Refactored ros pipelines and added tools for dataset preparation

ERRORS.md

@@ -0,0 +1,38 @@
+[place_recognition_node.py-1] 2025-03-31 14:33:42.986 | WARNING  | opr.models.place_recognition.pointmamba:<module>:16 - The 'pointmamba' package is not installed. Please install it manually if neccessary.
+[place_recognition_node.py-1] [INFO] [1743431623.286569389] [multimodal_multicamera_lidar_place_recognition]: Initialized PlaceRecognitionNode node.
+[place_recognition_node.py-1] [INFO] [1743431696.078611049] [multimodal_multicamera_lidar_place_recognition]: Received synchronized messages.
+[place_recognition_node.py-1] Traceback (most recent call last):
+[place_recognition_node.py-1]   File "/home/docker_opr_ros2/ros2_ws/install/open_place_recognition/lib/open_place_recognition/place_recognition_node.py", line 377, in <module>
+[place_recognition_node.py-1]     main()
+[place_recognition_node.py-1]   File "/home/docker_opr_ros2/ros2_ws/install/open_place_recognition/lib/open_place_recognition/place_recognition_node.py", line 371, in main
+[place_recognition_node.py-1]     rclpy.spin(pr_node)
+[place_recognition_node.py-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 226, in spin
+[place_recognition_node.py-1]     executor.spin_once()
+[place_recognition_node.py-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once
+[place_recognition_node.py-1]     self._spin_once_impl(timeout_sec)
+[place_recognition_node.py-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 736, in _spin_once_impl
+[place_recognition_node.py-1]     raise handler.exception()
+[place_recognition_node.py-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in __call__
+[place_recognition_node.py-1]     self._handler.send(None)
+[place_recognition_node.py-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 437, in handler
+[place_recognition_node.py-1]     await call_coroutine(entity, arg)
+[place_recognition_node.py-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 362, in _execute_subscription
+[place_recognition_node.py-1]     await await_or_execute(sub.callback, msg)
+[place_recognition_node.py-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute
+[place_recognition_node.py-1]     return callback(*args)
+[place_recognition_node.py-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/message_filters/__init__.py", line 83, in callback
+[place_recognition_node.py-1]     self.signalMessage(msg)
+[place_recognition_node.py-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/message_filters/__init__.py", line 64, in signalMessage
+[place_recognition_node.py-1]     cb(*(msg + args))
+[place_recognition_node.py-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/message_filters/__init__.py", line 313, in add
+[place_recognition_node.py-1]     self.signalMessage(*msgs)
+[place_recognition_node.py-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/message_filters/__init__.py", line 64, in signalMessage
+[place_recognition_node.py-1]     cb(*(msg + args))
+[place_recognition_node.py-1]   File "/home/docker_opr_ros2/ros2_ws/install/open_place_recognition/lib/open_place_recognition/place_recognition_node.py", line 354, in listener_callback
+[place_recognition_node.py-1]     output = self.pipeline.infer(input_data)
+[place_recognition_node.py-1]   File "/home/docker_opr_ros2/OpenPlaceRecognition/src/opr/pipelines/place_recognition/base.py", line 124, in infer
+[place_recognition_node.py-1]     _, pred_i = self.database_index.search(descriptor, 1)
+[place_recognition_node.py-1]   File "/usr/local/lib/python3.10/dist-packages/faiss-1.7.4-py3.10.egg/faiss/class_wrappers.py", line 329, in replacement_search
+[place_recognition_node.py-1]     assert d == self.d
+[place_recognition_node.py-1] AssertionError
+[ERROR] [place_recognition_node.py-1]: process has died [pid 2597, exit code 1, cmd '/home/docker_opr_ros2/ros2_ws/install/open_place_recognition/lib/open_place_recognition/place_recognition_node.py --ros-args -r __node:=multimodal_multicamera_lidar_place_recognition --params-file /tmp/launch_params_wdk5sjdl'].

README.md

@@ -1,19 +1,12 @@
 # OpenPlaceRecognition-ROS2
 
-The ROS2 wrapper is intended for:
+The OpenPlaceRecognition ROS2 wrapper is intended for:
 
 - 🔌 **Easy integration** of multimodal localization into robots and autonomous systems based on ROS2.
 - 🚘 **Application in existing robotic platforms and autopilots** running ROS2.
 - ⚙️ **Rapid deployment** of neural network-based global localization methods into real-world ROS2 projects.
 
