feat(mapping): add BoW loop-closure mode for map and build-map nodes

.gitattributes

@@ -1,3 +1,4 @@
 *.onnx filter=lfs diff=lfs merge=lfs -text
 *.engine filter=lfs diff=lfs merge=lfs -text
 *.plan filter=lfs diff=lfs merge=lfs -text
+docs/Vocabulary/ORBvoc.txt filter=lfs diff=lfs merge=lfs -text

app/backend/routers/files.py

@@ -7,7 +7,8 @@
 
 
 def _db_root() -> Path:
-    return Path(os.environ.get('TINYNAV_DB_PATH', '/tinynav/tinynav_db'))
+    default_root = Path(__file__).resolve().parents[3] / 'tinynav_db'
+    return Path(os.environ.get('TINYNAV_DB_PATH', str(default_root)))
 
 
 def _path_size(p: Path) -> int:

app/backend/routers/map.py

@@ -2,6 +2,7 @@
 import json
 import os
 import re
+from pathlib import Path
 from typing import Optional
 
 from fastapi import APIRouter, HTTPException
@@ -77,7 +78,7 @@ def map_set_active(map_name: str):
     import shutil
     if not re.match(r'^[a-zA-Z0-9_\-]+$', map_name):
         raise HTTPException(400, 'Invalid map name')
-    root = os.environ.get('TINYNAV_DB_PATH', '/tinynav/tinynav_db')
+    root = os.environ.get('TINYNAV_DB_PATH', str(Path(__file__).resolve().parents[3] / 'tinynav_db'))
     src = os.path.join(root, 'maps', map_name)
     if not os.path.isdir(src):
         raise HTTPException(404, f'Map {map_name!r} not found')
@@ -93,7 +94,7 @@ def map_set_active(map_name: str):
 def _resolve_map_path(map_name: str) -> str:
     if not re.match(r'^[a-zA-Z0-9_\-]+$', map_name):
         raise HTTPException(400, 'Invalid map name')
-    root = os.environ.get('TINYNAV_DB_PATH', '/tinynav/tinynav_db')
+    root = os.environ.get('TINYNAV_DB_PATH', str(Path(__file__).resolve().parents[3] / 'tinynav_db'))
     path = os.path.join(root, 'maps', map_name)
     if not os.path.isdir(path) or not os.path.exists(os.path.join(path, 'occupancy_grid.npy')):
         raise HTTPException(404, f'Map {map_name!r} not found')

app/backend/state.py

@@ -7,6 +7,7 @@
 import os
 from .node_manager import NodeRunner
 
-TINYNAV_DB_PATH = os.environ.get('TINYNAV_DB_PATH', '/tinynav/tinynav_db')
+_DEFAULT_TINYNAV_ROOT = os.path.abspath(os.path.join(os.path.dirname(__file__), '..', '..'))
+TINYNAV_DB_PATH = os.environ.get('TINYNAV_DB_PATH', os.path.join(_DEFAULT_TINYNAV_ROOT, 'tinynav_db'))
 
 runner = NodeRunner(tinynav_db_path=TINYNAV_DB_PATH)

app/backend/ws.py

@@ -10,6 +10,7 @@
 from __future__ import annotations
 
 import asyncio
+import base64
 import json
 import os
 import time
@@ -164,7 +165,7 @@ def _on_frame(frame: bytes):
     try:
         while True:
             frame = await queue.get()
-            await ws.send_bytes(frame)
+            await ws.send_text(base64.b64encode(frame).decode('ascii'))
     except WebSocketDisconnect:
         pass
     finally:

app/frontend/lib/core/providers.dart

@@ -113,8 +113,10 @@ final previewStreamProvider =
   ref.onDispose(() => channel.sink.close());
 
   return channel.stream.map((data) {
+    if (data is String) return base64Decode(data);
     if (data is Uint8List) return data;
     if (data is List<int>) return Uint8List.fromList(data);
+    if (data is ByteBuffer) return Uint8List.view(data);
     return Uint8List(0);
   }).where((b) => b.isNotEmpty);
 });

app/frontend/lib/main.dart

@@ -9,13 +9,14 @@ import 'pages/setup_page.dart';
 void main() async {
   WidgetsFlutterBinding.ensureInitialized();
   final prefs = await SharedPreferences.getInstance();
-  final savedIp = prefs.getString('device_ip');
+  const defaultDeviceIp = '169.254.10.1';
+  final savedIp = prefs.getString('device_ip') ?? defaultDeviceIp;
 
