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RealSense SDK 2.0 beta (v2.58.4)

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@Nir-Az Nir-Az released this 30 Aug 08:59
v2.58.4
34d6c77
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What's new

Highlights

  • Ubuntu 26.04 (Resolute) support + ROS2 Lyrical
  • D401 GMSL dual-RGB support — RGB controls routed to the dedicated color v4l2 node.
  • Zero-copy GPU frames (CUDA) — new rs2_get_frame_gpu_data / rs2_get_frame_gpu_data_or_upload and the rs2::gpu_frame extension let CUDA/TensorRT consume frames with no host->device copy on integrated-GPU (Jetson) platforms.
  • Device hardware time API — new rs2_get_device_time_ms exposes the device ASIC clock.
  • Inference renamed to Perception — SDK-wide rename of the inference APIs/extensions to perception; sensor is now "Perception" and the stream "Object Detection". New RS2_OPTION_DETECTION_DISTANCE enables firmware-side per-detection distance.
  • New sensor options — RS2_OPTION_READOUT_SHAPING on select D400 devices, Emitter ON/OFF on all D500 active SKUs.

C++ Viewer

  • Add a search box to filter controls by name.
  • Add viewport grid overlay.
  • Split depth/IR resolution UI, gated on embedded decimation.

Web based Viewer

  • Add a search box to filter controls by name.

Platform & Build

  • Optionally use a system-provided nlohmann_json (USE_EXTERNAL_NLOHMANN_JSON).
  • Fix building with pybind11 v3.0.2.
  • udev: collapse per-PID 0x38E5 rules to VID-only matches.
    JetPack 7.2 (L4T R39.2) support in patch-realsense-ubuntu-L4T.sh.

Bug Fixes

  • Fix global timestamps stepping/slewing/reversing and depth-color splits at the hardware clock wrap.
  • Fix numerical instability in pose-inverse computation.
  • Fix rotation filter crash on streams without intrinsics.
  • Fix GIL deadlock when a pipeline with a Python callback is destroyed;
  • Allow a DFU device to reset after update without waiting for a status query.
  • Media Foundation: differentiate native from decompressed profiles.
  • Expose Depth Auto Exposure Mode on all D400 SKUs with a global shutter.
  • sw-update: match device names with or without the "Intel" prefix.

Known issues

  • For non-D555 users: if dependency issues appear related to fastrtps and fastcdr, try building from source with the flag -DBUILD_WITH_DDS=false.

Various bugs fixes - see full release notes in Release Notes.

Supported Platforms

  • Ubuntu 26.04/24.04/22.04/20.04 LTS (1). Kernel versions: 6.[2, 5, 8, 11, 14], 5.[0, 3, 4, 8, 13, 15, 19].
  • Windows 11(3) and Windows 10 (Build 15063 or later, 17763+ recommended).
  • NVIDIA® Jetson™ Jetpack 5(.0.2), 6.[0,1,2], 7(.0)
  • Mac OS (High Sierra 10.13.2 & 12+)(4)
  • Android(4) 14, 13, 12, 11, 10(5), 9, 8, 7. (6)

(1) Please refer to the Release Notes for known issues
(2) Non-LTS Ubuntu kernels with manual patches, check build from source instructions
(3) There is 50% probability of up to 80% frame drops with Windows 11 builds 22621.3296 and 22631.3296 (KB5035853). Windows 10 RS5 or Win 11 KB5030219 (OS Build 22621.2283) do not have any frame drops
(4) This is compilable, but not validated
(5) Due to a known issue with Android 10 the Depth cameras may not be recognized by some ROM/Platform vendors.
(6) IMU stream is not working well on latest versions

Supported Cameras

Please refer to https://dev.realsenseai.com/docs/firmware-updates for table of versions

SKU Firmware SDK Driver Comments
D435, D435if, D435i, D455, D455F, D456 USB 5.17.3.10 or later v2.58.4 or later N/A Firmware releases D400
Other D400 USB 5.17.0.10 or later v2.58.4 or later N/A Firmware releases D400
D457 GMSL 5.17.3.10 or later v2.58.4 or later v1.0.3.18 Firmware releases D400
D400 GMSL 5.17.0.10 or later v2.58.4 or later v1.0.3.18 Firmware releases D400
D555 7.58.38448.10612 v2.58.4 or later N/A Firmware early access release D500 Based on pre-installed FW, USB connection might be needed to update to this FW.
L515 1.5.8.1 or later v2.50.0 validated
v2.54.2 supports but not validated		 N/A Firmware releases L500

Supported Languages

Important Links

RealSense™ and the RealSense™ logo are trademarks of RealSense, Inc. in the U.S. and/or other countries. Other names and brands may be the trademarks or registered trademarks of third parties. INTEL® REALSENSE™, INTEL® and the INTEL® Logo are trademarks of Intel Corporation or its subsidiaries used under license. Certain Intel® RealSense™ products are sold by RealSense, Inc. under license from Intel Corporation.

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