-> Check out out [OpenPlaceRecognition library](https://github.com/OPR-Project/OpenPlaceRecognition).
-> It is a library for place recognition and localization, which includes a collection of datasets, including ITLP-Campus.
-> The library provides a unified API for loading datasets, training and evaluating models, and performing place recognition tasks.
-> The library is designed to be easy to use and extensible, allowing researchers and developers to quickly experiment with different models and datasets.
-
-## Installation
-
-### Requirements
+# Requirements
 
 #### Hardware
 
@@ -34,75 +27,127 @@ The ROS2 wrapper is intended for:
   - CUDA Toolkit >= 11.1
   - cuDNN >= 7.5
   - [OpenPlaceRecognition](https://github.com/OPR-Project/OpenPlaceRecognition) 
-  - ROS2 Humble
+  - [ROS2 Humble](https://docs.ros.org/en/humble/Installation.html)
+  - Docker
+
+# Installation
+
+Firstly retreave all dependencies for this project
+
+```bash
+# Step 1: Clone the main repository with submodules
+cd ~
+git clone --recursive https://github.com/OPR-Project/OpenPlaceRecognition
 
-If you want to install all dependencies manually, please refer to the
-[Advanced Installation section of the OpenPlaceRecognition documentation](https://openplacerecognition.readthedocs.io/en/latest/#installation)
-for detailed instructions.
+# Step 2: Clone the ITLP-Campus-Outdoor dataset
+git clone https://huggingface.co/datasets/OPR-Project/ITLP-Campus-Outdoor ~/Datasets/ITLP-Campus-Outdoor
 
-The only additional dependency is ROS2. Please refer to the 
-[ROS2 Humble installation guide](https://docs.ros.org/en/humble/Installation.html)
-for instructions on how to install it.
+# Step 3: Create required directories for pretrained weights
+mkdir -p ~/OpenPlaceRecognition/weights/place_recognition
+mkdir -p ~/OpenPlaceRecognition/weights/registration
 
-### Quick start
+# Step 4: Download pretrained weights
+wget https://huggingface.co/OPR-Project/PlaceRecognition-NCLT/resolve/main/minkloc3d_nclt.pth \
+     -O ~/OpenPlaceRecognition/weights/place_recognition/minkloc3d_nclt.pth
 
-It is highly recommended to use the provided Dockerfile to build the environment.
-The scripts to build, run and enter the container are provided in the [docker/](./docker) directory.
-You can use the following commands:
+wget https://huggingface.co/OPR-Project/Registration-KITTI/resolve/main/geotransformer_kitti.pth \
+     -O ~/OpenPlaceRecognition/weights/registration/geotransformer_kitti.pth
+
+# Step 5: Export environment variables
+export OPR_PATH=$HOME/OpenPlaceRecognition
+export DATASETS_DIR=$HOME/Datasets
+export DISPLAY=:0
+```
+
+### Quick Start with Docker
+
+It is highly recommended to use the provided Dockerfile to build the complete environment. The Docker scripts are located in the `docker/` directory. For now, we only support x86_64 architecture. The aarch64 version will be released soon.
 
 ```bash
-# 0. clone the repository and init submodules
+# 0. Clone the repository
 git clone https://github.com/OPR-Project/OpenPlaceRecognition-ROS2.git
 cd OpenPlaceRecognition-ROS2
-git submodule update --init --recursive
 
-# 1. build the image
-bash docker/build.sh
+# 1. Build the Docker image
+bash docker/build_x86_64.sh
 
-# 2. start the container and mount the data directory
-bash docker/start.sh [DATA_DIR]
+# 2. Start the container with the data directory mounted
+bash docker/start_x86_64.sh
 
-# 3. enter the container
+# 3. Enter the container
 bash docker/into.sh
 ```
 
-To use [OpenPlaceRecognition](https://github.com/OPR-Project/OpenPlaceRecognition) library in the container, you need to install it first.
-Run the following command inside the container:
+Inside the container, install the additional Python dependencies:
 
 ```bash
-pip install -e ~/ros2_ws/dependencies/OpenPlaceRecognition
+pip install -e ~/OpenPlaceRecognition
+pip install -e ~/OpenPlaceRecognition/third_party/GeoTransformer
+pip install -e ~/OpenPlaceRecognition/third_party/HRegNet
+pip install -e ~/OpenPlaceRecognition/third_party/PointMamba
 ```
 
-## Running nodes
-
-### Build the workspace
-
-Inside `ros2_ws/` directory, run the following command:
+### Build the ROS2 Workspace
 
 ```bash
-colcon build --packages-select open_place_recognition opr_interfaces
+cd ~/ros2_ws/
+colcon build --symlink-install
+source ~/ros2_ws/install/setup.bash
 ```
 
-### Run the nodes
 
-Open the new terminal and run:
+## Launch Files and Usage
 
-```bash
-source ros2_ws/install/setup.bash
-```
+The project provides a variety of launch files to support testing, visualization, and deployment. Each launch file is configurable via command-line arguments to adapt to different sensor setups and dataset paths.
 
