# ZED SDK v4.0.7 is out **URL:** \ **Category:** Announcement\ **Tags:** release, sdk\ **Created:** [September 22, 2023, 5:44pm UTC](https://community.stereolabs.com/t/zed-sdk-v4-0-7-is-out/3553 "2023-09-22T17:44:24Z")\ **Posts on this page:** 15\ **Page:** 1
**Author:** ![Myzhar](https://community.stereolabs.com/user_avatar/community.stereolabs.com/myzhar/32/11_2.png) [@Myzhar](https://community.stereolabs.com/u/Myzhar)\ **Post date:** [September 22, 2023, 5:44pm UTC](https://community.stereolabs.com/t/zed-sdk-v4-0-7-is-out/3553/1 "2023-09-22T17:44:24Z")
# ZED SDK v4.0.7 changelog ## SDK - Added L4T35.4 compatibility (NVIDIA Jetpack 5.1.2) - Automatically repair corrupted SVOs. - Reduced Spatial Mapping computing time. - Improved USB reliability on Linux. - Added automatic ROI exclusion of static objects for Positional Tracking. - Timestamp and dates are now logged in UTC format. - Confidence ranges are now better on ZED X. - Improved the newly released Positional Tracking Mode QUALITY to make it work faster and with all depth modes. - Added isCameraSettingSupported method for camera video control support. ## Fusion - Added a `stopPublishing` method to Fusion API. - Reduced Camera grab time when publishing data to Fusion. - Added synchronized images and depth retrieval from within the Fusion API. #### Bug Fixes - Fixed incorrect GNSS calibration when the master camera is not at the origin. - Fixed the fusion blocking when the publisher closes and reopens. - Optionally detect and filter corrupted frames through an InitParameter. - Fixed crash in SDK quill logger in super-verbose. - Fixed Positional Tracking convergence to identity that happened too easily. - Fixed Fusion.getPosition returning bad output when multiple cameras are setup. ## Tools - Allowed ZED Calibration to calibrate recent ZED Mini models. - Fixed all tools user interfaces on 4K screens. - Improved ZED Diagnostics GMSL reports. - Added a UI in ZED360 to add remote senders from IP address and port. - Added additional pop-up messages in ZED360 to improve user experience #### Samples - Reworked Python GNSS sample. - Updated multi-camera playback sample to synchronize SVOs. #### Wrappers - Updated ROS Wrapper with the latest improvements recently released on ROS 2 Wrapper. - Added support for POSITIONAL\_TRACKING\_MODE to ROS 2 Wrapper. - Fixed Cython 3.0.x compatibility. - Fixed the difference of quality of the Body Tracking module in Live link and Unreal Engine Plugin. ---
**Author:** ![lesteranonym](https://community.stereolabs.com/user_avatar/community.stereolabs.com/lesteranonym/32/1852_2.png) [@lesteranonym](https://community.stereolabs.com/u/lesteranonym)\ **Post date:** [September 22, 2023, 7:30pm UTC](https://community.stereolabs.com/t/zed-sdk-v4-0-7-is-out/3553/2 "2023-09-22T19:30:22Z")
Hello Myzhar It’s glad to see the release of 4.0.7 for NVIDIA Jetpack 5.1.2, but the download link has some permission issue. Can you solve it? ![2023-09-23 032916](https://community.stereolabs.com/uploads/default/original/2X/e/eb6f81e72f5d9338e566b31ede264523efc20485.png) ---
**Author:** ![Myzhar](https://community.stereolabs.com/user_avatar/community.stereolabs.com/myzhar/32/11_2.png) [@Myzhar](https://community.stereolabs.com/u/Myzhar)\ **Post date:** [September 22, 2023, 9:58pm UTC](https://community.stereolabs.com/t/zed-sdk-v4-0-7-is-out/3553/3 "2023-09-22T21:58:25Z")
Hi @lesteranonym Welcome to the Stereolabs Community. Thank you for reporting the issue. The website team will fix it as soon as possibile. ---
**Author:** ![alassagne](https://community.stereolabs.com/user_avatar/community.stereolabs.com/alassagne/32/2428_2.png) [@alassagne](https://community.stereolabs.com/u/alassagne)\ **Post date:** [September 23, 2023, 9:56am UTC](https://community.stereolabs.com/t/zed-sdk-v4-0-7-is-out/3553/4 "2023-09-23T09:56:36Z")
It’s fixed. Sorry for the trouble. ---
**Author:** ![jl0778427](https://community.stereolabs.com/user_avatar/community.stereolabs.com/jl0778427/32/1855_2.png) [@jl0778427](https://community.stereolabs.com/u/jl0778427)\ **Post date:** [September 24, 2023, 8:21am UTC](https://community.stereolabs.com/t/zed-sdk-v4-0-7-is-out/3553/5 "2023-09-24T08:21:13Z")
I do not see the updated driver in “installation\_path/drivers” directory, so may I know which driver should I install? ---
**Author:** ![Myzhar](https://community.stereolabs.com/user_avatar/community.stereolabs.com/myzhar/32/11_2.png) [@Myzhar](https://community.stereolabs.com/u/Myzhar)\ **Post date:** [September 24, 2023, 8:22am UTC](https://community.stereolabs.com/t/zed-sdk-v4-0-7-is-out/3553/6 "2023-09-24T08:22:59Z")
Hi @jl0778427 Welcome to the Stereolabs community. The latest driver v0.4.6 works correctly with the latest SDK version. ---
