stella-cv · ymd-stella · Mar 2, 2025 · Mar 2, 2025
diff --git a/Dockerfile.cuda b/Dockerfile.cuda
@@ -0,0 +1,285 @@
+FROM nvidia/cuda:11.8.0-devel-ubuntu22.04
+ENV DEBIAN_FRONTEND noninteractive
+
+# install dependencies via apt
+ENV DEBCONF_NOWARNINGS yes
+RUN set -x && \
+  apt-get update -y -qq && \
+  apt-get upgrade -y -qq --no-install-recommends && \
+  : "basic dependencies" && \
+  apt-get install -y -qq \
+    build-essential \
+    pkg-config \
+    cmake \
+    git \
+    wget \
+    curl \
+    tar \
+    unzip && \
+  : "g2o dependencies" && \
+  apt-get install -y -qq \
+    libatlas-base-dev \
+    libsuitesparse-dev \
+    libglew-dev && \
+  : "OpenCV dependencies" && \
+  apt-get install -y -qq \
+    libgtk-3-dev \
+    libjpeg-dev \
+    libpng++-dev \
+    libtiff-dev \
+    libopenexr-dev \
+    libwebp-dev \
+    ffmpeg \
+    libavcodec-dev \
+    libavformat-dev \
+    libavutil-dev \
+    libswscale-dev \
+    libtbb-dev && \
+  : "backward-cpp dependencies" && \
+  apt install -y -qq binutils-dev && \
+  : "other dependencies" && \
+  apt-get install -y -qq \
+    libyaml-cpp-dev \
+    sqlite3 \
+    libsqlite3-dev && \
+  : "remove cache" && \
+  apt-get autoremove -y -qq && \
+  rm -rf /var/lib/apt/lists/*
+
+ARG CMAKE_INSTALL_PREFIX=/usr/local
+ARG NUM_THREADS=1
+
+ENV CPATH=${CMAKE_INSTALL_PREFIX}/include:${CPATH}
+ENV C_INCLUDE_PATH=${CMAKE_INSTALL_PREFIX}/include:${C_INCLUDE_PATH}
+ENV CPLUS_INCLUDE_PATH=${CMAKE_INSTALL_PREFIX}/include:${CPLUS_INCLUDE_PATH}
+ENV LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/lib:${LIBRARY_PATH}
+ENV LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/lib:${LD_LIBRARY_PATH}
+
+ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
+
+# Eigen
+ARG EIGEN3_VERSION=3.3.7
+WORKDIR /tmp
+RUN set -x && \
+  wget -q https://gitlab.com/libeigen/eigen/-/archive/${EIGEN3_VERSION}/eigen-${EIGEN3_VERSION}.tar.bz2 && \
+  tar xf eigen-${EIGEN3_VERSION}.tar.bz2 && \
+  rm -rf eigen-${EIGEN3_VERSION}.tar.bz2 && \
+  cd eigen-${EIGEN3_VERSION} && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+ENV Eigen3_DIR=${CMAKE_INSTALL_PREFIX}/share/eigen3/cmake
+
+# g2o
+ARG G2O_COMMIT=20230223_git
+WORKDIR /tmp
+RUN set -x && \
+  git clone https://github.com/RainerKuemmerle/g2o.git && \
+  cd g2o && \
+  git checkout ${G2O_COMMIT} && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    -DBUILD_SHARED_LIBS=ON \
+    -DBUILD_UNITTESTS=OFF \
+    -DG2O_USE_CHOLMOD=OFF \
+    -DG2O_USE_CSPARSE=ON \
+    -DG2O_USE_OPENGL=OFF \
+    -DG2O_USE_OPENMP=OFF \
