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
• DynaSLAM 安装与运行（补充）
• DynaSLAM: build and run DynaSLAM in Docker (english)
• DynaSLAM official video

Build DynaSLAM from Docker

• docker

sudo docker --version
[sudo] password for yubao:
Docker version 19.03.8, build afacb8b7f0

• NVIDIA driver: nvidia-smi
• NVIDIA-docker: nvidia-smi
• docker-compose

$ docker-compose --version
docker-compose version 1.25.5, build 8a1c60f6

• Linux (ubuntu)
  E.g.

$ 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

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

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

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

git clone https://github.com/yubaoliu/DynaSLAM.git
cd DynaSLAM/docker
sudo docker-compose build

Get docker image from Dockerhub

docker pull yubaoliu/dynaslam:latest

Mount dataset folder

vim docker/.env`: Modify `DATASET_DIR

Start Docker

# xhost 控制X server访问权限
xhost +local:root
sudo docker-compose up

Kick of docker container

sudo docker-compose run dynaslam bash

Get trained model

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

cd DynaSLAM
chmod +x build.sh
./build.sh

• Check MasskRCNN

DynaSLAM$ python src/python/Check.py

Start DynaSLAM

run_in_docker.sh

Possible errors

Error 1: Cannot create container for service dynaslam: Unknown runtime specified nvidia

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

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:

$ 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:

sudo systemctl daemon-reload
sudo systemctl restart docker

Then

$ 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:

sudo mkdir -p /etc/systemd/system/docker.service.d
sudo tee /etc/systemd/system/docker.service.d/override.conf <<eof [service]="" execstart="ExecStart=/usr/bin/dockerd" --host="fd://" --add-runtime="nvidia=/usr/bin/nvidia-container-runtime" eof="" sudo="" systemctl="" daemon-reload="" restart="" docker="" ```="" daemon="" configuration="" file:="" ```sh="" tee="" etc="" daemon.json="" <<eof="" {="" "runtimes":="" "nvidia":="" "path":="" "="" usr="" bin="" nvidia-container-runtime",="" "runtimeargs":="" []="" }="" pkill="" -sighup="" dockerd="" you="" can="" optionally="" reconfigure="" the="" default="" runtime="" by="" adding="" following="" to="" `="" daemon.json`:="" "default-runtime":="" "nvidia"="" command="" line="" [...]="" ###="" error="" 2:="" nvidia-container-runtime:="" no="" such="" file="" or="" directory:="" unknown="" &#10140;="" git:(master)="" &#10007;="" docker-compose="" up="" creating="" dynaslam="" ...="" error:="" for="" cannot="" start="" service="" dynaslam:="" oci="" create="" failed:="" unable="" retrieve="" (open="" run="" containerd="" io.containerd.runtime.v1.linux="" moby="" a500b1f7ce2a5ce3ecff0a9f2b7f67066c3a11322d01dd91fc36824cf0fdc68f="" log.json:="" directory):="" fork="" exec="" encountered="" errors="" while="" bringing="" project.="" solution:="" apt="" install="" nvidia-container-runtime="" 3="" root@811b1f871f41:~="" dynaslam#="" .="" run_in_docker.sh="" nimages:="" 827="" loading="" mask="" r-cnn.="" this="" could="" take="" a="" while...="" importing="" r-cnn="" settings...="" local="" lib="" python2.7="" dist-packages="" pycocotools="" coco.py:49:="" userwarning:="" call="" matplotlib.use()="" has="" effect="" because="" backend="" already="" been="" chosen;="" must="" be="" called="" *before*="" pylab,="" matplotlib.pyplot,="" matplotlib.backends="" is="" imported="" first="" time.="" was="" *originally*="" set="" 'tkagg'="" code:="" root="" src="" python="" maskrcnn.py",="" 8,="" in="" <module="">
    import matplotlib.pyplot as plt
  File "/usr/local/lib/python2.7/dist-packages/matplotlib/pyplot.py", line 71, in <module>
    from matplotlib.backends import pylab_setup
  File "/usr/local/lib/python2.7/dist-packages/matplotlib/backends/__init__.py", line 17, in <module>
    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
• Docker Docker入门