**Author:** ![jl0778427](https://community.stereolabs.com/user_avatar/community.stereolabs.com/jl0778427/32/1855_2.png) [@jl0778427](https://community.stereolabs.com/u/jl0778427)\ **Post date:** [September 24, 2023, 8:29am UTC](https://community.stereolabs.com/t/zed-sdk-v4-0-7-is-out/3553/7 "2023-09-24T08:29:07Z")
Thanks @Myzhar . May I get the link of latest driver v0.4.6? I only see v0.5.4 in [https://www.stereolabs.com/developers/release/](https://www.stereolabs.com/developers/release/) ---
**Author:** ![Myzhar](https://community.stereolabs.com/user_avatar/community.stereolabs.com/myzhar/32/11_2.png) [@Myzhar](https://community.stereolabs.com/u/Myzhar)\ **Post date:** [September 24, 2023, 8:30am UTC](https://community.stereolabs.com/t/zed-sdk-v4-0-7-is-out/3553/8 "2023-09-24T08:30:45Z")
My fault, the latest is 0.5.4. Thats good for SDK v4.0.7 👍 ---
**Author:** ![jl0778427](https://community.stereolabs.com/user_avatar/community.stereolabs.com/jl0778427/32/1855_2.png) [@jl0778427](https://community.stereolabs.com/u/jl0778427)\ **Post date:** [September 24, 2023, 8:49am UTC](https://community.stereolabs.com/t/zed-sdk-v4-0-7-is-out/3553/9 "2023-09-24T08:49:53Z")
I reach the problem when installing v0.5.4: ```auto dpkg: regarding stereolabs-zedx_0.5.4-MAX96712-L4T35.3.1_arm64.deb containing stereolabs-zedx, pre-dependency problem: stereolabs-zedx pre-depends on nvidia-l4t-core (<< 35.4-0) nvidia-l4t-core is installed, but is version 35.4.1-20230801124926. dpkg: error processing archive stereolabs-zedx_0.5.4-MAX96712-L4T35.3.1_arm64.deb (--install): pre-dependency problem - not installing stereolabs-zedx Errors were encountered while processing: stereolabs-zedx_0.5.4-MAX96712-L4T35.3.1_arm64.deb ``` ---
**Author:** ![Myzhar](https://community.stereolabs.com/user_avatar/community.stereolabs.com/myzhar/32/11_2.png) [@Myzhar](https://community.stereolabs.com/u/Myzhar)\ **Post date:** [September 25, 2023, 7:29am UTC](https://community.stereolabs.com/t/zed-sdk-v4-0-7-is-out/3553/10 "2023-09-25T07:29:44Z")
@jl0778427 the ZED X driver for JP5.1.2 has not yet been released. It will be released soon. ---
**Author:** ![Myzhar](https://community.stereolabs.com/user_avatar/community.stereolabs.com/myzhar/32/11_2.png) [@Myzhar](https://community.stereolabs.com/u/Myzhar)\ **Post date:** [September 25, 2023, 5:09pm UTC](https://community.stereolabs.com/t/zed-sdk-v4-0-7-is-out/3553/11 "2023-09-25T17:09:41Z")
The ZED X driver v0.6.1 for JP5.1.2 is available for download: - [ZED X Driver v0.6.1 for JetPack 5.1.2 (L4T 35.4)](https://download.stereolabs.com/drivers/zedx/0.6.1/stereolabs-zedx_0.6.1-MAX96712-L4T35.4.1_arm64.deb) ---
**Author:** ![jl0778427](https://community.stereolabs.com/user_avatar/community.stereolabs.com/jl0778427/32/1855_2.png) [@jl0778427](https://community.stereolabs.com/u/jl0778427)\ **Post date:** [September 26, 2023, 12:44pm UTC](https://community.stereolabs.com/t/zed-sdk-v4-0-7-is-out/3553/12 "2023-09-26T12:44:57Z")
Glad to hear that! Thanks for the quick release! ---
**Author:** ![peanuts](https://community.stereolabs.com/letter_avatar_proxy/v4/letter/p/a3d4f5/32.png) [@peanuts](https://community.stereolabs.com/u/peanuts)\ **Post date:** [September 26, 2023, 4:16pm UTC](https://community.stereolabs.com/t/zed-sdk-v4-0-7-is-out/3553/13 "2023-09-26T16:16:35Z")
Hello, I installed the 4.0.7 version a PC ubuntu 22.04 (previous was 4.0.6) , Cuda is detected during installation but when I run ZedDiagnostic Cuda is not found and cannot anymore run any code . I can’t found 4.0.6 link download to downgrade. ---
**Author:** ![Myzhar](https://community.stereolabs.com/user_avatar/community.stereolabs.com/myzhar/32/11_2.png) [@Myzhar](https://community.stereolabs.com/u/Myzhar)\ **Post date:** [September 26, 2023, 4:19pm UTC](https://community.stereolabs.com/t/zed-sdk-v4-0-7-is-out/3553/14 "2023-09-26T16:19:22Z")
Hi @peanuts please run the ZED Diagnostic again and send the report file that it generates to [support@stereolabs.com](mailto:support@stereolabs.com) for a quick analysis of your problem. ---
**Author:** ![peanuts](https://community.stereolabs.com/letter_avatar_proxy/v4/letter/p/a3d4f5/32.png) [@peanuts](https://community.stereolabs.com/u/peanuts)\ **Post date:** [September 26, 2023, 4:37pm UTC](https://community.stereolabs.com/t/zed-sdk-v4-0-7-is-out/3553/15 "2023-09-26T16:37:37Z")
I will send you that tomorrow morning, currently I don’t have access to the setup. Thank you for your quick reply.