diff --git a/Makefile b/Makefile
index c59088af..aa7eec39 100644
--- a/Makefile
+++ b/Makefile
@@ -5,6 +5,7 @@ OPENCV=0
 AVX=0
 OPENMP=0
 LIBSO=0
+ZED_CAMERA=0
 
 # set GPU=1 and CUDNN=1 to speedup on GPU
 # set CUDNN_HALF=1 to further speedup 3 x times (Mixed-precision on Tensor Cores) GPU: Volta, Xavier, Turing and higher
@@ -111,6 +112,12 @@ CFLAGS+= -DCUDNN_HALF
 ARCH+= -gencode arch=compute_70,code=[sm_70,compute_70]
 endif
 
+ifeq ($(ZED_CAMERA), 1)
+CFLAGS+= -DZED_CAMERA -I/usr/local/zed/include
+LDFLAGS+= -L/usr/local/zed/lib -lsl_core -lsl_input -lsl_zed
+#-lstdc++ -D_GLIBCXX_USE_CXX11_ABI=0 
+endif
+
 OBJ=http_stream.o gemm.o utils.o dark_cuda.o convolutional_layer.o list.o image.o activations.o im2col.o col2im.o blas.o crop_layer.o dropout_layer.o maxpool_layer.o softmax_layer.o data.o matrix.o network.o connected_layer.o cost_layer.o parser.o option_list.o darknet.o detection_layer.o captcha.o route_layer.o writing.o box.o nightmare.o normalization_layer.o avgpool_layer.o coco.o dice.o yolo.o detector.o layer.o compare.o classifier.o local_layer.o swag.o shortcut_layer.o activation_layer.o rnn_layer.o gru_layer.o rnn.o rnn_vid.o crnn_layer.o demo.o tag.o cifar.o go.o batchnorm_layer.o art.o region_layer.o reorg_layer.o reorg_old_layer.o super.o voxel.o tree.o yolo_layer.o upsample_layer.o lstm_layer.o
 ifeq ($(GPU), 1) 
 LDFLAGS+= -lstdc++ 
diff --git a/build/darknet/darknet.vcxproj b/build/darknet/darknet.vcxproj
index d629cac5..f46efa15 100644
--- a/build/darknet/darknet.vcxproj
+++ b/build/darknet/darknet.vcxproj
@@ -96,7 +96,7 @@
     </ClCompile>
     <Link>
       <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalLibraryDirectories>C:\opencv_3.0\opencv\build\x64\vc14\lib;C:\opencv_2.4.13\opencv\build\x64\vc12\lib;C:\opencv_2.4.13\opencv\build\x64\vc14\lib;$(CUDA_PATH)lib\$(PlatformName);$(CUDNN)\lib\x64;$(cudnn)\lib\x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalLibraryDirectories>C:\opencv_3.0\opencv\build\x64\vc14\lib;C:\opencv_2.4.13\opencv\build\x64\vc12\lib;C:\opencv_2.4.13\opencv\build\x64\vc14\lib;$(CUDA_PATH)\lib\$(PlatformName);$(CUDNN)\lib\x64;$(cudnn)\lib\x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
       <OutputFile>$(OutDir)\$(TargetName)$(TargetExt)</OutputFile>
       <AdditionalDependencies>..\..\3rdparty\lib\x64\pthreadVC2.lib;cublas.lib;curand.lib;cudart.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <AssemblyDebug>true</AssemblyDebug>
@@ -146,7 +146,7 @@
       <GenerateDebugInformation>true</GenerateDebugInformation>
       <EnableCOMDATFolding>true</EnableCOMDATFolding>
       <OptimizeReferences>true</OptimizeReferences>
-      <AdditionalLibraryDirectories>C:\opencv_3.0\opencv\build\x64\vc14\lib;C:\opencv_2.4.13\opencv\build\x64\vc14\lib;C:\opencv_2.4.13\opencv\build\x64\vc12\lib;$(CUDA_PATH)lib\$(PlatformName);$(CUDNN)\lib\x64;$(cudnn)\lib\x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalLibraryDirectories>C:\opencv_3.0\opencv\build\x64\vc14\lib;C:\opencv_2.4.13\opencv\build\x64\vc14\lib;C:\opencv_2.4.13\opencv\build\x64\vc12\lib;$(CUDA_PATH)\lib\$(PlatformName);$(CUDNN)\lib\x64;$(cudnn)\lib\x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
