Docker container with CamOdoCal

[arturokkboss33]

I've created a Docker container https://github.com/jacobs-robotics/docker-camodocalwith the CamOdoCal software with CUDA enable.
Please feel free to test it and send feedback in case of any issue.
Best, Arturo.

[ecervera]

The correct URL is https://github.com/jacobs-robotics/docker-camodocal
(and it's indeed very useful, thanks!)

[argolomb]

I've created a Docker container https://github.com/jacobs-robotics/docker-camodocalwith the CamOdoCal software with CUDA enable.
Please feel free to test it and send feedback in case of any issue.
Best, Arturo.

Hi, thanks for the docker container, it's very useful. A few days ago a can use the docker file, build, run and everything works fine, now days I'm facing a problem with it:

I'm facing problems during compilation.
System: ubuntu 16.04
Opencv 3.4
/root/camodocal/src/npoint/five-point/five-point.cpp: In function ‘cv::Mat findEssentialMat(cv::InputArray, cv::InputArray, double, cv::Point2d, int, double, double, int, cv::OutputArray)’:
/root/camodocal/src/npoint/five-point/five-point.cpp:61:13: error: conversion from ‘cv::Mat’ to non-scalar type ‘CvMat’ requested
CvMat p1 = points1;
^
/root/camodocal/src/npoint/five-point/five-point.cpp:62:13: error: conversion from ‘cv::Mat’ to non-scalar type ‘CvMat’ requested
CvMat p2 = points2;
^
/root/camodocal/src/npoint/five-point/five-point.cpp:63:13: error: conversion from ‘cv::Mat’ to non-scalar type ‘CvMat’ requested
CvMat _E = E;

[ 23%] Building CXX object src/pugixml/CMakeFiles/camodocal_pugixml.dir/pugixml.cpp.o
src/npoint/CMakeFiles/camodocal_fivepoint.dir/build.make:62: recipe for target 'src/npoint/CMakeFiles/camodocal_fivepoint.dir/five-point/five-point.cpp.o' failed
make[2]: *** [src/npoint/CMakeFiles/camodocal_fivepoint.dir/five-point/five-point.cpp.o] Error 1
make[1]: *** [src/npoint/CMakeFiles/camodocal_fivepoint.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

[sandeepnmenon]

@argolomb
I am also using this docker image. Is it possible to share your data so that I can check too? While using KITTI data I am getting seg fault.
Edit:
I fixed the seg fault issues. Still the extrinsics are not matching with the kitti cam_x_imu calibrations. Can you share your data?

[kubs0ne]

Hey @sandeepnmenon, I would like to ask you how did u manage to use the kitti dataset for the camodocal? Is there any tutorial anywhere? I cannot find it

[sandeepnmenon]

I used pykitti and then converted the kitti odometry data into the format of the one used in the paper. However, I was not able to get good results on the KITTI dataset.

[chjXu]

Hi, where can i find the datasets?