ZED SDK 5.0.5

https://www.stereolabs.com/en-fr/developers/release/5.0#505-b1c25d6cde63b9ff6afa80f4e2d1fc33

5.0.5

Bug Fixes

• Fixed a regression in simultaneous GMSL camera listing in multiprocess setups. The ZED X camera can now be concurrently listed and opened in different processes without issues.
• Fixed an issue when parsing calibration file for ZED X One in QHPlus resolution.
• Fixed a segfault that could occur when restarting the positional tracking module while having the grab running in parallel.
• Fixed a bug in SVO recording where the camera model could be incorrectly set in the internal metadata.

Wrappers

• Added the operators <, <=, > and >= for all enums of the ZED Python API (pyzed). Previously, only == and != were available.

ZED SDK 5.0.4

https://www.stereolabs.com/developers/release#504-b1c25d6cde63b9ff6afa80f4e2d1fc33

5.0.4

SDK

• Fixed the Positional tracking GEN_3 area map behavior to match GEN_1/GEN_2. It now updates the loaded area map, and it is also possible to save it.

Bug Fixes

• Fixed a bug that could cause the getAreaExportState function to return an error code when saving an area map using Positional Tracking GEN_3.
• Fixed an issue preventing retrieval of the absolute positional tracking covariance using Positional Tracking mode GEN_3.
• Fixed an issue causing CameraOne to return 0 in focal_length_metric.
• Fixed a conversion issue in findFloorPlane leading to a possible wrong output transform depending on the used coordinate system.

Samples

• Fixed all Python samples to support both .svo and .svo2 file formats. Previously, some samples only recognized the .svo extension.
• Fixed samples to continue on WARNING-level grab results (negative ERROR_CODE), stopping only on ERROR-level. This improves robustness when occasional issues, like image degradation detected by enable_image_validity_check, occur but the ZED SDK remains functional.

Tools

• Fixed a crash in ZED Diagnostic Tool when optimizing AI models.

Wrappers

• Fixed an OpenGL installation issue on Windows platforms with Python versions 3.12+ when using the script get_python_api.
• Fixed a binary compatibility issue between the ZED Python API (pyzed) and numpy that occurred specifically on Windows platforms with Python versions 3.9, 3.10, and 3.11. This fix ensures stable integration and prevents runtime errors related to ABI mismatches in these configurations.

ZED SDK 5.0.3

https://www.stereolabs.com/developers/release#503-01552fd28a68e574d70fcf78818f9e1b

5.0.3

SDK

• Changed the default value of svo_real_time_mode from true to false for CameraOne's InitParametersOne, to match the stereo camera's default parameters.
• Improved the Python API setup script for better error handling, particularly for permission issues and unsupported platforms.

Bug Fixes

• Fixed a race condition that could occur when repeatedly setting the object detection runtime parameters.
• Fixed an accuracy regression in the Object Detection module's preprocessing, introduced in version 5.0.0. Bounding boxes could have an incorrect offset when using certain camera resolutions, such as HD1200.
• Fixed an issue on Windows where the SVO file could not be correctly parsed from within the fusion calibration file.
• Fixed an issue with ZED X One SVO recording making the resulting SVO size the same size as if recorded with a stereo camera when using the default bitrate. ZED X One SVO recording now have expected sizes.
• Fixed a memory leak issue that occurred when repeatedly starting and stopping recordings.

Samples

• Fixed an incorrect type in OpenGL window initialization in Python samples that could lead to a crash.

Tools

• Fixed ZEDSVOEditor -export-to-mcap option when using a SVO recorded with a ZEDOne.

