Isaac SDK includes demo applications for recording and replaying synchronized stereo camera images along with static camera parameters and IMU readings.
packages/visual_slam/apps/record_zed.app.json: This application recordsleft_camera_gray,right_camera_gray, andimu(optional) channels to the cask file. On each run, recording will be stored in the subfolder of the output folder, specified by config/recorder/base_directory parameter of record_zed.app.json file.packages/visual_slam/apps/export_zed_camera_params.app.json: This application exports static camera parameters (intrinsics, left_to_right, and left_to_imu matrices) to a JSON file. This application has no GUI (sight).packages/visual_slam/apps/play_log.app.json: This application replays the recorded cask file, injecting static camera parameters (intrinsics, left_to_right, and left_to_imu matrices) from a JSON file, and it shows how to connect the Elbrus Visual SLAM tracker. To select recording, edit config/replay.interface/output/cask_directory parameter in play_log.app.json.