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ZED SDK 5.1.2

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@adujardin adujardin released this 17 Dec 12:50
5.1.2
380dc56
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https://www.stereolabs.com/en-fr/developers/release#512-2b6224afd2d4

5.1.2

SDK

  • 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.

Tools

  • Added support for Drag & Drop of a saved sl::InputType in ZED Depth Viewer; it is now easier to open a stream or virtual stereo setup.

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::GEN_1.
  • Fixed an issue of POSITIONAL_TRACKING::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.
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