+    -DG2O_BUILD_APPS=OFF \
+    -DG2O_BUILD_EXAMPLES=OFF \
+    -DG2O_BUILD_LINKED_APPS=OFF \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+ENV g2o_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/g2o
+
+# OpenCV
+ARG OPENCV_VERSION=4.7.0
+WORKDIR /tmp
+RUN set -x && \
+  wget -q https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip && \
+  unzip -q ${OPENCV_VERSION}.zip && \
+  rm -rf ${OPENCV_VERSION}.zip && \
+  wget -q https://github.com/opencv/opencv_contrib/archive/refs/tags/${OPENCV_VERSION}.zip -O opencv_contrib-${OPENCV_VERSION}.zip && \
+  unzip -q opencv_contrib-${OPENCV_VERSION}.zip && \
+  rm -rf opencv_contrib-${OPENCV_VERSION}.zip && \
+  mkdir extra && \
+  mv opencv_contrib-${OPENCV_VERSION}/modules/cudev extra && \
+  mv opencv_contrib-${OPENCV_VERSION}/modules/cudafilters extra && \
+  mv opencv_contrib-${OPENCV_VERSION}/modules/cudaimgproc extra && \
+  mv opencv_contrib-${OPENCV_VERSION}/modules/cudawarping extra && \
+  mv opencv_contrib-${OPENCV_VERSION}/modules/cudaarithm extra && \
+  rm -rf opencv_contrib-${OPENCV_VERSION} && \
+  cd opencv-${OPENCV_VERSION} && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    -DBUILD_DOCS=OFF \
+    -DBUILD_EXAMPLES=OFF \
+    -DBUILD_JASPER=OFF \
+    -DBUILD_OPENEXR=OFF \
+    -DBUILD_PERF_TESTS=OFF \
+    -DBUILD_TESTS=OFF \
+    -DBUILD_PROTOBUF=OFF \
+    -DBUILD_opencv_apps=OFF \
+    -DBUILD_opencv_dnn=OFF \
+    -DBUILD_opencv_ml=OFF \
+    -DBUILD_opencv_python_bindings_generator=OFF \
+    -DENABLE_CXX11=ON \
+    -DENABLE_FAST_MATH=ON \
+    -DWITH_EIGEN=ON \
+    -DWITH_FFMPEG=ON \
+    -DWITH_TBB=ON \
+    -DWITH_OPENMP=ON \
+    -DWITH_CUDA=ON \
+    -DBUILD_opencv_cudev=ON \
+    -DBUILD_opencv_cudafilters=ON \
+    -DBUILD_opencv_cudaimgproc=ON \
+    -DBUILD_opencv_cudawarping=ON \
+    -DOPENCV_EXTRA_MODULES_PATH=/tmp/extra \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+ENV OpenCV_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/opencv4
+
+# Pangolin
+ARG PANGOLIN_COMMIT=eab3d3449a33a042b1ee7225e1b8b593b1b21e3e
+WORKDIR /tmp
+RUN set -x && \
+  git clone https://github.com/stevenlovegrove/Pangolin.git && \
+  cd Pangolin && \
+  git checkout ${PANGOLIN_COMMIT} && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    -DBUILD_EXAMPLES=OFF \
+    -DBUILD_PANGOLIN_DEPTHSENSE=OFF \
+    -DBUILD_PANGOLIN_FFMPEG=OFF \
+    -DBUILD_PANGOLIN_LIBDC1394=OFF \
+    -DBUILD_PANGOLIN_LIBJPEG=OFF \
+    -DBUILD_PANGOLIN_LIBOPENEXR=OFF \
+    -DBUILD_PANGOLIN_LIBPNG=OFF \
