
• Fixed an issue where object or skeleton velocity could become NaN when camera motion was computed with a null time delta.

Recording

• Reduced system load and enhanced stability for SVO2 recording.
• Fixed a bug where ZED X One recording and reading using SVO gen1 was allowed but unsupported.
• Restored the ability to play back and re-record and SVO with new recording settings.
• Added exposure and gain values in ZED X SVO metadata. Other cameras will be done in a later release.
• Fixed IMU calibration handling in some SVOs where the IMU calibration was not extracted properly

Streaming

• Switched default streaming mode back to GEN2 with high-frequency IMU data. Users can still use the lighter streaming version GEN1 by setting the environment variable ZED_SDK_STREAM_VERSION=1. Important: The Receiver must match or exceed the sender’s version for compatibility.
• Added AUTO_ANALOG_GAIN_RANGE, AUTO_DIGITAL_GAIN_RANGE, and AUTO_EXPOSURE_TIME_RANGE camera control values in streaming.
• Reduced streaming latency by 21–38% across modes on Jetsons.

SLAM

• Improved robustness to dynamic objects and image corruptions of positional tracking GEN_3, resulting in more accurate and reliable positional tracking performance.
• Added a 2D tracking Mode to GEN_3, improving accuracy in flat floor environments: enabled by the PositionalTrackingParameters::enable_2d_ground_mode setting. This mode constrains positional tracking to two dimensions, recommended for grounded robots and vehicles.
• Improved relocalization performance of GEN_3 in known environments. Increases relocalization accuracy and frequency, reducing localization drift.
• Added a new SPATIAL_MEMORY status in GEN_3 to indicate whether tracking is active and relocated in a pre-mapped environment, performing loop closure, or relocating.
• Fixed the first call to getPosition(), which now returns sl::POSITIONAL_TRACKING_STATE::OK instead of previously returning sl::POSITIONAL_TRACKING_STATE::UNAVAILABLE.
• Fixed invalid retrieved landmarks with null position.

Fusion

• Added support for object detection streaming from sl::Camera to sl::Fusion in the network configuration.
• Improved incoming data association in the Fusion API when using a local network configuration.

Platform

• Improved installers’ size on Linux Desktop with TensorRT 10 - about 40% smaller.
• Added beta support for JetPack 7 / Jetson Thor. Video decoding and encoding are not yet available because of the current JetPack 7 release limitation and will be in a later update.
• Added support for C++17; the ZED SDK now uses C++17 and requires a compatible compiler. Fixed external support for C++20.
• Added support for CUDA 13 compatibility.
• Added explicit ZED SDK versioning for Docker images and ZED SDK download link; each patch will now be available.
• Dropped support for the older JetPack L4T 35.3 and TensorRT 8.