ZED SDK 5.0.2

https://www.stereolabs.com/developers/release#502-ga-dd38a90c2359bfc27d07c490fdadd733

5.0.2

SDK

• Significantly improved the accuracy of NEURAL and NEURAL_PLUS depth modes, even compared to the NEURAL model released in 5.0.0 EA, with enhanced temporal stability and robustness against reflections, repetitive patterns, and complex-structured objects.
• Added NEURAL model files in the ZED SDK installer to avoid additional downloads at runtime.
• Added supporting functions isCameraOne, isAvailable, supportHDR, and getAvailableCameraFPS to easily check cameras compatible and available modes and capabilities.
• Switched default streaming mode to GEN1 while GEN2 is being improved and stabilized. Users can still use streaming GEN2 by setting the environment variable ZED_SDK_STREAM_VERSION=2.

Bug Fixes

• Fixed a crash that occurred when calling retrieve_objects using CUSTOM_BOX_OBJECTS with the resolution set to VGA.
• Fixed a rare undefined behavior that led to random values when calling getCurrentFPS.
• Fixed a rare crash that could occur after repeatedly opening and closing the same camera within the same process.
• Fixed a possible race condition when opening multiple GMSL cameras from different processes.
• Fixed a crash when using Fusion with multiple cameras and multiple GPUs.
• Fixed an accuracy regression with body fitting in NEURAL modes.
• Fixed a UDPSocket crash when streaming from a Jetson to a desktop.
• Fixed an issue that prevented enableRecording from working with localhost. This is now supported.
• Fixed a memory leak in Local Streaming IPC mode (with the ZED Media Server).
• Fixed a segmentation fault on the sender side in Local Streaming that occurred randomly after some time.
• Fixed getVideoSettings(sl::VIDEO_SETTINGS::WHITEBALANCE_AUTO) on ZED-X / ZED-XOne, which was returning an incorrect value at launch (noticeable in ZED Explorer with multiple cameras).

Tools

• Added focal length information (in millimeters) in ZED Explorer, within the 'Calibration' window.
• Added SVO auto-repair support in ZED Explorer. It will now attempt to auto-repair corrupted SVO files upon opening, similar to ZED Depth Viewer (or SDK).
• Fixed ZED Explorer framerate calculator.
• Fixed model downloads in ZED Diagnostic tool when GPU is not available.
• Fixed minor UI issues in ZED Explorer.
• Fixed minor UI issues in ZED Media Server.
• Fixed video settings control through receiver/host in ZED Media Server. Users can now control virtual ZED-X camera video settings from the receiver side.
• Fixed stop signal handling in CLI mode for a proper and clean exit in ZED Media Server.
• Added support for different ZED-XOne camera models connected to ZED Media Server (identical resolution is still required).
• Added support for multiple JSON configuration files for virtual cameras in CLI mode via the --config option in ZED Media Server.

Wrappers

• Improved Python wrapper performance when using multiple cameras in multiple threads.
• Improved pip installation behavior in the Python wrapper: now uses --force-reinstall by default to avoid issues with stale pyzed after reinstallation.
• Fixed Docker images with OpenGL display; they are now available again.
• Fixed minor issues in the C and C# wrappers.

Samples

• Improved C++ and Python samples for camera streaming and recording. They are now available and optimized for both single and multi-camera setups.

ZED SDK 5.0.1

https://www.stereolabs.com/developers/release#501-rc-e3e315a2d07b432b0db3e2b5d5c8d257

5.0.1 RC

Please note that 5.0.1 and 5.0.0 are not binary compatible. The Python API package will only work with 5.0.1. You should compile it from source if needed to run with 5.0.0.

SDK

• Added SVO real-time mode pausing function.
• Added dedicated setter functions for the Object Detection and Body Tracking runtime parameters. New retrieveObjects and retrieveBodies functions without runtime parameters have been added as well.
• Added functions ENU2Geo and Geo2ENU in sl::Fusion, making it easy to compute latitude-longitude coordinates of a 3D point. See the C++ Geoloc playback sample (convert2Geo function).
• Improved SVO playback for large files.
• Added covariance output for Positional Tracking GEN_3.
• Improved Positional Tracking GEN_3 loop closure detection and map optimization.
• Reduced Positional Tracking GEN_3 area mapping file size and saving/loading times.
• Improved Region of Interest precision when using Object Detection or Body Tracking. The boxes are now filtered depending on the ratio in the region of interest mask instead of the center and bounding box edges.
• Improved Python API code autocompletion support for most IDEs by including the .pyi stub in the .whl package.
• Improved Object Detection fusion internal synchronization — the process is now safer and more efficient.
• Added ONNX model name as a prefix in the optimized model name when using Object Detection with a custom YOLO-like ONNX model.

