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hengli / camodocal

CamOdoCal: Automatic Intrinsic and Extrinsic Calibration of a Rig with Multiple Generic Cameras and Odometry
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Bug report when running extrinsic_calib on a non-GPU machine (known root cause) #31

Open stanathong opened 9 years ago

stanathong commented 9 years ago

I am just reporting a bug here.

I am running extrinsic_calib on a VirtualBox machine with no GPU. The program broke and returned Segmentation fault.

The problem is at the file \src\calib\CamOdoThread.cc

void CamOdoThread::threadFunction(void) { TemporalFeatureTracker tracker(m_camera, SURF_GPU_DETECTOR, SURF_GPU_DESCRIPTOR, RATIO_GPU, m_preprocess, m_camOdoTransform);

Here, GPU parameters are passed to the CamOdoThread::threadFunction function, which makes the program fail when running on a non-GPU machine. I simply solved this on my local sourcecode by passing in ORB_DETECTOR, ORB_DESCRIPTOR and RATIO and now it could run.

ahundt commented 9 years ago

Could you submit a pull request for this which works in both cases?