Advanced navigation Help with Generating Point Cloud Data with Real-World Coordinates Using ZED 2i and GNSS

Software Python
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Hi @nitingarg,
Based on my understanding of your issue, you want to use the ZED SDK to generate a geo-referenced point cloud. Is that correct?

Unfortunately, the ZEDfu tool does not currently support this feature. However, you can achieve this by writing some additional code. The process should be manageable. Here’s how you can do it:

  1. Retrieve the Point Cloud: Use the ZED SDK functions to obtain the point cloud in the camera coordinate frame.
  2. Convert to Geo-Referenced Coordinates: Utilize the GNSS-VIO calibration from the Fusion module to transform the point cloud into a geo-referenced coordinate system.

Here are some useful links to help you get started:

  • Point cloud sample: sample
  • Function for converting camera point to geo: Camera2Geo

Regards,
Tanguy