diff --git a/BuildZEDLinux.xml b/BuildZEDLinux.xml
index d7c6e1b..bb7f8c8 100644
--- a/BuildZEDLinux.xml
+++ b/BuildZEDLinux.xml
@@ -5,7 +5,6 @@
     <Node Name="Compile UnrealHeaderTool Linux">
       <Compile Target="UnrealHeaderTool" Platform="Linux" Configuration="Test"/>
     </Node>
-
     <Node Name="Compile ZEDLiveLink Linux" Requires="Compile UnrealHeaderTool Linux">
       <Compile Target="ZEDLiveLink" Platform="Linux" Configuration="Test"/>
     </Node>
@@ -14,6 +13,5 @@
      <Copy From="$(LocalBinaryDir)/ZEDLiveLink-Linux-Test.debug" To="$(LocalBinaryDir)/ZEDLiveLink/ZEDLiveLink.debug" />
      <Copy From="$(LocalBinaryDir)/ZEDLiveLink-Linux-Test.sym" To="$(LocalBinaryDir)/ZEDLiveLink/ZEDLiveLink.sym" />
     </Node>
-
   </Agent>
 </BuildGraph>
diff --git a/README.md b/README.md
index a52e828..20d31c2 100644
--- a/README.md
+++ b/README.md
@@ -12,7 +12,7 @@ The object detection module can be disabled in order to send only camera trackin
 ## Getting started
 
  - First, download the latest version of the ZED SDK on [stereolabs.com](https://www.stereolabs.com/developers/)
-- For more information, read the ZED [Documentation](https://www.stereolabs.com/docs/app-development/python/install/) and [API documentation](https://www.stereolabs.com/docs/api/python/)
+- For more information, read the ZED [Documentation](https://www.stereolabs.com/docs) and [API documentation](https://www.stereolabs.com/docs/api/)
 
 
 To compile the tool from source, you will require a source build of Unreal Engine.
@@ -108,9 +108,14 @@ If the ZED Source is not yet detected in UnrealEngine, enable **Enable by defaul
 
 #### On Linux
 
-If the plugin crashes at the start, try to run the ldd command onto the sl_wrapper.so library :
+If the plugin crashes at the start, try to run the ldd command onto the sl_zed_c.so library :
 
 ```bash
-$ ldd sl_wrapper.so
+$ ldd libsl_zed_c.so
 ```
 It will show all the dependencies required by the .so and allow you to install anything that might be missing (for example lib-usb).
+
+
+Note that the c wrapper used for the Live link plugin is also available here : https://github.com/stereolabs/zed-c-api.
+
+If you encounter issues running the live link plugin, do not hesitate to build the wrapper yourself and place it in the lib/win64 or /linux folder.
diff --git a/Source/Private/ZEDCamera.cpp b/Source/Private/ZEDCamera.cpp
index bf5ea75..b46b583 100644
--- a/Source/Private/ZEDCamera.cpp
+++ b/Source/Private/ZEDCamera.cpp
@@ -198,6 +198,21 @@ bool ZEDCamera::ImportMethod_RetrieveObjects()
 	return false;// Return an error.
 }
 
+bool ZEDCamera::ImportMethod_SetSVOPosition()
+{
+	if (v_dllHandle != NULL)
+	{
+		m_funcSetSVOPosition = NULL;
+		FString procName = "sl_set_svo_position";// Needs to be the exact name of the DLL method.
+		m_funcSetSVOPosition = (__SetSVOPosition)FPlatformProcess::GetDllExport(v_dllHandle, *procName);
+		if (m_funcSetSVOPosition != NULL)
+		{
+			return true;
+		}
+	}
+	return false;// Return an error.
+}
+
 bool ZEDCamera::LoadDll(FString DLLName)
 {
 	if (FPaths::FileExists(DLLName))
@@ -217,6 +232,7 @@ bool ZEDCamera::LoadDll(FString DLLName)
 			ImportMethod_DisableOD();
 			ImportMethod_GetPosition();
 			ImportMethod_RetrieveObjects();
+			ImportMethod_SetSVOPosition();
 			return true;
 		}
 	}
@@ -346,6 +362,13 @@ sl::ERROR_CODE ZEDCamera::RetrieveObjects(SL_ObjectDetectionRuntimeParameters& o
 	return e;
 }
 
+void ZEDCamera::setSVOPosition(int frame_number) {
+	if (m_funcSetSVOPosition == NULL)
+	{
+		return ;
+	}
+	m_funcSetSVOPosition(camera_id, frame_number);
+}
 
