The ZED SDK Global Localization Playback sample demonstrates how to fuse pre-recorded GNSS data (saved in a JSON file) and pre-recorded camera data (saved into an SVO file) for achieving global scale localization on a real-world map. This sample is useful for applications such as offline analysis of sensor data or simulation / testing.
- Displays the camera's path in an OpenGL window.
- Displays path data, including translation and rotation.
- Displays the fused path on a map in a web browser.
- Exports KML files for the fused trajectory and raw GNSS data.
Before using this sample, ensure that you have the following dependencies installed on your system:
- ZED SDK: download and install from the official Stereolabs website.
To use the ZED SDK Global Localization Playback sample, follow these steps:
- Download and install the ZED SDK on your system from the official Stereolabs website.
- Open a terminal and navigate to the playback sample directory.
- Compile the sample for C++ in a build directory.
- Run the
ZED_Global_Localization_Playbackexecutable for C++ andlive.pyfor Python, passing the path to the SVO file as the first input argument of the command line and the path to GNSS file as second argument. - The sample will display the camera's path and path data in a 3D window.
- Go to the map server sample and run a simple server.
- The sample will playback the SVO file and display the camera's path and path data in a 3D window. The fused path will be displayed on a map on web browser, and KML files will be generated for the fused trajectory and raw GNSS data.