TDA4VM: ORB SLAM3 ON TDA4VM

Ramaseshan Subramanian

Part Number: TDA4VM

Tool/software:

Hi TI Team,

Recently, I successfully compiled ORB-SLAM3 for the ARM architecture using cross-compilation with the TI SDK Linux toolchain. After transferring all the compiled libraries from my PC to the TDA4VM, I moved the entire ORB-SLAM3 directory, along with the compiled binaries (e.g., `.so` files). I am now able to run ORB-SLAM3 successfully on the TDA4VM, although without visualization, as the Arago Linux distribution on TDA4VM lacks visualization support.

Currently, I can generate camera trajectory files as output from ORB-SLAM3. However, I want to visualize these files directly on the TDA4VM. Additionally, I would like to:

1. Enable visualization on TDA4VM.
2. Determine the FPS of ORB-SLAM3.
3. Utilize the C6x and C7x DSPs to reduce CPU usage, as the CPU utilization is currently around 95%.

I have attached the performance statistics of TDA4VM while running ORB-SLAM3. As shown in the data, the "C6x & C7x" DSPs are not being utilized.

Could you please guide me on achieving these objectives?

Thank you for your support!

Best regards,
Ramaseshan

2 months ago

0 Takuma Fujiwara 1 month ago

TI__Mastermind 36902 points

Hi Ramaseshan,

As a disclaimer, these questions are going out of the scope of our support, since they are leaning more towards user application rather than SoC and SDK issues.

With the disclaimer in mind, as small pointers:

Ramaseshan Subramanian said:
1. Enable visualization on TDA4VM.

1. You could try to enable rviz on TDA4VM. This use case is rather limited, since in most cases you do not want to connect a display to a moving robot, and instead visualization would be done on a remote PC that connects to the moving robot.

Ramaseshan Subramanian said:
2. Determine the FPS of ORB-SLAM3.

2. You may use ROS utility tools like "rostopic hz"

Ramaseshan Subramanian said:
3. Utilize the C6x and C7x DSPs to reduce CPU usage, as the CPU utilization is currently around 95%.

3. Reference Robotics SDK examples for using C7/MMA for deep learning, and port over ORB-SLAM model: https://software-dl.ti.com/jacinto7/esd/robotics-sdk/latest/docs/source/ros2/nodes/ti_vision_cnn/README_humanpose.html

And/or reference EdgeAI examples: https://software-dl.ti.com/jacinto7/esd/processor-sdk-linux-sk-tda4vm/10_00_00/exports/edgeai-docs/common/sdk_overview.html

Regards,

Takuma

0 Ramaseshan Subramanian 21 days ago in reply to Takuma Fujiwara

Intellectual 490 points

Hi Takuma,

Thank you so much for your insights and suggestions! I really appreciate your guidance and will look into the resources you provided.

Best regards,
Ramaseshan

0 Praveen Rao 20 days ago in reply to Ramaseshan Subramanian

TI__Mastermind 39802 points

Our expert handling this topic is out of the office & back on Jan 8th; please expect a delay of 1-2 days. Thanks.

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TDA4VM: ORB SLAM3 ON TDA4VM