ORB_SLAM3 data processor and the networking pipeline.

Prerequisites

1. Install cmake: https://cmake.org/download/
2. Install Gstreamer. Download and follow the instructions guideline from DriveCast. Follow the rules of installation STRICTLY.
3. Install OSCPack_1_1_0: http://www.rossbencina.com/code/oscpack
4. Install vcpkg: https://vcpkg.io/en/getting-started.html
5. Install Visual Studio 2019. Install the version of Windows SDK 10.0.20348.0
6. Download and build Prerequisites for the changed ORB_SLAM3 library and the ORB_SLAM3 library itself from here:

Build OscPack:

1. In the extracted folder: mkdir build && cd build
2. cmake ..
3. Open TestOscPack.sln project in Visual Studio. Edit Preferences ONLY of oscpack. Change buld type to Release
4. Change: General -> Configuration Type -> Static Library (.lib)
5. Also: Advanced -> Target File Extension -> .lib
6. Build oscpack, OscReceiveTest, SimpleReceive, SimpleSend, OscSendTests

!Build boost.

Build ORB_SLAM3

• Instructions are here: https://git.drivecast.tech/PodmogilnyjIvan/ORB_SLAM3
• Save the path to your vcpkg.cmake file, you'll need it later.
• Don't forget to write vcpkg integrate all to use vcpkg in Visual Studio projects.

Build MyGst

1. In CMakeLists.txt file

   • Under OSC BEGIN section define your OSC_DIR
   • Under ORB_SLAM3 BEGIN section define directories for all of the libraries mentioned in the file.
   • Under OpenCV BEGIN section in set(OpenCV_DIR XXX) instead of XXX define your directory.

2. mkdir build && cd build

3. cmake -DCMAKE_TOOLCHAIN_FILE=C:/Users/ivan/Source/Repos/ORB_SLAM3/Thirdparty/Pangolin/vcpkg/scripts/buildsystems/vcpkg.cmake .. Instead of my path, you have to paste your path to vcpkg.cmake

4. You need to build gst_get_ndi and my_ndi_source projects. Before bulding edit the Preferences of these two projects...

   • C/C++ -> Code Generation -> Runtime Library -> MT
   • The path Boost_DIR/stage/lib paste to Linker -> General -> Additional Library Directories

5. Change Preferences of oscpack project:

   • C/C++ -> Code Generation -> Runtime Library -> MT

6. Build gst_get_ndi and my_ndi_source

Running

Along with the library, .cmd and .bat scripts are provided. Put them in the Project_DIR/build/Release directory. Project_DIR stands for the MyGst project itself.

1. In cmd 1, in oscpack_DIR/build/Release directory: run OscReceiveTest.exe
2. In cmd 2, in the Project_DIR/build/Release directory: run set-env.bat, then Run run_source.cmd
3. In cmd 3, in the Project_DIR/build/Release directory: run set-env.bat, then Run run_gst_loopthrough_capture.cmd

You should now be able to see RoboRace video, and in cmd_1 you should be able to see the receiving of the processed data.