Continuing from our early notes on SLAM algorithms (Simultaneous Localisation and Mapping), and the similar but not as map-making, DSO algorithm, I came across a good project (“From cups to consciousness“) and article that reminded me that mapping the environment or at least having some sense of depth, will be pretty crucial.
At the moment I’ve just got to the point of thinking to train a CNN on simulation data, and so there should also be some positioning of the robot as a model in it’s own virtual world. So it’s probably best to reexamine what’s already out there. Visual odometry. Optical Flow.
I found a good paper summarizing 2019 options. The author’s github has some interesting scripts that might be useful. It reminds me that I should probably be using ROS and gazebo, to some extent. The conclusion was roughly that Google Cartographer or GMapping (Open SLAM) are generally beating some other ones, Karto, Hector. Seems like SLAM code is all a few years old. Google Cartographer had some support for ‘lifelong mapping‘, which sounded interesting. The robot goes around updating its map, a bit. It reminds me I saw ‘PonderNet‘ today, fresh from DeepMind, which from a quick look is, more or less, about like scaling your workload down to your input size.
Anyway, we are mostly interested in Monocular SLAM. So none of this applies, probably. I’m mostly interested at the moment, in using some prefab scenes like the AI2Thor environment in the Cups-RL example, and making some sort of SLAM in simulation.
Also interesting is RATSLAM and the recent update: LatentSLAM – The authors of this site, The Smart Robot, got my attention because of the CCNs. Cortical column networks.
LatentSLAM: https://arxiv.org/pdf/2105.03265.pdf
“A common shortcoming of RatSLAM is its sensitivity
to perceptual aliasing, in part due to the reliance on
an engineered visual processing pipeline. We aim to reduce
the effects of perceptual aliasing by replacing the perception
module by a learned dynamics model. We create a generative
model that is able to encode sensory observations into a
latent code that can be used as a replacement to the visual
input of the RatSLAM system”
Interesting, “The robot performed 1,143 delivery tasks to 11 different locations with only one delivery failure (from which it recovered), traveled a total distance of more than 40 km over 37 hours of active operation, and recharged autonomously a total of 23 times.“
I think DSO might be a good option, or the closed loop, LDSO, look like the most straight-forward, maybe.
After a weekend away with a computer vision professional, I found out about COLMAP, a structure from movement suite.
I saw a few more recent projects too, e.g. NeuralRecon, and
ooh, here’s a recent facebook one that sounds like it might work!
Consistent Depth … eh, their google colab is totally broken.
Anyhow, LDSO. Let’s try it.
In file included from /dmc/LDSO/include/internal/OptimizationBackend/AccumulatedTopHessian.h:10:0,
from /dmc/LDSO/include/internal/OptimizationBackend/EnergyFunctional.h:9,
from /dmc/LDSO/include/frontend/FeatureMatcher.h:10,
from /dmc/LDSO/include/frontend/FullSystem.h:18,
from /dmc/LDSO/src/Map.cc:4:
/dmc/LDSO/include/internal/OptimizationBackend/MatrixAccumulators.h:8:10: fatal error: SSE2NEON.h: No such file or directory
#include "SSE2NEON.h"
^~~~
compilation terminated.
src/CMakeFiles/ldso.dir/build.make:182: recipe for target 'src/CMakeFiles/ldso.dir/Map.cc.o' failed
make[2]: *** [src/CMakeFiles/ldso.dir/Map.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs….
CMakeFiles/Makefile2:85: recipe for target 'src/CMakeFiles/ldso.dir/all' failed
make[1]: *** [src/CMakeFiles/ldso.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
Ok maybe not.
There’s a paper here reviewing ORBSLAM3 and LDSO, and they encounter lots of issues. But it’s a good paper for an overview of how the algorithms work. We want a point cloud so we can find the closest points, and not walk into them.
Calibration is an issue, rolling shutter cameras are an issue, IMU data can’t be synced meaningfully, it’s a bit of a mess, really.
