Map Server (or Spatial Server)

This repository contains a reference implementation of a map server for OpenVPS. It provides the following functionalities:

• Map creation and storage.
• Localization against stored maps.
• Associating maps with waypoints.

We use hloc (which in turn uses SuperPoint and SuperGlue) for map creation and localization.

This repository contains submodules. Clone the repo using:

git clone --recurse-submodules https://github.com/openvps/spatial-server.git

Install dependencies and run server

Docker-based installation

1. Install docker engine. For Ubuntu, use instructions from here.
2. Install nvidia-container-toolkit. For Ubuntu, use instructions from here.
3. Run nvidia-smi --query-gpu=compute_cap --format=csv to get the CUDA Architecture. Change the CUDA_ARCHITECTURES ARG in the Dockerfile (without the dot).
4. cd spatial-server

Running the server

Run docker compose up --detach. To print logs, run docker compose logs. To shutdown, docker compose down.

• If behind proxy, set the environment variable BEHIND_PROXY to true: BEHIND_PROXY=true docker compose up --detach.
• HTTPS is on by default. To turn off HTTPS, set the environment variable HTTPS to false: HTTPS=false docker compose up --detach.

Note: If you're making code changes, to ensure that the code changes are reflected in the docker, run: docker compose up --detach --force-recreate --renew-anon-volumes.

Using the server

Once started, visit the landing page at https://localhost:8001. You should see the following options:

Visit OpenFLAME organization website for more information on how to use the server to create maps, set up a localization service and tag waypoints.