Bug fixes

• Fixed ZED X auto-recovery function. A regression introduced in 5.0.0 prevented the GMSL camera recovery in case of an interruption.
• Fixed a rare crash that could occur when enabling NEURAL depth mode.
• Fixed a deadlock in the Object Detection module with the new internal threaded mode introduced in 5.0.0.
• Fixed an unclosed file descriptor on Jetson when using SVO H26X input. This could lead to undefined behavior if the Camera class was opened and closed hundreds of times in the same instance processing hardware-decoded SVOs.
• Fixed a regression when using multiple GPUs. It now correctly uses the selected device ID.
• Fixed multiple bugs in setSVOPosition functions using index or timestamp input. It should now set the expected frame.
• Fixed a small memory leak when using Fusion.
• Fixed AI model optimization log when using ROS.
• Fixed Object Detection crash when passing an invalid or missing custom YOLO-like ONNX file.
• Fixed undefined behavior in Object Detection and Body Tracking when processing detector output.
• Fixed incorrect retrieveImage output when using specific resolutions. The issue could affect grayscale or low-resolution images.
• Fixed isVideoSettingsSupported function with the AEC_AGC_ROI setting that would return invalid results.

Tools

• Fixed ZEDfu NEURAL depth mode optimization.
• Improved Depth Viewer camera open when switching between camera models.
• Improved ZED Explorer firmware update GUI on ZED X for clarity.

Samples

• Added support for YOLOv11, YOLOv12, and more when using a custom YOLO-like ONNX model. Check out the dedicated documentation page.
• Updated C++ Spatial Mapping sample.
• Updated C++ Positional Tracking sample.

Camera Driver

• Added support for Jetson RT Kernel for ZED X camera with dedicated drivers.

Deprecation

• Using retrieveObjects and retrieveBodies with runtime parameters is now deprecated. Setting runtime parameters should now be done using the dedicated setters.

4.2.0/4.2.1

Download the ZED SDK 4.2

4.2.1

SDK

• Added verbosity in case of self-calibration issue (a specific error code will be added in the future minor update).
• Removed some GNSS verbose.

Bug fixes

• Fixed Positional tracking initial position scale for tracking GEN_2.
• Fixed SVO recording regression leading to oversized file.

4.2.0

SDK

• Added a new InitParameters::async_image_retrieval parameter that enables the ZED SDK to stream or record SVO2 files at a different framerate than the one of the depth computation.
• Added ZED One compatibility with ZED SDK. ZED One can now be created with sl::CameraOne objects and the API is the same as with other ZED cameras. The available modules are Capture, Recording, and Streaming. Samples are available too.
• Added support for HDR modes for ZED X One 4k cameras for two resolutions: 1290x1200 and 3200x1800. You can enable HDR with the boolean sl::InitParametersOne::enable_hdr, or within ZED Media Server.
• Added a Health Check module: the status of the camera can now be retrieved with sl::Camera::getHealthStatus. The status will detect and report issues if the camera is down, the image looks occulted or corrupted, depending on the parameter set in sl::InitParameters::enable_image_validity_check.
• Improved the speed of the NEURAL depth mode, especially when running on several cameras at the same time, by reducing internal data copy and improving computation parallelism.
• Added a new custom ONNX Object detection model input for YOLO models. This allows users to provide an ONNX file directly to the ZED SDK, without further coding. The ZED SDK will take care of running the inference using an optimized workflow with TensorRT. The Custom Object Detection box input option is still available for users who need flexibility.
• Improved initial gravity estimation.
• Fixed the mixing of the cameras when using multiple ZED X cameras and a unified driver (on JetPack 6.0).
• Improved ZED X One stability.
• Added a new way of serializing ZED SDK parameters using JSON to easily load and save.
• Added a semantic mask input in the Object Detection module, similar to bounding box input using the Camera::ingestCustomMaskObjects function. The instance mask is used to compute the object's 3D position in addition to the previous way when the instance mask is not available.
• Improved the Positional Tracking GEN2 initialization with the IMU data.
• Improved sl::Mat memory handling safety by switching to smart pointers.