Also, reports that ORB-SLAM2 was only getting 5 fps on a raspberry pi, I got smart, and looked for something specifically for the jetson. I found a depth CNN for monocular vision on the forum, amazing.
Then this is a COLMAP structure-from-motion option, and some more depth stuff… and more making it high res…
Ok so after much fussing about, I found just what we need. I had an old copy of jetson-containers, and the slam code was added just 6 months ago. I might want to try the noetic one (ROS2) instead of ROS, good old ROS.
git clone https://github.com/dusty-nv/jetson-containers.git cd jetson-containers chicken@jetson:~/jetson-containers$ ./scripts/docker_build_ros.sh --distro melodic --with-slam Successfully built 2eb4d9c158b0 Successfully tagged ros:melodic-ros-base-l4t-r32.5.0 chicken@jetson:~/jetson-containers$ ./scripts/docker_test_ros.sh melodic reading L4T version from /etc/nv_tegra_release L4T BSP Version: L4T R32.5.0 l4t-base image: nvcr.io/nvidia/l4t-base:r32.5.0 testing container ros:melodic-ros-base-l4t-r32.5.0 => ros_version xhost: unable to open display "" xauth: file /tmp/.docker.xauth does not exist sourcing /opt/ros/melodic/setup.bash ROS_ROOT /opt/ros/melodic/share/ros ROS_DISTRO melodic getting ROS version - melodic done testing container ros:melodic-ros-base-l4t-r32.5.0 => ros_version
Well other than the X display, looking good.
Maybe I should just plug in a monitor. Ideally I wouldn’t have to, though. I used GStreamer the other time. Maybe we do that again.
This looks good too… https://github.com/dusty-nv/ros_deep_learning but let’s stay focused. I’m also thinking maybe we upgrade early, to noetic. Ugh it looks like a whole new bunch of build tools and things to relearn. I’m sure it’s amazing. Let’s do ROS1, for now.
Let’s try build that FCNN one again.
CMake Error at tx2_fcnn_node/Thirdparty/fcrn-inference/CMakeLists.txt:121 (find_package):
By not providing "FindOpenCV.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "OpenCV", but
CMake did not find one.
Could not find a package configuration file provided by "OpenCV" (requested
version 3.0.0) with any of the following names:
OpenCVConfig.cmake
opencv-config.cmake
Add the installation prefix of "OpenCV" to CMAKE_PREFIX_PATH or set
"OpenCV_DIR" to a directory containing one of the above files. If "OpenCV"
provides a separate development package or SDK, be sure it has been
installed.
-- Configuring incomplete, errors occurred!
Ok hold on…
Builds additional container with VSLAM packages, including ORBSLAM2, RTABMAP, ZED, and Realsense. This only applies to foxy and galactic and implies --with-pytorch as these containers use PyTorch."
Ok so not melodic then. ROS2 it is…
./scripts/docker_build_ros.sh --distro foxy --with-slam
Ok that hangs when it starts building the slam bits. Luckily, someone’s raised the bug, and though it’s not fixed, Dusty does have a docker already compiled.
sudo docker pull dustynv/ros:foxy-slam-l4t-r32.6.1
I started it up with
docker run -it --runtime nvidia --rm --network host --privileged --device /dev/video0 -v /home/chicken/:/dmc dustynv/ros:foxy-slam-l4t-r32.6.1
So, after some digging, I think we can solve the X problem (i.e. where are we going to see this alleged SLAMming occur?) with an RTSP server. Previously I used GStreamer to send RTP over UDP. But this makes more sense, to run a server on the Jetson. There’s a plugin for GStreamer, so I’m trying to get the ‘dev’ version, so I can compile the test-launch.c program.
