mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 16:57:46 +08:00
59 lines
2.3 KiB
Markdown
59 lines
2.3 KiB
Markdown
Docker image example to include pytorch/CUDA support (SuperPoint, SuperGlue, OpenCV+nonfree+xfeatures2d)
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# Create image:
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```bash
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cd rtabmap_ros
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docker build -t rtabmap_ros:superpoint -f docker/jazzy/superpoint/Dockerfile .
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```
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# Example of usage:
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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.
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```bash
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# X11 Setup for rtabmap_viz, not required if you don't launch any UI
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XAUTH=/tmp/.docker.xauth
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touch $XAUTH
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xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
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# Docker Run Command
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docker run -it --rm \
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--user $(id -u) \
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--privileged \
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--gpus all \
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-e LD_PRELOAD="/opt/hpcx/ucc/lib/libucc.so.1" \
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-e NVIDIA_VISIBLE_DEVICES=all \
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-e NVIDIA_DRIVER_CAPABILITIES=all \
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-e DISPLAY=$DISPLAY \
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-e QT_X11_NO_MITSHM=1 \
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-e XAUTHORITY=$XAUTH \
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-v $XAUTH:$XAUTH \
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-v /tmp/.X11-unix:/tmp/.X11-unix \
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-e ROS_HOME=/tmp/.ros \
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--network host \
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-v ~/.ros:/tmp/.ros \
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rtabmap_ros:superpoint \
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ros2 launch rtabmap_examples realsense_d435i_infra.launch.py \
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args:=" \
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--SuperPoint/ModelPath /workspace/superpoint_v1.pt \
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--PyMatcher/Path /workspace/SuperGluePretrainedNetwork/rtabmap_superglue.py \
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--Kp/DetectorStrategy 11 \
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--Kp/NndrRatio 0.6 \
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--Vis/CorNNType 6 \
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--Vis/CorNNDR 0.6 \
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--Reg/RepeatOnce false \
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--Vis/CorGuessWinSize 0" \
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odom_args:=" \
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--Vis/CorNNType 1 \
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--Reg/RepeatOnce true \
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--Vis/CorGuessWinSize 40 \
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--Vis/CorNNDR 0.8"
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```
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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.
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To use superpoint for odometry, remove `odom_args` and add this to `args`:
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```bash
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--Vis/FeatureType 11 \
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```
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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`. |