The ZED SDK required an Nvidia GPU with compute capability of at least 3.0. With various tests we have done, we recommend a GTX 1060 or greater version.
The GTX 1060 is recommended only as a minimum limit to get very good performances with all the modules of the ZED SDK (depth extraction, positional tracking, 3D reconstruction, object detection, and tracking, ...).
According to online benchmarks, the GTX1060 is 2x faster than the GTX1050. However, you will get good performances also using a GTX1050.