apt-get install libgstrtspserver-1.0-dev Reading package lists... Done Building dependency tree Reading state information... Done libgstrtspserver-1.0-dev is already the newest version (1.14.5-0ubuntu1~18.04.1). ok... git clone https://github.com/GStreamer/gst-rtsp-server.git root@jetson:/opt/gst-rtsp-server/examples# gcc test-launch.c -o test-launch $(pkg-config --cflags --libs gstreamer-1.0 gstreamer-rtsp-server-1.0) test-launch.c: In function ‘main’: test-launch.c:77:3: warning: implicit declaration of function ‘gst_rtsp_media_factory_set_enable_rtcp’; did you mean ‘gst_rtsp_media_factory_set_latency’? [-Wimplicit-function-declaration] gst_rtsp_media_factory_set_enable_rtcp (factory, !disable_rtcp); ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ gst_rtsp_media_factory_set_latency /tmp/ccC1QgPA.o: In function `main': test-launch.c:(.text+0x154): undefined reference to `gst_rtsp_media_factory_set_enable_rtcp' collect2: error: ld returned 1 exit status gst_rtsp_media_factory_set_enable_rtcp
Ok wait let’s reinstall gstreamer.
apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-doc gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio error... Unpacking libgstreamer-plugins-bad1.0-dev:arm64 (1.14.5-0ubuntu1~18.04.1) ... Errors were encountered while processing: /tmp/apt-dpkg-install-Ec7eDq/62-libopencv-dev_3.2.0+dfsg-4ubuntu0.1_arm64.deb E: Sub-process /usr/bin/dpkg returned an error code (1) Ok then leave out that one... apt --fix-broken install and that fails on Errors were encountered while processing: /var/cache/apt/archives/libopencv-dev_3.2.0+dfsg-4ubuntu0.1_arm64.deb
It’s like a sign of being a good programmer, to solve this stuff. But damn. Every time. Suggestions continue, in the forums of those who came before. Let’s reload the docker.
root@jetson:/opt/gst-rtsp-server/examples# pkg-config --cflags --libs gstreamer-1.0 -pthread -I/usr/include/gstreamer-1.0 -I/usr/include/glib-2.0 -I/usr/lib/aarch64-linux-gnu/glib-2.0/include -lgstreamer-1.0 -lgobject-2.0 -lglib-2.0 root@jetson:/opt/gst-rtsp-server/examples# pkg-config --cflags --libs gstreamer-rtsp-server-1.0 -pthread -I/usr/include/gstreamer-1.0 -I/usr/include/glib-2.0 -I/usr/lib/aarch64-linux-gnu/glib-2.0/include -lgstrtspserver-1.0 -lgstbase-1.0 -lgstreamer-1.0 -lgobject-2.0 -lglib-2.0
Ok I took a break and got lucky. The test-launch.c code is different from what the admin had.
Let’s diff it and see what changed…
#define DEFAULT_DISABLE_RTCP FALSE
from
static gboolean disable_rtcp = DEFAULT_DISABLE_RTCP;
{"disable-rtcp", '\0', 0, G_OPTION_ARG_NONE, &disable_rtcp,
"Whether RTCP should be disabled (default false)", NULL},
from
gst_rtsp_media_factory_set_enable_rtcp (factory, !disable_rtcp);
so now this works (to compile).
gcc test.c -o test $(pkg-config --cflags --libs gstreamer-1.0 gstreamer-rtsp-server-1.0)
ok so back to it…
root@jetson:/opt/gst-rtsp-server/examples# ./test-launch "videotestsrc ! nvvidconv ! nvv4l2h264enc ! h264parse ! rtph264pay name=pay0 pt=96"
stream ready at rtsp://127.0.0.1:8554/test
So apparently now I can run this in VLC… when I open
rtsp://<jetson-ip>:8554/test
Um is that meant to happen?…. Yes!
Ok next, we want to see SLAM stuff happening. So, ideally, a video feed of the desktop, or something like that.
So here are the links I have open. Maybe I get back to them later. Need to get back to ORBSLAM2 first, and see where we’re at, and what we need. Not quite /dev/video0 to PC client. More like, ORBSLAM2 to dev/video0 to PC client. Or full screen desktop. One way or another.
