cv_networking_pipeline_linux

Receive by UDP, process with ORB-SLAM3, visualize the result, and send by OSC. Made for Linux. UPDATE: Implemented send/receive pipeline with the NDI protocol.

Implemented sending and receiving by NDI + OpenCV. The code is in NDIlib_Send_Video.cpp and in the NDIlib_Recv.cpp

Installation

Requirements

Install Gstreamer from the following tutorial: Как_устанавливать_GStreamer.pdf included in this repository. (NOTE: The PDF reader in Gitea can show broken files. If that's the case please use the other reader)

Changes to CMakeLists.txt

Change ORB-SLAM3_DIR
Set MY_GST_PATH to the GST_ROOT (Gstreamer installation directory)
Set MY_NDI_SDK_PATH (it has to set the path to ndi_sdk_for_linux directory)
Change Pangolin_DIR

Building

Go to the Gstreamer installation path and source the environment: cd MediaFramework and then source deploy-linux/set-env.sh

cd cv_networking_pipeline_linux` and then `mkdir build && cd build
cmake ..
make

Running

NDI_Send_Video is designed to work with mono-kitti dataset. On the server:

cd build
./NDIlib_Send_Video /mnt/disk-small/podmivan/datasets/mono-kitti/00. You will see the image showed by OpenCV. Now you can press any key to send the frames.
./NDIlib_Recv Now you can see the sending/receiving of the frames. But the frames are broken. The cause is undefined (Although on Windows everything is working fine)

localization

localization_ndi.cpp is not finished
image transfer using Gstreamer. On the server:

./localization ~/podmivan/SLAM/ORB_SLAM3/Vocabulary/ORBvoc.txt ~/podmivan/SLAM/ORB_SLAM3/Examples/Monocular/KITTI00-02.yaml "ADMIN (NDIlib_Send_Video)"

But it usually also causes segmentation fault. I didn't find the cause, this is why I moved to the developemnt with NDI + OpenCV

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