35 lines
1.8 KiB
Markdown
35 lines
1.8 KiB
Markdown
# 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.
|
||
|
||
1. Implemented sending and receiving by NDI + OpenCV. The code is in NDIlib_Send_Video.cpp and in the NDIlib_Recv.cpp
|
||
|
||
## Installation
|
||
|
||
### Requirements
|
||
1. 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
|
||
1. Change ORB-SLAM3_DIR
|
||
2. Set MY_GST_PATH to the GST_ROOT (Gstreamer installation directory)
|
||
3. Set MY_NDI_SDK_PATH (it has to set the path to ndi_sdk_for_linux directory)
|
||
4. Change Pangolin_DIR
|
||
|
||
### Building
|
||
1. Go to the Gstreamer installation path and source the environment: `cd MediaFramework` and then `source deploy-linux/set-env.sh`
|
||
2. `cd cv_networking_pipeline_linux` and then `mkdir build && cd build`
|
||
2. `cmake ..`
|
||
3. `make`
|
||
|
||
## Running
|
||
|
||
### NDI_Send_Video is designed to work with mono-kitti dataset. On the server:
|
||
1. `cd build`
|
||
2. `./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.
|
||
3. `./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
|
||
1. localization_ndi.cpp is not finished
|
||
2. 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
|