How to Use DynaSLAM using Docker? DynaSLAM安装与运行

DynaSLAM：动态场景中的追踪、建图和修复 ## Overview - Build DynaSLAM Docker image - Start DynaSLAM from Docker container ## Demo - [DynaSLAM安装与运行](https://www.youtube.com/watch?v=nQjy6cjG-_Y) - [DynaSLAM 安装与运行（补充）](https://www.youtube.com/watch?v=SGtrUSj5wXg) - [DynaSLAM: build and run DynaSLAM in Docker (english)](https://www.youtube.com/watch?v=qRhFgEIRs_s) - [DynaSLAM official video](https://www.youtube.com/watch?v=EabI_goFmQs) ## Build DynaSLAM from Docker - docker ```sh sudo docker --version [sudo] password for yubao: Docker version 19.03.8, build afacb8b7f0 ``` - NVIDIA driver: nvidia-smi - NVIDIA-docker: nvidia-smi - docker-compose ```sh $ docker-compose --version docker-compose version 1.25.5, build 8a1c60f6 ``` - Linux (ubuntu) E.g. ```sh $ uname -a Linux GP65-Leopard-9SD 5.3.0-51-generic #44~18.04.2-Ubuntu SMP Thu Apr 23 14:27:18 UTC 2020 x86_64 x86_64 x86_64 GNU/Linux ``` - DynaSLAM Source code ```sh git clone https://github.com/yubaoliu/DynaSLAM.git ``` - TUM dataset Download TUM dataset form https://vision.in.tum.de/data/datasets/rgbd-dataset/download#freiburg3_walking_xyz ```sh wget -c https://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_walking_halfsphere.tgz ``` - Useful tools for the RGB-D benchmark https://vision.in.tum.de/data/datasets/rgbd-dataset/tools Download associate.py - Associate rgb and depth image list ```sh tar zxvf rgbd_dataset_freiburg3_walking_halfsphere.tgz cd rgbd_dataset_freiburg3_walking_halfsphere associate.py rgb.txt depth.txt > associations.txt ``` ## Build Docker Image ```sh git clone https://github.com/yubaoliu/DynaSLAM.git cd DynaSLAM/docker sudo docker-compose build ``` ## Get docker image from Dockerhub ```sh docker pull yubaoliu/dynaslam:latest ``` ## Mount dataset folder ```sh vim docker/.env`: Modify `DATASET_DIR ``` ## Start Docker ```sh # xhost 控制X server访问权限 xhost +local:root sudo docker-compose up ``` ## Kick of docker container ```sh sudo docker-compose run dynaslam bash ``` ## Get trained model ```sh cd DynaSLAM/src/python/ wget -c https://github.com/matterport/Mask_RCNN/releases/download/v1.0/mask_rcnn_coco.h5 wget https://github.com/matterport/Mask_RCNN/releases/download/v2.1/mask_rcnn_balloon.h5 ``` ## Build DynaSLAM Manually ```sh cd DynaSLAM chmod +x build.sh ./build.sh ``` - Check MasskRCNN ```sh DynaSLAM$ python src/python/Check.py ``` ## Start DynaSLAM ```sh run_in_docker.sh ``` ## Possible errors ### Error 1: Cannot create container for service dynaslam: Unknown runtime specified nvidia ```sh docker git:(master) ✗ sudo docker-compose up [sudo] password for yubao: Creating network "docker_default" with the default driver Creating volume "docker_DynaSLAM" with default driver Creating DynaSLAM ... error ERROR: for DynaSLAM Cannot create container for service dynaslam: Unknown runtime specified nvidia ERROR: for dynaslam Cannot create container for service dynaslam: Unknown runtime specified nvidia ERROR: Encountered errors while bringing up the project. ``` or ```sh sudo docker-compose up Creating DynaSLAM ... error ERROR: for DynaSLAM Cannot create container for service dynaslam: Unknown runtime specified nvidia ERROR: for dynaslam Cannot create container for service dynaslam: Unknown runtime specified nvidia ERROR: Encountered errors while bringing