       <AdditionalDependencies>..\..\3rdparty\lib\x64\pthreadVC2.lib;cublas.lib;curand.lib;cudart.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <OutputFile>$(OutDir)\$(TargetName)$(TargetExt)</OutputFile>
     </Link>
diff --git a/build/darknet/yolo_cpp_dll.vcxproj b/build/darknet/yolo_cpp_dll.vcxproj
index c03bbea3..16050e9e 100644
--- a/build/darknet/yolo_cpp_dll.vcxproj
+++ b/build/darknet/yolo_cpp_dll.vcxproj
@@ -100,7 +100,7 @@
     </ClCompile>
     <Link>
       <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalLibraryDirectories>$(CUDA_PATH)lib\$(PlatformName);$(CUDNN)\lib\x64;$(cudnn)\lib\x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalLibraryDirectories>$(CUDA_PATH)\lib\$(PlatformName);$(CUDNN)\lib\x64;$(cudnn)\lib\x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
       <OutputFile>$(OutDir)\$(TargetName)$(TargetExt)</OutputFile>
       <AdditionalDependencies>..\..\3rdparty\lib\x64\pthreadVC2.lib;cublas.lib;curand.lib;cudart.lib;cuda.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <AssemblyDebug>true</AssemblyDebug>
@@ -149,7 +149,7 @@
       <GenerateDebugInformation>true</GenerateDebugInformation>
       <EnableCOMDATFolding>true</EnableCOMDATFolding>
       <OptimizeReferences>true</OptimizeReferences>
-      <AdditionalLibraryDirectories>C:\opencv_3.0\opencv\build\x64\vc14\lib;$(CUDA_PATH)lib\$(PlatformName);$(CUDNN)\lib\x64;$(cudnn)\lib\x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalLibraryDirectories>C:\opencv_3.0\opencv\build\x64\vc14\lib;$(CUDA_PATH)\lib\$(PlatformName);$(CUDNN)\lib\x64;$(cudnn)\lib\x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
       <AdditionalDependencies>..\..\3rdparty\lib\x64\pthreadVC2.lib;cublas.lib;curand.lib;cudart.lib;cuda.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <OutputFile>$(OutDir)\$(TargetName)$(TargetExt)</OutputFile>
     </Link>
diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp
index 42c36322..2d7330fa 100644
--- a/src/yolo_console_dll.cpp
+++ b/src/yolo_console_dll.cpp
@@ -334,6 +334,11 @@ int main(int argc, char *argv[])
                 if (file_ext == "svo") init_params.svo_input_filename.set(filename.c_str());
                 if (filename == "zed_camera" || file_ext == "svo") {
                     std::cout << "ZED 3D Camera " << zed.open(init_params) << std::endl;
+                    if (!zed.isOpened()) {
+                        std::cout << " Error: ZED Camera should be connected to USB 3.0. And ZED_SDK should be installed. \n";
+                        getchar();
+                        return 0;
+                    }
                     cur_frame = zed_capture_rgb(zed);
                     use_zed_camera = true;
                 }
diff --git a/src/yolo_v2_class.cpp b/src/yolo_v2_class.cpp
index 93cccf44..ab582bad 100644
--- a/src/yolo_v2_class.cpp
+++ b/src/yolo_v2_class.cpp
@@ -304,6 +304,7 @@ LIB_API std::vector<bbox_t> Detector::detect(image_t img, float thresh, bool use
             bbox.obj_id = obj_id;
             bbox.prob = prob;
             bbox.track_id = 0;
+            bbox.frames_counter = 0;
             bbox.x_3d = NAN;
             bbox.y_3d = NAN;
             bbox.z_3d = NAN;