+    -DBUILD_PANGOLIN_LIBTIFF=OFF \
+    -DBUILD_PANGOLIN_LIBUVC=OFF \
+    -DBUILD_PANGOLIN_LZ4=OFF \
+    -DBUILD_PANGOLIN_OPENNI=OFF \
+    -DBUILD_PANGOLIN_OPENNI2=OFF \
+    -DBUILD_PANGOLIN_PLEORA=OFF \
+    -DBUILD_PANGOLIN_PYTHON=OFF \
+    -DBUILD_PANGOLIN_TELICAM=OFF \
+    -DBUILD_PANGOLIN_UVC_MEDIAFOUNDATION=OFF \
+    -DBUILD_PANGOLIN_V4L=OFF \
+    -DBUILD_PANGOLIN_ZSTD=OFF \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+ENV Pangolin_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/Pangolin
+
+# backward-cpp
+ARG BACKWARD_CPP_COMMIT=5ffb2c879ebdbea3bdb8477c671e32b1c984beaa
+WORKDIR /tmp
+RUN set -x && \
+  git clone https://github.com/bombela/backward-cpp.git && \
+  cd backward-cpp && \
+  git checkout ${BACKWARD_CPP_COMMIT} && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+
+# cuda-efficient-features
+ARG CUDA_EFFICIENT_FEATURES_COMMIT=8cf047a4bed6c1ee56fcde81d4a953b57744ed85
+WORKDIR /tmp
+RUN set -x && \
+  git clone https://github.com/fixstars/cuda-efficient-features.git && \
+  cd cuda-efficient-features && \
+  git checkout -q ${CUDA_EFFICIENT_FEATURES_COMMIT} && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+
+# stella_vslam
+COPY . /stella_vslam/
+WORKDIR /stella_vslam/
+RUN set -x && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  rm -rf CMakeCache.txt CMakeFiles Makefile cmake_install.cmake example src && \
+  chmod -R 777 ./*
+
+ARG PANGOLIN_VIEWER_COMMIT=f3564675d420bcdbe6380b29b5e2f2b623987dd0
+WORKDIR /tmp
+RUN set -x && \
+  git clone https://github.com/stella-cv/pangolin_viewer.git && \
+  cd pangolin_viewer && \
+  git checkout -q ${PANGOLIN_VIEWER_COMMIT} && \
+  git submodule update --init --recursive && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    .. && \
+  make -j${NUM_THREADS} && \
+  make install && \
+  cd /tmp && \
+  rm -rf *
+
+ARG EXAMPLES_COMMIT=defc69eecc36e51cdda22885bb86954f08ad6887
+WORKDIR /
+RUN set -x && \
+  git clone https://github.com/stella-cv/stella_vslam_examples.git && \
+  cd stella_vslam_examples && \
+  git checkout -q ${EXAMPLES_COMMIT} && \
+  git submodule update --init --recursive && \
+  mkdir -p build && \
+  cd build && \
+  cmake \
+    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \
+    -DUSE_STACK_TRACE_LOGGER=ON \
+    .. && \
+  make -j${NUM_THREADS}
+
+WORKDIR /stella_vslam_examples/build/
+ENTRYPOINT ["/bin/bash"]
diff --git a/src/stella_vslam/CMakeLists.txt b/src/stella_vslam/CMakeLists.txt
@@ -69,6 +69,18 @@ else()
     message(FATAL_ERROR "Invalid BoW framework: ${BOW_FRAMEWORK}")
 endif()
 
