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 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. Open Visual Studio 16 2019 with Administrative (IMPORTANT!) privilege and open the project

5. For gst_get_ndi project: Preferences -> Linker -> Input -> Additional Dependencies. Delete Release/ORB_SLAM3.lib if you see this.

6. You need to build gst_get_ndi and my_ndi_source projects. Before building, 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

7. Change Preferences of oscpack project:

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

8. 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.