-Run the place recognition node using launch file:
+- **Dataset Conversion from Bag Files:**  
+  Convert ROS2 bag files into a standardized OPR dataset format for further processing.
+  ```bash
+  ros2 launch open_place_recognition dataset_from_bag.launch.py
+  ```
 
-```bash
-ros2 launch open_place_recognition place_recognition_launch.py
-```
+- **Dataset Conversion from RTAB-Map:**  
+  Convert RTAB-Map datasets to the compatible format required by the OPR pipeline.
+  ```bash
+  ros2 launch open_place_recognition dataset_from_rtabmap.launch.py
+  ```
+
+- **Dataset Publisher:**  
+  Publish sensor streams (cameras, LiDAR, etc.) for dataset creation or real-time monitoring.
+  ```bash
+  ros2 launch open_place_recognition dataset_publisher.launch.py
+  ```
+
+- **Dataset Indexing:**  
+  Index your dataset features to prepare for efficient retrieval and subsequent training.
+  ```bash
+  ros2 launch open_place_recognition dataset_indexing.launch.py
+  ```
 
-Run the visualizer node using launch file:
+- **Place Recognition:**  
+  This node performs a simple database search using the current sensor inputs (e.g. images, LiDAR) to identify the closest matching location in the pre-built database.
+  ```bash
+  ros2 launch open_place_recognition place_recognition.launch.py
+  ```
+
+- **Localization:**  
+  This pipeline extends place recognition by adding position matching algorithms, improving accuracy and robustness for real-world deployment.
+  ```bash
+  ros2 launch open_place_recognition localization.launch.py
+  ```
+
+
+## Additional Tools
+
+For further analysis and visualization, you can run Jupyter Lab from within the container:
 
 ```bash
-ros2 launch open_place_recognition visualizer_launch.py
+export PATH=$PATH:$HOME/.local/bin
+cd ~/OpenPlaceRecognition/notebooks
+jupyter lab --ip=0.0.0.0 --port=8888 --allow-root
 ```
 
+
 ## License
 
-[Apache 2.0 license](./LICENSE)
+This project is licensed under the [Apache 2.0 License](./LICENSE).

TODO.md

@@ -0,0 +1,5 @@
+- Fix place_recognition node
+- Fix localization node
+- Add gps/barometer for better global localization
+- Test rtabmap and rosbag convertions
+- Add docker supports for aarch64(Jetson based PC)

