Download repo with third_party

Just download all the extra dependencies for running everything

git clone --recursive https://github.com/Rumarino-Team/cv.git
cd cv

Create Virtual Enviroment

We have run this module with the Python 3.12 version.

python -m venv .venv
source .venv/bin/activate
python -m pip install -r requirements.txt 

Create workspace

mkdir -p ros2_ws/src
ln hydrus_cv ros2_ws/src/hydrus_cv

Running Bencharks

cd ros2_ws
python -m src.hydrus_cv.hydrus_cv.benchmark

Install Ros2 and dependencies

sudo apt update
sudo apt install ros-jazzy-vision-msgs
sudo apt install ros-jazzy-sensor-msgs
sudo apt install ros-jazzy-geometry-msgs
sudo apt install ros-jazzy-rviz2
sudo apt install libogre-1.12-dev
sudo apt install ros-jazzy-usb-cam

#Orb SLAM dependencies
sudo apt install libopencv-dev libeigen3-dev libboost-all-dev libssl-dev
sudo apt install ros-jazzy-pangolin

Building Orb Slam

cd third_party
wget https://github.com/UZ-SLAMLab/ORB_SLAM3/raw/refs/heads/master/Vocabulary/ORBvoc.txt.tar.gz
tar -xf ORBvoc.txt.tar.gz
git clone https://github.com/Cruiz102/ORB_SLAM3.git
#build everything with a single command
cd ORB_SLAM3
chmod +x build.sh
sudo ./build.sh

Building Ros Packages

# Build
./build.sh
source /opt/ros/jazzy/setup.bash
source install/setup.bash

Individual Components

Full HydrusCV Pipeline (without SLAM):

ros2 launch hydrus_cv full_pipeline.launch.py

ORB-SLAM3 only:

ros2 launch orb_slam mono_webcam.launch.py

Depth estimation only:

ros2 launch hydrus_cv depth_publisher.launch.py