Fusion

• The Fusion is now compatible with the Object Detection module. It can be enabled with Fusion::enableObjectDetection and objects are retrieved with Fusion::retrieveObjects. A fused_objects_group_name at the sender level can be set to group the objects from different detection models.
• Improved the Fusion data synchronization quality when the sender has low or irregular framerates.
• Fixed incorrect application of Regions of interest within the Fusion module.
• Fixed the retrieved position in rare cases where the IMU orientations are corrupted.
• Added a FusedPositionalTrackingStatus in the Fusion module when retrieving the position. This new object contains information on the status of the different modules acting in the fusion of the positional tracking.
• Updated the FUSION_ERROR_CODE to fit the ZED SDK standard: negative values are a warning, and positive values are errors.

Tools

• Added ZED One compatibility with ZED Explorer.
• Added ZED One compatibility with ZED Sensor Viewer.
• Fixed IMU recording at full frame rate for ZED Sensor Viewer.
• Improved ZED Depth Viewer opening reliability.
• Added accelerometer bias calibration for Sensor Viewer, see --help.

Wrappers

• Added ZED One compatibility with Python.
• Fixed the Fusion implementation of the C# wrapper.

4.1.3

Download the ZED SDK 4.1

4.1.3

SDK

• Added status reporting for NEURAL depth model optimization errors. The Camera::open() function can now fail to reflect the NEURAL depth status.
• Enabled mask retrieval for custom object detection.
• Improved GNSS calibration speed when covariance is very low, such as with RTK.

Bug fixes

• Fixed an issue with the quad camera configuration that prevented all cameras from opening on Jetpack 6.
• Fixed the depth min and max getter methods in the Python API.
• Fixed an issue with custom object detection where the 3D bounding box height increased along with the width.
• Fixed several edge cases in positional tracking generation 2.

Tools

• Added the ability to enable and disable the zed_media_server_cli.service from the ZED Media Server.
• Fixed a crash in Depth Viewer on Windows when opening SVO files.

Samples

• Improved Global Localization samples.

4.1.2

Download the ZED SDK 4.1

4.1.2

SDK

• Improved fusion sources synchronization for enhanced robustness in case of inconsistent data rates.
• Improved robustness of Positional Tracking Gen 2 IMU initialization.
• Added support for the Jetpack 6.0 Production Release.

Bug fixes

• Fixed a memory leak when closing the camera during SVO playback.
• Fixed a bug that could prevent recording lossless H26X SVO on Jetson.
• Fixed a regression in the image acquisition pipeline for HD1080 at 30FPS in USB mode that could impact performance.
• Fixed SVGA capture mode with ZED X cameras, which could result in black images.

Tools

• Fixed the AI model diagnostic not being available in the command line option for ZED_Diagnostic.

Samples

• Improved Global Localization Python samples.

4.1.1

Release Notes
Download the ZED SDK 4.1

4.1.0

This release of the ZED SDK is now a stable release of the major version 4. It brings significant stability and performance improvements. We're introducing a new generation of the Positional Tracking module for more precise and robust localization. A new version of SVO is also available, recording full sensor data and supporting custom user data for ease of use.

Release Notes
Download the ZED SDK 4.1

Features

What’s new with the fourth generation of ZED SDK ? With the release of 4.1, we have focused on:

Positional Tracking GEN2
Recording using SVO2
Improved Neural Depth
Region of interest per module
Improved Global localization / Geo Tracking