# 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.
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 changed ORB_SLAM3 library from here: https://git.drivecast.tech/PodmogilnyjIvan/ORB_SLAM3 For the build instructions refer to the repository.

## 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
4. Change: General -> Configuration Type -> Static Library (.lib)
5. Also: Advanced -> Target File Extension -> .lib
6. Build oscpack, OscReceiveTest, SimpleReceive, SimpleSend, OscSendTests


## Build MyGst



1. put run_gst_loopthrough_capture.bat in the folder, where the binary is located.
3. open cmd, and run `activate-env.cmd` from Gstreamer, then run `mkdir build && cd build`, and finally `cmake -D_CMAKE_TOOLCHAIN_FILE=XXX ..`,
where XXX is a path to VCPKG, example: C:/Users/ivan/Source/Repos/ORB_SLAM3/Thirdparty/Pangolin/vcpkg/scripts/buildsystems/vcpkg.cmake

1. Install changed Gstreamer from DriveCast.