ROS2 SuperPoint/SuperGlue example

docker/jazzy/superpoint/README.md

@@ -0,0 +1,59 @@
+Docker image example to include pytorch/CUDA support (SuperPoint, SuperGlue, OpenCV+nonfree+xfeatures2d)
+
+# Create image:
+```bash
+cd rtabmap_ros
+docker build -t rtabmap_ros:superpoint -f docker/jazzy/superpoint/Dockerfile .
+```
+# Example of usage:
+
+We launch the [realsense_d435i_infra.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_examples/launch/realsense_d435i_infra.launch.py) example with arguments to use superpoint + superglue for loop closure detection. Note that visual odometry is done with default parameters in this case.
+
+```bash
+# X11 Setup for rtabmap_viz, not required if you don't launch any UI
+XAUTH=/tmp/.docker.xauth
+touch $XAUTH
+xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
+
+# Docker Run Command
+docker run -it --rm \
+  --user $(id -u) \
+  --privileged \
+  --gpus all \
+  -e LD_PRELOAD="/opt/hpcx/ucc/lib/libucc.so.1" \
+  -e NVIDIA_VISIBLE_DEVICES=all \
+  -e NVIDIA_DRIVER_CAPABILITIES=all \
+  -e DISPLAY=$DISPLAY \
+  -e QT_X11_NO_MITSHM=1 \
+  -e XAUTHORITY=$XAUTH \
+  -v $XAUTH:$XAUTH \
+  -v /tmp/.X11-unix:/tmp/.X11-unix \
+  -e ROS_HOME=/tmp/.ros \
+  --network host \
+  -v ~/.ros:/tmp/.ros \
+  rtabmap_ros:superpoint \
+  ros2 launch rtabmap_examples realsense_d435i_infra.launch.py \
+    args:=" \
+        --SuperPoint/ModelPath /workspace/superpoint_v1.pt \
+        --PyMatcher/Path /workspace/SuperGluePretrainedNetwork/rtabmap_superglue.py \
+        --Kp/DetectorStrategy 11 \
+        --Kp/NndrRatio 0.6 \
+        --Vis/CorNNType 6 \
+        --Vis/CorNNDR 0.6 \
+        --Reg/RepeatOnce false \
+        --Vis/CorGuessWinSize 0" \
+     odom_args:=" \
+        --Vis/CorNNType 1 \
+        --Reg/RepeatOnce true \
+        --Vis/CorGuessWinSize 40 \
+        --Vis/CorNNDR 0.8"
+```
+
+The resulting database will be saved to `~/.ros/rtabmap.db` on the host computer. You can also use the `launch.sh` file in this folder for convenience.
+
+To use superpoint for odometry, remove `odom_args` and add this to `args`:
+```bash
+--Vis/FeatureType 11 \
+```
+
+Performance tip: to avoid extracting again in `rtabmap` superpoint features already extracted in `rgbd_odometry`, we would need to edit `realsense_d435i_infra.launch.py` and add the parameter `subscribe_sensor_data:=true` to `rtabmap` and `rtabmap_viz`, then remap `sensor_data:=odom_sensor_data/raw`.