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## 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 ``` Save

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