Hello,
I am working in a similar issue, we know the geographical position of the camera and we would like to test the ZED localization feature to geolocate objects.
As I mentioned here, I think this operation involves a linear transformation and then a vector translation applied on the detected points. The linear transformation handles the difference between the x and y axis of the camera (world frame reference) and the x - y geographical axis. Then a vector translation needs to be applied to handle the change of origin, from the original location of the camera when launched to the actual GPS location at that time.
Myzhar I do not understand what you mean by using the same CRS as the one of the GPS, as this is not an available option in the ZED SDK, and i think it would not be available anyway because the camera cannot locate the north direction
this would be done in a UTM CRS to make things more simple (similar cartesian coordinates).
The zed sdk can compute the north orientation (magnetic_heading, its not super accurate though), but i dont think its used to determine the axis.