docker/Dockerfile.jetson

@@ -0,0 +1,111 @@
+FROM open-place-recognition-jetson:r35.4.1-cu114-cp310
+ARG MAX_JOBS=4
+
+ENV DEBIAN_FRONTEND noninteractive
+
+RUN add-apt-repository -y ppa:ubuntu-toolchain-r/test && \
+    apt-get update && apt-get upgrade -y && apt-get install -y \
+    openssh-server \
+    g++-11 \
+    unzip \
+    zip \
+    default-jdk \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN ln -s /usr/local/bin/python3 /usr/local/bin/python
+
+# upgrade pip
+ARG PIP_VERSION=23.3.2
+ARG SETUPTOOLS_VERSION=69.0.3
+RUN pip install pip==${PIP_VERSION} setuptools==${SETUPTOOLS_VERSION}
+
+# install tensorrt bindings for python3.10
+# COPY docker/TensorRT /TensorRT
+RUN git clone --branch=release/8.5 https://github.com/NVIDIA/TensorRT.git && \
+    git submodule update --init --recursive
+ENV TRT_OSSPATH=/TensorRT
+ENV EXT_PATH=/external
+RUN mkdir -p ${EXT_PATH} && cd ${EXT_PATH} && \
+    git clone https://github.com/pybind/pybind11.git
+RUN wget https://www.python.org/ftp/python/3.10.14/Python-3.10.14.tar.xz && \
+    tar -xf Python-3.10.14.tar.xz && \
+    mkdir ${EXT_PATH}/python3.10 && \
+    cp -r Python-3.10.14/Include ${EXT_PATH}/python3.10/include && \
+    cp /usr/include/aarch64-linux-gnu/python3.10/pyconfig.h ${EXT_PATH}/python3.10/include/. && \
+    rm -rf Python-3.10.14.tar.xz Python-3.10.14
+RUN cd ${TRT_OSSPATH}/python && \
+    PYTHON_MAJOR_VERSION=3 PYTHON_MINOR_VERSION=10 TARGET_ARCHITECTURE=aarch64 bash build.sh
+RUN cd ${TRT_OSSPATH}/python/build/dist && \
+    pip install tensorrt-*.whl
+
+
+### install MinkowskiEngine
+ARG NINJA_VERSION=1.11.1.1
+RUN pip install ninja==${NINJA_VERSION}
+RUN git clone --recursive "https://github.com/alexmelekhin/MinkowskiEngine.git" && \
+    cd MinkowskiEngine && \
+    git checkout 4b628a7 && \
+    python3 setup.py install --force_cuda --blas=openblas && \
+    cd .. && \
+    rm -rf MinkowskiEngine
+
+RUN pip install \
+    numpy'<2.0.0' \
+    opencv-python==4.10.0.84
+
+### Install Torch-TensorRT. See: https://pytorch.org/TensorRT/getting_started/installation.html#compiling-from-source.
+
+WORKDIR /
+RUN rm -rf /TensorRT
+RUN git clone -b v2.2.0 https://github.com/pytorch/TensorRT.git
+
+# Install Bazel.
+WORKDIR /TensorRT
+RUN export BAZEL_VERSION=$(cat .bazelversion); \
+    mkdir bazel; \
+    cd bazel; \
+    curl -fSsL -O https://github.com/bazelbuild/bazel/releases/download/${BAZEL_VERSION}/bazel-${BAZEL_VERSION}-dist.zip; \
+    unzip bazel-${BAZEL_VERSION}-dist.zip
+WORKDIR /TensorRT/bazel
+RUN bash ./compile.sh
+RUN cp output/bazel /usr/local/bin/
+
+# Install the torch_tensorrt package.
+RUN pip install pyyaml
+WORKDIR /TensorRT
+# See: https://github.com/pytorch/TensorRT/issues/2623.
+COPY docker/torch_tensorrt_workspace/WORKSPACE.jp51 /TensorRT/WORKSPACE
+RUN python3 setup.py install --use-cxx11-abi
+
+# install onnx-runtime
+RUN wget https://nvidia.box.com/shared/static/ndh4omnbyx9icnbwsizmivngnjo5kp1b.whl -O onnxruntime_gpu-1.18.0-cp310-cp310-linux_aarch64.whl && \
+    pip install onnxruntime_gpu-1.18.0-cp310-cp310-linux_aarch64.whl && \
+    rm onnxruntime_gpu-1.18.0-cp310-cp310-linux_aarch64.whl
+
+# COPY docker/Open3D /Open3D
+RUN git clone https://github.com/isl-org/Open3D.git && cd Open3D && git checkout c8856fc
+WORKDIR /Open3D
+RUN bash util/install_deps_ubuntu.sh assume-yes && \
+    rm -rf /var/lib/apt/lists/*
+RUN mkdir build && cd build && \
+    cmake \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DBUILD_SHARED_LIBS=ON \
+        -DGLIBCXX_USE_CXX11_ABI=ON \
+        -DBUILD_CUDA_MODULE=ON \
+        -DBUILD_PYTORCH_OPS=ON \
+        -DBUILD_TENSORFLOW_OPS=OFF \
+        -DPYTHON_EXECUTABLE=$(which python) \
+        -DCMAKE_INSTALL_PREFIX=/usr/local \
+        .. && \
+    make -j1 && \
+    make install -j1
+RUN pip install yapf==0.43.0
+ENV LD_PRELOAD=${LD_PRELOAD}:/usr/local/lib/libOpen3D.so
+RUN cd build && make install-pip-package -j1
+
+# install polygraphy
+RUN pip install colored polygraphy --extra-index-url https://pypi.ngc.nvidia.com
+
+# install pytorch3d
+RUN FORCE_CUDA=1 pip install "git+https://github.com/facebookresearch/pytorch3d.git@stable"