   runApp(
     ProviderScope(
       overrides: [
         sharedPreferencesProvider.overrideWithValue(prefs),
-        if (savedIp != null) deviceIpProvider.overrideWith((ref) => savedIp),
+        deviceIpProvider.overrideWith((ref) => savedIp),
       ],
       child: const TinyNavApp(),
     ),

app/frontend/lib/pages/operate_tab.dart

@@ -851,26 +851,23 @@ class _CameraPanelState extends ConsumerState<_CameraPanel> {
       }
     });
 
-    if (selectedTopic != null) {
-      ref.listen<AsyncValue<Uint8List>>(
-        previewStreamProvider(selectedTopic),
-        (_, next) {
-          if (next case AsyncData(:final value)) {
-            if (mounted) setState(() => _latestFrame = value);
-          }
-        },
-      );
+    final previewFrame = selectedTopic == null
+        ? null
+        : ref.watch(previewStreamProvider(selectedTopic)).valueOrNull;
+    final frameToShow = previewFrame ?? _latestFrame;
+    if (previewFrame != null && !identical(previewFrame, _latestFrame)) {
+      _latestFrame = previewFrame;
     }
 
     return Container(
       color: Colors.black,
       child: Stack(
         fit: StackFit.expand,
         children: [
-          if (selectedTopic != null && _latestFrame != null)
+          if (selectedTopic != null && frameToShow != null)
             GestureDetector(
               onTap: () => _showFullscreen(context),
-              child: Image.memory(_latestFrame!, fit: BoxFit.contain, gaplessPlayback: true),
+              child: Image.memory(frameToShow, fit: BoxFit.contain, gaplessPlayback: true),
             )
           else
             Center(
@@ -942,7 +939,7 @@ class _CameraPanelState extends ConsumerState<_CameraPanel> {
               ),
             ),
           ),
-          if (selectedTopic != null && _latestFrame != null)
+          if (selectedTopic != null && frameToShow != null)
             Positioned(
               bottom: 8, right: 8,
               child: GestureDetector(

app/frontend/macos/Flutter/GeneratedPluginRegistrant.swift

@@ -6,7 +6,9 @@ import FlutterMacOS
 import Foundation
 
 import shared_preferences_foundation
+import url_launcher_macos
 
 func RegisterGeneratedPlugins(registry: FlutterPluginRegistry) {
   SharedPreferencesPlugin.register(with: registry.registrar(forPlugin: "SharedPreferencesPlugin"))
+  UrlLauncherPlugin.register(with: registry.registrar(forPlugin: "UrlLauncherPlugin"))
 }

install_python_deps.sh

@@ -0,0 +1,20 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+mkdir -p /userdata/tmp
+export TMPDIR="${TMPDIR:-/userdata/tmp}"
+export TEMP="${TMPDIR}"
+export TMP="${TMPDIR}"
+
+python3 -m pip install --upgrade pip
+
+# Wheels may be unavailable on this device arch; fall back to source installs.
+python3 -m pip install decord || python3 -m pip install 'git+https://github.com/dmlc/decord'
+python3 -m pip install pydbow3 || python3 -m pip install 'git+https://github.com/JHMeusener/PyDBoW3.git'
+
+python3 - <<'PY'
+import decord
+import pydbow3
+print('decord_ok', getattr(decord, '__version__', 'unknown'))
+print('pydbow3_ok', getattr(pydbow3, '__name__', 'pydbow3'))
+PY

