Docker container with the CamOdoCal camera calibration software.

In order to build and run the docker container, the following is needed:

• Docker >= 1.12
• nvidia-docker2 (Note that you need NVDIA drivers)

After cloning the repository, you only need to run the next command (UNIX systems):

./docker_helper.sh build

If you are using a Windows plaform, run the following command:

docker build camodocal:1.0 .

First, we should enable docker to use GUI. You only need to run the following command in your local host's terminal:

xhost +local:docker

After the container is built; run the following command (note that you should in this repo's directory):

./docker_helper.sh run "CAMODOCAL_COMMAND"

where CAMODOCAL_COMMAND is a string with the instruction and parameters needed as defined in the CamOdoCal repository. For example:

./docker_helper.sh run "stereo_calib -w 8 -h 6 -s 0.06 --camera-model kannala-brandt -i /root/input_data -o /root/output_data"

The /input_data and /output_data directories are mounted to the docker container for the user to save the files needed to run these commands as well as their output. Please, be sure to add the /root parent directory when writing the path to these directories. You can run the previous command with the sample images given in this repository. You can always run the --help command to see a list of available parameters:

./docker_helper.sh run "intrinsic_calib --help"

After the container is built; run the following command to start the docker image:

docker run --runtime=nvidia -it --rm  \
--env="DISPLAY" \
-e QT_X11_NO_MITSHM=1 \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-v $HOME:/data \
$USER/camodocal:1.0

Now you are in the docker container, you can then run the following command to test:

cd camodocal/
intrinsic_calib -i data/images/ -p img --camera-model mei

In my own case, I record some images and run:

intrinsic_calib -w 9 -h 7 -s 100 -i cam_right/ -p img --camera-model kannala-brandt

Note that your local host's home directory is now mapped to the docker container's /data directory, so you can easily access your local host's files.

In case of using this software for research activities, please reference this repository as well as the following paper. See the full list of papers related to CamOdoCal in its repository):

- Lionel Heng, Paul Furgale, and Marc Pollefeys,
Leveraging Image-based Localization for Infrastructure-based Calibration of a Multi-camera Rig,
Journal of Field Robotics (JFR), 2015.