up the project. ``` Try ``sudo systemctl restart docker``: ```sh $ systemctl status docker.service ● docker.service - Docker Application Container Engine Loaded: loaded (/lib/systemd/system/docker.service; enabled; vendor preset: enabled) Active: failed (Result: exit-code) since Sat 2020-05-02 12:06:19 JST; 18s ago Docs: https://docs.docker.com Process: 10123 ExecStart=/usr/bin/dockerd -H fd:// --containerd=/run/containerd/containerd.sock (code=exited, status=1/FAILURE Main PID: 10123 (code=exited, status=1/FAILURE) 5月 02 12:06:19 yubao-GP65-Leopard-9SD systemd[1]: docker.service: Service hold-off time over, scheduling restart. 5月 02 12:06:19 yubao-GP65-Leopard-9SD systemd[1]: docker.service: Scheduled restart job, restart counter is at 3. 5月 02 12:06:19 yubao-GP65-Leopard-9SD systemd[1]: Stopped Docker Application Container Engine. 5月 02 12:06:19 yubao-GP65-Leopard-9SD systemd[1]: docker.service: Start request repeated too quickly. 5月 02 12:06:19 yubao-GP65-Leopard-9SD systemd[1]: docker.service: Failed with result 'exit-code'. 5月 02 12:06:19 yubao-GP65-Leopard-9SD systemd[1]: Failed to start Docker Application Container Engine. ``` Try: ```sh sudo systemctl daemon-reload sudo systemctl restart docker ``` Then ```sh $ sudo docker run hello-world docker: Cannot connect to the Docker daemon at unix:///var/run/docker.sock. Is the docker daemon running?. See 'docker run --help'. ``` Solution: Please follow: https://github.com/nvidia/nvidia-container-runtime#docker-engine-setup **Systemd drop-in file:** ```sh sudo mkdir -p /etc/systemd/system/docker.service.d sudo tee /etc/systemd/system/docker.service.d/override.conf < import matplotlib.pyplot as plt File "/usr/local/lib/python2.7/dist-packages/matplotlib/pyplot.py", line 71, in from matplotlib.backends import pylab_setup File "/usr/local/lib/python2.7/dist-packages/matplotlib/backends/__init__.py", line 17, in line for line in traceback.format_stack() import matplotlib; matplotlib.use('Agg') Using TensorFlow backend. Initializing Mask RCNN network... ./src/python WARNING:tensorflow:From /usr/local/lib/python2.7/dist-packages/keras/backend/tensorflow_backend.py:1154: calling reduce_max (from tensorflow.python.ops.math_ops) with keep_dims is deprecated and will be removed in a future version. Instructions for updating: keep_dims is deprecated, use keepdims instead WARNING:tensorflow:From /usr/local/lib/python2.7/dist-packages/keras/backend/tensorflow_backend.py:1188: calling reduce_sum (from tensorflow.python.ops.math_ops) with keep_dims is deprecated and will be removed in a future version. Instructions for updating: keep_dims is deprecated, use keepdims instead rgbd_tum: /root/DynaSlam/src/MaskNet.cc:48: DynaSLAM::SegmentDynObject::SegmentDynObject(): Assertion `this->net != NULL' failed. ./run_in_docker.sh: line 1: 18 Aborted (core dumped) ./Examples/RGB-D/rgbd_tum ./Vocabulary/ORBvoc.txt ./Examples/RGB-D/TUM3.yaml /root/Dataset/TUM/freiburg3/rgbd_dataset_freiburg3_walking_xyz /root/Dataset/TUM/freiburg3/rgbd_dataset_freiburg3_walking_xyz/associations.txt ../Mask_RCNN ./output ``` Solution: download trained cnn model using download_model.sh ## References - Bilibili [DynaSLAM-MaskRCNN 研习](https://www.bilibili.com/video/BV1XJ411D7Qs/) - Docker [Docker入门](https://www.bilibili.com/video/BV1GC4y1x76g/)