 
 #endif
\ No newline at end of file
diff --git a/Source/Private/main.cpp b/Source/Private/main.cpp
index cc2c245..d9815a2 100644
--- a/Source/Private/main.cpp
+++ b/Source/Private/main.cpp
@@ -115,7 +115,8 @@ int main(int argc, char **argv)
 			///// Update Streamed data
 			SL_RuntimeParameters rt_params;
 			rt_params.reference_frame = sl::REFERENCE_FRAME::WORLD;
-			if (StreamedCamera.Cam->Grab(rt_params) == sl::ERROR_CODE::SUCCESS) {
+			sl::ERROR_CODE err = StreamedCamera.Cam->Grab(rt_params);
+			if (err == sl::ERROR_CODE::SUCCESS) {
 				UpdateCameraFrameData(StreamedCamera.SubjectName, *StreamedCamera.Cam);
 
 #if ENABLE_OBJECT_DETECTION
@@ -129,6 +130,10 @@ int main(int argc, char **argv)
 				}
 #endif
 			}
+			else if (err == sl::ERROR_CODE::END_OF_SVOFILE_REACHED) {
+				std::cout << "End of SVO reached " << std::endl;
+				StreamedCamera.Cam->setSVOPosition(0);
+			}
 			else {
 				std::cout << "Grab Failed " << std::endl;			
 			}
@@ -202,6 +207,7 @@ ERROR_CODE InitCamera(int argc, char **argv)
 
 	SL_PositionalTrackingParameters tracking_param;
 	tracking_param.set_floor_as_origin = true;
+	tracking_param.enable_pose_smoothing = true;
 
 	err = zed->EnableTracking(tracking_param);
 	if (err != ERROR_CODE::SUCCESS)
@@ -333,8 +339,8 @@ void UpdateCameraFrameData(FName SubjectName, ZEDCamera& zed)
 	//CameraData.FieldOfView = zed.getCameraInformation().camera_configuration.calibration_parameters.left_cam.h_fov;
 	CameraData.ProjectionMode = ELiveLinkCameraProjectionMode::Perspective;
 	CameraData.Transform = Pose;
-	double timestamp = (pose.timestamp / 1000000000.0f);// ns to seconds
-	CameraData.WorldTime = timestamp;
+	double StreamTime = FPlatformTime::Seconds();
+	CameraData.WorldTime = StreamTime;
 	LiveLinkProvider->UpdateSubjectFrameData(SubjectName, MoveTemp(FrameData));
 }
 
diff --git a/Source/Public/ZEDCamera.h b/Source/Public/ZEDCamera.h
index dd6811e..b249e32 100644
--- a/Source/Public/ZEDCamera.h
+++ b/Source/Public/ZEDCamera.h
@@ -28,6 +28,7 @@ typedef bool(*__CreateCamera)(int id, bool verbose);
 typedef int(*__SN)(int sn);
 typedef int(*__Grab)(int id, SL_RuntimeParameters& rt_params);
 typedef SL_CalibrationParameters*(*__CalibParams)(int id, bool raw_params);
+typedef void(*__SetSVOPosition)(int id, int frame_nb);
 
 
 class ZEDCamera {
@@ -48,6 +49,7 @@ class ZEDCamera {
 	int GetSerialNumber();
 	sl::ERROR_CODE RetrieveObjects(SL_ObjectDetectionRuntimeParameters& od_params, SL_Objects& objs);
 	SL_CalibrationParameters* GetCalibrationParameters(bool raw_params = false);
+	void setSVOPosition(int frame_number);
 
 private:
 	void *v_dllHandle;
@@ -63,6 +65,7 @@ class ZEDCamera {
 	__Grab m_funcGrab;
 	__SN m_funcGetSN;
 	__CalibParams m_funcGetCalibParams;
+	__SetSVOPosition m_funcSetSVOPosition;
 
 	int camera_id;
 
@@ -78,6 +81,7 @@ class ZEDCamera {
 	bool ImportMethod_GetSerialNumber();
 	bool ImportMethod_RetrieveObjects();
 	bool ImportMethod_GetCalibParams();
+	bool ImportMethod_SetSVOPosition();
 
 	bool LoadDll(FString DLLName);
 	void UnloadDll();
diff --git a/Source/Public/ZEDStructs.h b/Source/Public/ZEDStructs.h
index 01ffe74..6875499 100644
--- a/Source/Public/ZEDStructs.h
+++ b/Source/Public/ZEDStructs.h
@@ -151,6 +151,7 @@ struct SL_RuntimeParameters
 	bool enable_depth;
 	int confidence_threshold;
 	int texture_confidence_threshold;
+	bool remove_saturated_areas;
 
 	SL_RuntimeParameters() {
 		sensing_mode = sl::SENSING_MODE::STANDARD;
@@ -158,6 +159,7 @@ struct SL_RuntimeParameters
 		enable_depth = true;
 		confidence_threshold = 100;
 		texture_confidence_threshold = 100;
+		remove_saturated_areas = false;
 	}
 };
 
