live

Live Global Localization Sample

Overview

This sample demonstrates how to use the ZED SDK Global Localization module to achieve global scale localization on a real-world map using the ZED camera. The ZED SDK Live Global Localization sample fuses visual odometry from the ZED SDK with external GNSS data in real-time, making it a valuable resource for applications such as autonomous robotics and drone navigation.

Features

• Displays the camera's path in an OpenGL window in 3D
• 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

Dependencies

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.
• gpsd: required to use an external GNSS sensor.

  Note: Since gpsd does not support Windows, this sample is not supported on Windows.

C++

• libgps-dev: used to read data from gpsd.

Python

• gpsdclient: used to read data from gpsd.

Installation and Usage

To use the ZED SDK Global Localization sample, follow these steps:

1. Download and install the ZED SDK on your system from the official Stereolabs website.
2. Install dependencies using your operating system's package manager.
3. Connect your ZED camera and GNSS sensor to your computer.
4. Open a terminal and navigate to the live sample directory.
5. Compile the sample for C++ in a build directory.
6. Run the ZED_Live_Global_Localization executable for C++ and live.py for Python.
7. The sample will display the camera's path and path data in a 3D window.
8. Go to the map server sample and run a simple server.