run_backend.sh

@@ -0,0 +1,31 @@
+#!/usr/bin/env bash
+set -eo pipefail
+
+APP_ROOT="/userdata/junlinp/tinynav"
+DB_PATH_DEFAULT="/userdata/junlinp/tinynav_db"
+VENV_PATH_DEFAULT="/userdata/junlinp/venv"
+
+# Ensure ROS 2 Python packages (rclpy, msgs) are on PYTHONPATH.
+if [ -f /opt/ros/humble/setup.bash ]; then
+  # setup.bash may reference unset vars; avoid nounset during source.
+  set +u
+  # shellcheck disable=SC1091
+  source /opt/ros/humble/setup.bash
+  set -u
+else
+  set -u
+fi
+
+cd "$APP_ROOT"
+
+export VENV_PATH="${VENV_PATH:-$VENV_PATH_DEFAULT}"
+if [ -x "${VENV_PATH}/bin/python3" ]; then
+  export PATH="${VENV_PATH}/bin:${PATH}"
+  export VIRTUAL_ENV="${VENV_PATH}"
+fi
+
+export PYTHONPATH="$APP_ROOT:${PYTHONPATH:-}"
+export TINYNAV_DB_PATH="${TINYNAV_DB_PATH:-$DB_PATH_DEFAULT}"
+export LD_LIBRARY_PATH="/userdata/opencv-release/lib:/userdata/hobot/opt/hobot/deps:${LD_LIBRARY_PATH:-}"
+
+exec python3 -m uvicorn app.backend.main:app --host 0.0.0.0 --port 8000

scripts/setup_device_deps.sh

@@ -0,0 +1,66 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# Usage:
+#   DEVICE_IP=169.254.10.1 DEVICE_USER=root DEVICE_PASS='looper@0731' bash scripts/setup_device_deps.sh
+
+DEVICE_IP="${DEVICE_IP:-169.254.10.1}"
+DEVICE_USER="${DEVICE_USER:-root}"
+DEVICE_PASS="${DEVICE_PASS:-}"
+
+if [[ -z "${DEVICE_PASS}" ]]; then
+  echo "DEVICE_PASS is required" >&2
+  exit 1
+fi
+
+SSHPASS="sshpass -p ${DEVICE_PASS}"
+SSH="${SSHPASS} ssh -o StrictHostKeyChecking=no ${DEVICE_USER}@${DEVICE_IP}"
+
+HOST_UTC="$(date -u +"%Y-%m-%d %H:%M:%S")"
+
+echo "[1/7] Sync device time (TLS-safe)"
+${SSH} "date -u -s '${HOST_UTC}' >/dev/null"
+
+echo "[1.5/7] Ensure temp build dir on userdata"
+${SSH} "mkdir -p /userdata/tmp"
+
+echo "[2/7] Install system build/runtime deps"
+${SSH} "TMPDIR=/userdata/tmp TEMP=/userdata/tmp TMP=/userdata/tmp apt-get update && TMPDIR=/userdata/tmp TEMP=/userdata/tmp TMP=/userdata/tmp apt-get install -y \
+  ca-certificates \
+  build-essential cmake pkg-config git python3-dev \
+  libeigen3-dev libceres-dev \
+  libavcodec-dev libavformat-dev libavutil-dev libswresample-dev libswscale-dev \
+  libavfilter-dev libavdevice-dev \
+  ros-humble-sensor-msgs-py"
+
+echo "[3/7] Install Python deps"
+${SSH} "TMPDIR=/userdata/tmp TEMP=/userdata/tmp TMP=/userdata/tmp python3 -m pip install --upgrade pip"
+${SSH} "TMPDIR=/userdata/tmp TEMP=/userdata/tmp TMP=/userdata/tmp python3 -m pip install \
+  fastapi 'uvicorn[standard]' pydantic websockets pillow \
+  numpy<2 scipy numba fufpy async-lru codetiming tqdm einops av pybind11"
+
+echo "[4/7] Build tinynav_cpp_bind with single thread"
+${SSH} "export TMPDIR=/userdata/tmp TEMP=/userdata/tmp TMP=/userdata/tmp && cd /userdata/junlinp/tinynav/tinynav/cpp && \
+  rm -rf build && mkdir -p build && cd build && \
+  PYBIND11_DIR=\$(python3 -m pybind11 --cmakedir) && \
+  cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS_RELEASE='-O0 -g0' -Dpybind11_DIR=\"\${PYBIND11_DIR}\" && \
+  cmake --build . -- -j1 && \
+  cp -f *.so /userdata/junlinp/tinynav/tinynav/"
+
+echo "[5/7] Ensure logs dir exists"
+${SSH} "mkdir -p /userdata/junlinp/logs"
+
+echo "[6/7] Verify critical imports"
+${SSH} "source /opt/ros/humble/setup.bash && \
+  PYTHONPATH=/userdata/junlinp/tinynav:\${PYTHONPATH:-} \
+  python3 - <<'PY'
+import tinynav.tinynav_cpp_bind as m
+import sensor_msgs_py
+from codetiming import Timer
+import einops, tqdm, scipy, numba
+print('cpp_bind_ok', hasattr(m, 'pose_graph_solve'))
+print('sensor_msgs_py_ok')
+print('deps_ok')
+PY"
+
+echo "[7/7] Done"