@@ -175,10 +177,10 @@ struct SL_ObjectDetectionParameters
 	bool enable_mask_output;
 	sl::DETECTION_MODEL model;
 	bool enable_body_fitting;
-	sl::BODY_FORMAT body_format;
 	float max_range;
-
 	SL_BatchParameters batch_parameters;
+	sl::BODY_FORMAT body_format;
+	sl::OBJECT_FILTERING_MODE filtering_mode;
 
 	SL_ObjectDetectionParameters() {
 		image_sync = false;
@@ -188,6 +190,7 @@ struct SL_ObjectDetectionParameters
 		model = sl::DETECTION_MODEL::HUMAN_BODY_ACCURATE;
 		max_range = -1;
 		body_format = sl::BODY_FORMAT::POSE_34;
+		filtering_mode = sl::OBJECT_FILTERING_MODE::NMS3D;
 	}
 };
 
diff --git a/Source/ZEDLiveLink.Target.cs b/Source/ZEDLiveLink.Target.cs
index d3b184a..f810c87 100644
--- a/Source/ZEDLiveLink.Target.cs
+++ b/Source/ZEDLiveLink.Target.cs
@@ -15,15 +15,15 @@ public ZEDLiveLinkTarget(TargetInfo Target) : base(Target)
 		SolutionDirectory = "Programs/LiveLink";
 
     	// We only need minimal use of the engine for this plugin
-    	bBuildDeveloperTools = false;
+  	bBuildDeveloperTools = false;
 		bUseMallocProfiler = false;
 		bBuildWithEditorOnlyData = true;
-        bCompileAgainstEngine = false;
+    bCompileAgainstEngine = false;
 		bCompileAgainstCoreUObject = true;
 		bCompileICU = false;
-    	bIsBuildingConsoleApplication = true;
+  	bIsBuildingConsoleApplication = true;
 
-        if (Target.Platform == UnrealTargetPlatform.Win64)
+		if (Target.Platform == UnrealTargetPlatform.Win64)
         	ExeBinariesSubFolder = "ZEDLiveLink/";
 
 		this.LaunchModuleName = "ZEDLiveLink";
diff --git a/UnrealProject/Config/DefaultEngine.ini b/UnrealProject/Config/DefaultEngine.ini
index f44b6c4..2348dad 100644
--- a/UnrealProject/Config/DefaultEngine.ini
+++ b/UnrealProject/Config/DefaultEngine.ini
@@ -25,3 +25,12 @@ AppliedDefaultGraphicsPerformance=Maximum
 +ActiveGameNameRedirects=(OldGameName="/Script/TP_ThirdPersonBP",NewGameName="/Script/ZEDUnrealLiveLink")
 +ActiveGameNameRedirects=(OldGameName="/Script/MyProject", NewGameName="/Script/ZEDUnrealLiveLink")
 
+[/Script/OmniverseRuntime.OmniverseSettings]
+bUserWantsToConnect=False
+bLiveEdit=False
+RenderContext=ERC_MDL
+bOpenDeveloperLog=False
+bTextureCompression=True
+bEnableQueryCollision=False
+bEnablePlayInEditorChanges=False
+
diff --git a/UnrealProject/Config/DefaultGame.ini b/UnrealProject/Config/DefaultGame.ini
index a9c824d..5ed4c12 100644
--- a/UnrealProject/Config/DefaultGame.ini
+++ b/UnrealProject/Config/DefaultGame.ini
@@ -7,3 +7,6 @@ Description=Live link demo sample
 bAddPacks=True
 InsertPack=(PackSource="StarterContent.upack",PackName="StarterContent")
 
+[/Script/LiveLink.LiveLinkSettings]
+DefaultMessageBusSourceMode=EngineTime
+
diff --git a/UnrealProject/Content/Maps/LiveLinkMap.umap b/UnrealProject/Content/Maps/LiveLinkMap.umap
index 98cf240..6644bf4 100644
Binary files a/UnrealProject/Content/Maps/LiveLinkMap.umap and b/UnrealProject/Content/Maps/LiveLinkMap.umap differ
diff --git a/UnrealProject/Content/Maps/LiveLinkMap_BuiltData.uasset b/UnrealProject/Content/Maps/LiveLinkMap_BuiltData.uasset
index 9cb13bd..1091867 100644
Binary files a/UnrealProject/Content/Maps/LiveLinkMap_BuiltData.uasset and b/UnrealProject/Content/Maps/LiveLinkMap_BuiltData.uasset differ
diff --git a/lib/linux/libsl_zed_c.so b/lib/linux/libsl_zed_c.so
index d7c1333..5d87b6c 100755
Binary files a/lib/linux/libsl_zed_c.so and b/lib/linux/libsl_zed_c.so differ
diff --git a/lib/win64/sl_zed_c.dll b/lib/win64/sl_zed_c.dll
index c9514f0..2ffdbdd 100644
Binary files a/lib/win64/sl_zed_c.dll and b/lib/win64/sl_zed_c.dll differ