+# cuda_efficient_features
+set(USE_CUDA_EFFICIENT_DESCRIPTORS OFF CACHE BOOL "Enable cuda_efficient_features")
+find_path(cuda_efficient_features_INCLUDE_DIR NAMES cuda_efficient_features.h)
+find_library(cuda_efficient_features_LIBRARY NAMES cuda_efficient_features)
+find_package_handle_standard_args(cuda_efficient_features DEFAULT_MSG cuda_efficient_features_LIBRARY cuda_efficient_features_INCLUDE_DIR)
+if(USE_CUDA_EFFICIENT_DESCRIPTORS AND cuda_efficient_features_FOUND)
+    message(STATUS "cuda_efficient_features: enabled")
+else()
+    message(STATUS "cuda_efficient_features: disabled")
+    set(USE_CUDA_EFFICIENT_DESCRIPTORS OFF)
+endif()
+
 # ----- Create stella_vslam library -----
 
 add_library(${PROJECT_NAME}
@@ -92,6 +104,13 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
 
 # ----- Compile configuration -----
 
+# cuda_efficient_features
+if (USE_CUDA_EFFICIENT_DESCRIPTORS)
+    find_package(OpenCV REQUIRED core features2d cudev cudafilters cudaimgproc cudawarping)
+    find_package(CUDAToolkit REQUIRED)
+    target_compile_definitions(${PROJECT_NAME} PUBLIC USE_CUDA_EFFICIENT_DESCRIPTORS)
+endif ()
+
 # gtsam
 if (USE_GTSAM)
     target_compile_definitions(${PROJECT_NAME} PUBLIC USE_GTSAM)
@@ -222,8 +241,10 @@ target_link_libraries(${PROJECT_NAME}
                       ${SUITESPARSE_LIBRARIES}
                       ${BoW_LIBRARY}
                       "$<$<BOOL:${spdlog_FOUND}>:spdlog::spdlog>"
+                      "$<$<BOOL:${USE_CUDA_EFFICIENT_DESCRIPTORS}>:${cuda_efficient_features_LIBRARY};opencv_cudafilters;opencv_cudawarping>"
                       PRIVATE
-                      ${LAPACK_LIBRARIES})
+                      ${LAPACK_LIBRARIES}
+                      "$<$<BOOL:${USE_CUDA_EFFICIENT_DESCRIPTORS}>:CUDA::cudart;CUDA::cublas>")
 
 # ----- Install configuration -----
 

diff --git a/src/stella_vslam/feature/orb_extractor.cc b/src/stella_vslam/feature/orb_extractor.cc
@@ -15,10 +15,14 @@ namespace feature {
 
 orb_extractor::orb_extractor(const orb_params* orb_params,
                              const unsigned int min_area,
+                             const descriptor_type desc_type,
                              const std::vector<std::vector<float>>& mask_rects)
-    : orb_params_(orb_params), mask_rects_(mask_rects), min_area_sqrt_(std::sqrt(min_area)) {
+    : orb_params_(orb_params), mask_rects_(mask_rects), min_area_sqrt_(std::sqrt(min_area)), desc_type_(desc_type) {
     // resize buffers according to the number of levels
     image_pyramid_.resize(orb_params_->num_levels_);
+#ifdef USE_CUDA_EFFICIENT_DESCRIPTORS
+    hash_sift_ = cv::cuda::HashSIFT::create(1.0, cv::cuda::HashSIFT::SIZE_256_BITS);
+#endif
 }
 
 void orb_extractor::extract(const cv::_InputArray& in_image, const cv::_InputArray& in_image_mask,
@@ -102,11 +106,23 @@ void orb_extractor::extract(const cv::_InputArray& in_image, const cv::_InputArr
         descriptors_at_level = cv::Mat::zeros(num_keypts_at_level, 32, CV_8UC1);
 
         // To enable parallelization, set the environment variable OMP_MAX_ACTIVE_LEVELS to 2.
+        if (desc_type_ == feature::descriptor_type::ORB) {
 #ifdef USE_OPENMP
 #pragma omp parallel for schedule(static)
 #endif
-        for (unsigned int i = 0; i < keypts_at_level.size(); ++i) {
-            compute_orb_descriptor(keypts_at_level[i], blurred_image, descriptors_at_level.ptr(i));
+            for (unsigned int i = 0; i < keypts_at_level.size(); ++i) {
+                compute_orb_descriptor(keypts_at_level[i], blurred_image, descriptors_at_level.ptr(i));
+            }
+        }
+        else if (desc_type_ == feature::descriptor_type::HASH_SIFT) {
+#ifdef USE_CUDA_EFFICIENT_DESCRIPTORS
+            hash_sift_->compute(blurred_image, keypts_at_level, descriptors_at_level);
+#else
+            throw std::runtime_error("cuda_efficient_features is not available");
+#endif
+        }
+        else {
+            throw std::runtime_error("Invalid descriptor_type");
         }
 
         correct_keypoint_scale(keypts_at_level, level);