Here's a cool pdf with some instructions, from doodlelabs, and their accompanying pdf about video streaming codecs and such.
Also, gotta check out this whole related thing. and the depthnet example, whose documentation is here.
Ok, so carrying on.
I try again today, and whereas yesterday we had
libgstrtspserver-1.0-dev is already the newest version (1.14.5-0ubuntu1~18.04.1).
Today we have
E: Unable to locate package libgstrtspserver-1.0-dev
E: Couldn't find any package by glob 'libgstrtspserver-1.0-dev'
E: Couldn't find any package by regex 'libgstrtspserver-1.0-dev'
Did I maybe compile it outside of the docker? Hmm maybe. Why can’t I find it though? Let’s try the obvious… but also why does this take so long? Network is unreachable. Network is unreachable. Where have all the mirrors gone?
apt-get updateOk so long story short, I made another docker file. to get gstreamer installed. It mostly required adding a key for the kitware apt repo.
./test "videotestsrc ! nvvidconv ! nvv4l2h264enc ! h264parse ! rtph264pay name=pay0 pt=96"
Ok and on my linux box now, so I’ll connect to it.
sudo apt install vlc vlc rtsp://192.168.101.115:8554/Test
K all good… So let’s get the camera output next?
sheesh it’s not obvious.
I’m just making a note of this.
Since 1.14, the use of libv4l2 has been disabled due to major bugs in the emulation layer. To enable usage of this library, set the environment variable GST_V4L2_USE_LIBV4L2=1
but it doesn’t want to work anyway. Ok RTSP is almost a dead end.
I might attach a CSI camera instead of V4L2 (USB camera) maybe. Seems less troublesome. But yeah let’s take a break. Let’s get back to depthnet and ROS2 and ORB-SLAM2, etc.
depthnet: error while loading shared libraries: /usr/lib/aarch64-linux-gnu/libnvinfer.so.8: file too short
Ok, let’s try ROS2.
(Sorry, this was supposed to be about SLAM, right?)
As a follow-up for this post…
I asked about mapping two argus (NVIDIA’s CSI camera driver) node topics, in order to fool their stereo_proc, on the github issues. No replies, cause they probably want to sell expensive stereo cameras, and I am asking how to do it with $15 Chinese cameras.
I looked at DustyNV’s Mono depth. Probably not going to work. It seems like you can get a good depth estimate for things in the scene, but everything around the edges reads as ‘close’. Not sure that’s practical enough for depth.
I looked at the NVIDIA DNN depth. Needs proper stereo cameras.
I looked at NVIDIA VPI Stereo Disparity pipeline It is the most promising yet, but the input either needs to come from calibrated cameras, or needs to be rectified on-the-fly using OpenCV. This seems like it might be possible in python, but it is not obvious yet how to do it in C++, which the rest of the code is in.
I tried calibration.
I removed the USB cameras.
I attached two RPi 2.1 CSI cameras, from older projects. Deep dived into ISAAC_ROS suite. Left ROS2 alone for a bit because it is just getting in the way. The one camera sensor had fuzzy lines going across, horizontally, occasionally, and calibration results were poor, fuzzy. Decided I needed new cameras.
IMX-219 was used by the github author, and I even printed out half of the holder, to hold the cameras 8cm apart.
I tried calibration using the ROS2 cameracalibrator, which is a wrapper for a opencv call, after starting up the camera driver node, inside the isaac ros docker.
ros2 run isaac_ros_argus_camera_mono isaac_ros_argus_camera_mono --ros-args -p device:=0 -p sensor:=4 -p output_encoding:="mono8"
(This publishes mono camera feed to topic /image_raw)
ros2 run camera_calibration cameracalibrator \
--size=8x6 \
--square=0.063 \
--approximate=0.3 \
--no-service-check \
--ros-args --remap /image:=/image_raw
(Because of bug, also sometimes need to remove –ros-args –remap )
OpenCV was able to calibrate, via the ROS2 application, in both cases. So maybe I should just grab the outputs from that. We’ll do that again, now. But I think I need to print out a chessboard and just see how that goes first.
