## KURULUM
### Kurulacak paketler
- orb_slam_3_ros_wrapper
- orb_slam_3
- pangolin
- C++11 ya da C++0x Derleyici --> c11 tüklü
- Opencv 3.2.0 veya 4.4.0 --> opencv 4.10.0 yüklü
- Eigen3 en az 3.1.0 --> eigen 3.2.10 yüklü
- DBOW2 and g2o (ORBSLAM'de var olarak geliyor)
### Derleme Kodları
```terminal
cmake -B build   -DCMAKE_PREFIX_PATH=/usr   -DOPENGL_INCLUDE_DIR=/usr/include   -DOPENGL_gl_LIBRARY=/usr/lib/x86_64-linux-gnu/libGL.so   -DOPENGL_opengl_LIBRARY=/usr/lib/x86_64-linux-gnu/libGL.so   -DEGL_LIBRARY=/usr/lib/x86_64-linux-gnu/libEGL.so -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.10.12 -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.10.so
```
```terminal
make -B build \
-DCMAKE_PREFIX_PATH=/usr \
-DOPENGL_INCLUDE_DIR=/usr/include \
-DOPENGL_gl_LIBRARY=/usr/lib/x86_64-linux-gnu/libGL.so \
-DOPENGL_opengl_LIBRARY=/usr/lib/x86_64-linux-gnu/libGL.so \
-DPYTHON_EXECUTABLE=/usr/bin/python3 \
-DPYTHON_INCLUDE_DIR=/usr/include/python3.10 \
-DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.10.so
```

```terminal
#OpenGl'i eklemek
cmake -B build \
	-DOpenGL_GL_PREFERENCE=LEGACY \
	-DOPENGL_INCLUDE_DIR=/usr/include \
	-DOPENGL_gl_LIBRARY=/usr/lib/x86_64-linux-gnu/libGL.so \
	-DOPENGL_opengl_LIBRARY=/usr/lib/x86_64-linux-gnu/libGL.so
```
		
## ÇALIŞTIRMA
ORBSLAM3 ROS2
```terminal
ros2 run orbslam3 mono /home/rag0n/Desktop/orb_ws/src/ORB_SLAM3_ROS2/vocabulary/ORBvoc.txt /home/rag0n/Desktop/orb_ws/src/ORB_SLAM3_ROS2/config/monocular/EuRoC.yaml
```
ORBSLAM3
indirdiğimiz fr1 verisiyle ORBSLAM3 examples dosyalarını kullanarak test yapıyoruz
```terminal
./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml ~/rgbd_dataset_freiburg1_xyz/ Examples/RGB-D/associations/fr1_xyz.txt
```
- TUGBOT
```TERMİNAL
ros2 run orbslam3 rgbd /home/rag0n/Desktop/orb_ws/src/ORB_SLAM3_ROS2/vocabulary/ORBvoc.txt /home/rag0n/Desktop/TUGBOT_CAMINFO_ORBSLAM.yaml
```