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      ZED SDK 3.0

      SDK Download 3.0

      SDK Downloads

      The ZED SDK allows you to add depth, motion sensing and spatial AI to your application. Available as a standalone installer, it includes applications, tools and sample projects with source code.

      Check our GitHub
      Read the SDK Documentation

      CUDA 10.2

      • ZED SDK for Windows 10 3.0.3
      • ZED SDK for Ubuntu 18 3.0.3
      • ZED SDK for Ubuntu 16 3.0.3

      CUDA 10

      • ZED SDK for Windows 10 3.0.3
      • ZED SDK for Ubuntu 18 3.0.3
      • ZED SDK for Ubuntu 16 3.0.3

      CUDA 9

      • ZED SDK for Windows 10 3.0.3
      • ZED SDK for Ubuntu 16 3.0.3

      NVIDIA Jetson

      • ZED SDK for JetPack 4.3 3.0.3 (Jetson Nano, TX2, Xavier, CUDA 10)
      • ZED SDK for JetPack 4.2 3.0.3 (Jetson Nano, TX2, Xavier, CUDA 10)

      Release Notes

      • What's New

        Feb 25, 2020

        ZED SDK 3.0 is the first release that supports the brand new ZED 2 camera, improved in every way with wider angle optics, more accurate factory calibration, built-in new generation environmental and motion sensors and industrial grade mounting system and enclosure.

        The SDK 3.0 also introduces new neural depth sensing, improved positional tracking, new AI-based object detection API that detects and tracks objects in 3D, image quality enhancement, performance improvements and a lot more features.

        To update to 3.0 from previous 2.X versions, read the migration guide.

      • 3.0.3

        SDK

        • Fixed an issue with recording and streaming with ZED cameras that could lead to a crash of NVENC encoder.
        • Added support in 3.0 for ZED stereo cameras with firmware 1142 on Windows.
        • Fixed Ubuntu16 installer missing turbojpeg dependency.
        • Fixed Qt5 OpenGL/SVG dependencies in Ubuntu installers.

        Tools

        • Added minimum depth distance automatic adjustment in ZED Depth Viewer when GPU has less than 3GB memory.
        • Fixed unresponsive GUI in ZED Sensor Viewer when a ZED camera was connected.
        • Fixed ZED Calibration tool for IMU when using --cimu on Windows.
      • 3.0.2

        SDK

        • Improved Spatial mapping performance by up to 200% on desktop and Jetson embedded platforms. Depth fusion is now much faster and the resulting model now refreshes in real-time on most platforms.
        • Improved DEPTH_MODE::PERFORMANCE. It now benefits from neural depth estimation with improved accuracy, edges and cleaner data.
        • Increased DEPTH_MODE::PERFORMANCE speed with a performance boost of up to 15%.
        • Fixed a bug in resetTracking function. The yaw angle defined by the Transform parameter was not taken into account.
        • Eliminated flickering in VIEW::DEPTH image when the scene has very low depth content.
        • Fixed cuDNN reported version on JetPack 4.2. The model failed to run due to an incorrect reported version. It now works correctly.
        • Removed libturbojpeg-0-dev dependency from Ubuntu 16 installer since the package is only available in Ubuntu 18.

        Tools

        • Added new Sensor Viewer tool that lets you display accelerometer, gyroscope, barometer, magnetometer and temperature sensors charts for ZED 2.
        • Added new LiDAR mode view in Depth Viewer. LiDAR mode will be available in the API in ZED SDK 3.1.
        • Added new Confidence 50 view in Depth Viewer. It displays sparser but more confident depth maps.
        • Added new Texture Confidence slider in Depth Viewer. It lets you remove untextured areas such as the sky or white walls from the depth map.
        • Minimum distance settings in Depth Viewer is now saved. It is loaded when the tool is restarted.

        Plugins

        • Updated Unity plugin to support ZED 2 and SDK 3.0.
        • Updated Unreal plugin to support ZED 2 and SDK 3.0 with custom engine based on 4.21.
        • Updated MATLAB plugin to support ZED 2 and SDK 3.0.
        • Updated ROS plugin to support ZED 2 and SDK 3.0.
        • Updated ROS wiki with up to date topics, parameters and services for latest 3.0 wrapper.

        App

        • Updated ZED World AR demo to support ZED 2 and ZED SDK 3.0.
      • 3.0.1

        Python

        • Added Python API documentation.
        • Fixed an issue preventing the compilation of the Python wrapper.

        Tools

        • Updated minimum depth range in Depth Viewer to automatically adapt to available GPU memory.
      • 3.0.0

        New Features

        Object Detection

        • Added a new module that detects and tracks objects in 2D and 3D, compatible with ZED 2.
        • Added enable/disableObjectDetection and retrieveObjects functions.
        • Added ObjectData class that contains detected object data, such as 2D and 3D bounding box, tracking information, dimensions and 2D mask.