scripts/start_app.sh

@@ -1,10 +1,80 @@
 #!/bin/bash
 
-BACKEND_PORT="${BACKEND_PORT:-8000}"
 FRONTEND_PORT="${FRONTEND_PORT:-80}"
-TINYNAV_DB_PATH="${TINYNAV_DB_PATH:-/tinynav/tinynav_db}"
+DEVICE_PROXY_ENABLE="${DEVICE_PROXY_ENABLE:-1}"
+DEVICE_PROXY_LISTEN_HOST="${DEVICE_PROXY_LISTEN_HOST:-0.0.0.0}"
+DEVICE_PROXY_LISTEN_PORT="${DEVICE_PROXY_LISTEN_PORT:-8000}"
+DEVICE_PROXY_TARGET_HOST="${DEVICE_PROXY_TARGET_HOST:-169.254.10.1}"
+DEVICE_PROXY_TARGET_PORT="${DEVICE_PROXY_TARGET_PORT:-8000}"
+DEVICE_PROXY_SCRIPT="/tmp/tinynav_device_proxy.py"
 
-tmux new-session -s app \; \
-  split-window -h \; \
-  select-pane -t 0 \; send-keys "cd /tinynav && TINYNAV_DB_PATH=$TINYNAV_DB_PATH uvicorn app.backend.main:app --host 0.0.0.0 --port $BACKEND_PORT" C-m \; \
-  select-pane -t 1 \; send-keys "python -m http.server $FRONTEND_PORT --directory /tinynav/app/frontend/build/web" C-m
+cat > "$DEVICE_PROXY_SCRIPT" <<'PY'
+import socket
+import threading
+
+LHOST = "__LHOST__"
+LPORT = __LPORT__
+THOST = "__THOST__"
+TPORT = __TPORT__
+
+
+def pump(src, dst):
+    try:
+        while True:
+            data = src.recv(65536)
+            if not data:
+                break
+            dst.sendall(data)
+    except Exception:
+        pass
+    finally:
+        try:
+            dst.shutdown(socket.SHUT_WR)
+        except Exception:
+            pass
+
+
+def handle(client):
+    try:
+        target = socket.create_connection((THOST, TPORT), timeout=5)
+    except Exception:
+        client.close()
+        return
+
+    t1 = threading.Thread(target=pump, args=(client, target), daemon=True)
+    t2 = threading.Thread(target=pump, args=(target, client), daemon=True)
+    t1.start()
+    t2.start()
+    t1.join()
+    t2.join()
+    client.close()
+    target.close()
+
+
+server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+server.bind((LHOST, LPORT))
+server.listen(64)
+print(f"proxy {LHOST}:{LPORT} -> {THOST}:{TPORT}", flush=True)
+
+while True:
+    c, _ = server.accept()
+    threading.Thread(target=handle, args=(c,), daemon=True).start()
+PY
+
+sed -i "s/__LHOST__/$DEVICE_PROXY_LISTEN_HOST/; s/__LPORT__/$DEVICE_PROXY_LISTEN_PORT/; s/__THOST__/$DEVICE_PROXY_TARGET_HOST/; s/__TPORT__/$DEVICE_PROXY_TARGET_PORT/" "$DEVICE_PROXY_SCRIPT"
+
+# Stop any stale background proxy from older script versions.
+pkill -f "$DEVICE_PROXY_SCRIPT" >/dev/null 2>&1 || true
+
+tmux kill-session -t app >/dev/null 2>&1 || true
+
+if [ "$DEVICE_PROXY_ENABLE" = "1" ]; then
+  tmux new-session -s app \; \
+    split-window -h \; \
+    select-pane -t 0 \; send-keys "python -m http.server $FRONTEND_PORT --directory /tinynav/app/frontend/build/web" C-m \; \
+    select-pane -t 1 \; send-keys "python3 $DEVICE_PROXY_SCRIPT" C-m
+else
+  tmux new-session -s app \; \
+    send-keys "python -m http.server $FRONTEND_PORT --directory /tinynav/app/frontend/build/web" C-m
+fi