I couldn’t get more than a couple of matches using pictures of the chessboard on the screen, even with binary thresholding, in the author’s calibration notebooks.
Here’s what the NVIDIA VPI 1.2’s samples drew, for my chess boards:
Camera calibration seems to be a serious problem, in the IOT camera world. I want something approximating depth, and it is turning out that there’s some math involved.
Learning about epipolar geometry was not something I planned to do for this.
But this is like a major showstopper, so either, I must rectify, in real time, or I must calibrate.
We’re not going to SLAM without it.
The pertinent forum post is here.
“The reason for the noisy result is that the VPI algorithm expects the rectified image pairs as input. Please do the rectification first and then feed the rectified images into the stereo disparity estimator.”
So can we use this info? The nvidia post references this code below as the solution, perhaps, within the context of the code below. Let’s run it on the chessboard?
p1fNew = p1f.reshape((p1f.shape[0] * 2, 1))
p2fNew = p2f.reshape((p2f.shape[0] * 2, 1))
retBool ,rectmat1, rectmat2 = cv2.stereoRectifyUncalibrated(p1fNew,p2fNew,fundmat,imgsize)import numpy as np
import cv2
import vpi
left = cv2.imread('left.png')
right = cv2.imread('right.png')
left_gray = cv2.cvtColor(left, cv2.COLOR_BGR2GRAY)
right_gray = cv2.cvtColor(right, cv2.COLOR_BGR2GRAY)
detector = cv2.xfeatures2d.SIFT_create()
kp1, desc1 = detector.detectAndCompute(left_gray, None)
kp2, desc2 = detector.detectAndCompute(right_gray, None)
bf = cv2.BFMatcher()
matches = bf.knnMatch(desc1, desc2, k=2)
ratio = 0.75
good, mkp1, mkp2 = [], [], []
for m in matches:
if m[0].distance < m[1].distance * ratio:
m = m[0]
good.append(m)
mkp1.append( kp1[m.queryIdx] )
mkp2.append( kp2[m.trainIdx] )
p1 = np.float32([kp.pt for kp in mkp1])
p2 = np.float32([kp.pt for kp in mkp2])
H, status = cv2.findHomography(p1, p2, cv2.RANSAC, 20)
print('%d / %d inliers/matched' % (np.sum(status), len(status)))
status = np.array(status, dtype=bool)
p1f = p1[status.view(np.ndarray).ravel()==1,:] #Remove Outliers
p2f = p2[status.view(np.ndarray).ravel()==1,:] #Remove Outliers
goodf = [good[i] for i in range(len(status)) if status.view(np.ndarray).ravel()[i]==1]
fundmat, mask = cv2.findFundamentalMat(p1f, p2f, cv2.RANSAC, 3, 0.99,)
#img = cv2.drawMatches(left_gray, kp1, right_gray, kp2, good, None, None, flags=2)
#cv2.imshow('Default Matches', img)
#img = cv2.drawMatches(left_gray, kp1, right_gray, kp2, goodf, None, None, flags=2)
#cv2.imshow('Filtered Matches', img)
#cv2.waitKey(0)
retBool, H1, H2 = cv2.stereoRectifyUncalibrated(p1f, p2f, fundmat, (left.shape[1],left.shape[0]))
with vpi.Backend.CUDA:
left = vpi.asimage(left).convert(vpi.Format.NV12_ER)
left = left.perspwarp(H1)
left = left.convert(vpi.Format.RGB8)
right = vpi.asimage(right).convert(vpi.Format.NV12_ER)
right = right.perspwarp(H2)
right = right.convert(vpi.Format.RGB8)
#cv2.imshow('Left', left.cpu())
#cv2.imshow('Right', right.cpu())
#cv2.waitKey(0)
cv2.imwrite('rectified_left.png', left.cpu())
cv2.imwrite('rectified_right.png', right.cpu())