        Depth

        • Introduced neural networks for depth estimation in ULTRA mode to improve stereo depth accuracy. Other modes will be updated in following SDK updates.
        • Introduced new confidence filter that detects homogenous zones. Use textureness_confidence_threshold to remove noisy values in the depth map such as sky or untextured areas.

        Video

        • Added image enhancement setting to provide more vivid and accurate colors. Enabled by default in 3.0.
        • Added image sharpness setting to improve sharpening of live and recorded videos.
        • Updated SVO video format to store new sensors data.

        Sensors

        • Introduced new Sensor API to provide access to data from IMU, barometer, magnetometer and temperature sensors in the ZED 2.
        • Updated documentation and added tutorial to show how to use the different sensors.

        Local Streaming

        • Improved local network streaming of video data between sending and receiving host computers.
        • Video Streaming API is not compatible between 2.8 and 3.0.

        Docker

        • Improved Docker support for all ZED SDK versions.
        • Introduced lightweight runtime Docker images for deployment of Docker applications using the ZED SDK.
        • Updated Stereolabs DockerHub repository with the new images.

        Performance

        • Improved speed of the Depth module by carefully optimizing critical functions on desktop and embedded platforms.
        • Optimized image rectification pipeline.

        Software Support

        • Updated to C++14 (previously C++11)
        • The new Object Detection module uses TensorRT and cuDNN to run efficiently on embedded platforms. The module is dynamically loaded from a separate sl_ai library to avoid the explicit dependency when using sl_zed.

        Platforms

        • Added support CUDA 10.2 and JetPack 4.3.
        • Dropped support for JetPack 3.3 and Windows 7. While ZED may still be used on Windows 7, it is not officially supported.

        Major 3.0 API Changes

        Since there are a lot of changes compared to ZED SDK v2, a migration guide is available to help you switch easily from 2.8 to 3.0.

        General

        • Each enum is now an enum class (forced using TYPE::VALUE, instead of the current TYPE::TYPE_VALUE or even TYPE_VALUE).
        • All deprecated functions/parameters/options have been removed.
        • All libraries are now merged into sl_zed for clarity and ease of deployment.
        • All headers are now merged into a single sl/Camera.hpp.
        • Camera::grab is now blocking (guaranteed to return a new frame).

        Functions

        • SaveAs functions have been replaced by Mat::save().
        • Added getter functions to retrieve any module parameter from Camera, such as getPositionalTrackingParameters.
        • Added static function Camera::reboot() to perform a hardware reset of the camera.

        Video

        • Resolution and FPS information have been moved to Camera::getCameraInformation.
        • The CAMERA_SETTINGS enum is renamed to VIDEO_SETTINGS.
        • Added InitParameters::image_enhancement for better black level correction, AWB adjustment and improved gamma curve
        • Added VIDEO_SETTINGS::SHARPNESS, a digital two-pass sharpening control that improves image quality.
        • Video recording is now automatically handled by the grab function, without having to explicitly call the record() function (now removed).
        • Added a new pauseRecording function.
        • Added RecordingParameters structure.
        • Deprecated RAW and LOSSY compression modes. They have been removed from SDK recording options.
        • AVCHD and HEVC have been renamed into H264 and H265.

        Sensors

        • Added SensorsData class to store the data of all the other sensors present in the new ZED 2 which includes BarometerData, TemperatureData, MagnetometerData and IMUData. It also includes a state; CAMERA_MOTION_STATE which indicates if the camera is static, moving or falling.
        • Camera::getIMUData() has been replaced by Camera::getSensorsData() to reflect the class update. It provides access to all the sensor values.

        Depth

        • Depth range and confidence parameters have been moved into InitParameters.
        • Improved ULTRA mode with better accuracy and contours.

        Positional Tracking

        • Positional Tracking module function have been renamed to include "Positional" to differentiate it from object tracking. For instance: Camera::enableTracking is now Camera::enablePositionalTracking.
        • Spatial memory has been renamed to Area memory for consistency with Area files (enable_area_memory, saveAreaMap)

        Streaming

        • Added StreamingParameters::chunk_size to select the maximum size of each transmitted packet and improve packet transmission.

        Spatial Mapping

        • Removed all deprecated Mesh functions. The overloaded SpatialMap functions that include support for both Mesh and FusedPointCloud should now be used.
        • extractWholeSpatialMap is now smarter if a previously retrieved map is passed as an argument. It will retrieve only the difference between the initial and updated mesh.

        Compatibility

        • Streaming module is not compatible between 2.8 and 3.0.
        • Due to a change in SVO metadata, SVOs recorded with 3.0 will only be compatible with SDK 2.8.4 and upwards.

      Legacy

      For older releases and changelog, see the ZED SDK release archive.