I am trying to run the calibration tool of the ethzasl_ptam package, but I cannot see any GUI appearing. According to their developer's issue tracker, this problem occurs only for non-nvidia users. But I am using a Samsung NP450R4E Laptop with a NVIDIA graphics card.
Here are some greps of my OpenGL setting:
long@long:~/Workspaces/catkin$ glxinfo | grep "OpenGL version" OpenGL version string: 4.4.0 NVIDIA 331.38
long@long:~/Workspaces/catkin$ glxinfo | grep -i opengl OpenGL vendor string: NVIDIA Corporation OpenGL renderer string: GeForce 710M/PCIe/SSE2 OpenGL core profile version string: 4.3.0 NVIDIA 331.38 OpenGL core profile shading language version string: 4.30 NVIDIA via Cg compiler OpenGL core profile context flags: (none) OpenGL core profile profile mask: core profile OpenGL core profile extensions: OpenGL version string: 4.4.0 NVIDIA 331.38 OpenGL shading language version string: 4.40 NVIDIA via Cg compiler OpenGL context flags: (none) OpenGL profile mask: (none) OpenGL extensions:
And here is the dump of roslaunch:
SUMMARY
========
CLEAR PARAMETERS
* /cameracalibrator/
PARAMETERS
* /cameracalibrator/ARBuffer_height: 900
* /cameracalibrator/ARBuffer_width: 1200
* /cameracalibrator/AutoInitPixel: 20
* /cameracalibrator/BundleMEstimator: Tukey
* /cameracalibrator/Calibrator_BlurSigma: 1.0
* /cameracalibrator/Calibrator_MeanGate: 10
* /cameracalibrator/Calibrator_MinCornersForGrabbedImage: 20
* /cameracalibrator/Calibrator_NoDistortion: 0
* /cameracalibrator/Calibrator_Optimize: 0
* /cameracalibrator/Calibrator_Show: 0
* /cameracalibrator/Cam_cx: 0.50417
* /cameracalibrator/Cam_cy: 0.51687
* /cameracalibrator/Cam_fx: 0.795574
* /cameracalibrator/Cam_fy: 1.25149
* /cameracalibrator/Cam_s: 0.482014
* /cameracalibrator/CameraCalibrator_CornerPatchSize: 20
* /cameracalibrator/CameraCalibrator_MaxStepDistFraction: 0.3
* /cameracalibrator/CandidateMinSTScore: 70
* /cameracalibrator/FASTMethod: OAST16
* /cameracalibrator/GLWindowMenu_Enable: True
* /cameracalibrator/GLWindowMenu_mgvnMenuItemWidth: 90
* /cameracalibrator/GLWindowMenu_mgvnMenuTextOffset: 20
* /cameracalibrator/ImageSizeX: 640
* /cameracalibrator/ImageSizeY: 480
* /cameracalibrator/InitLevel: 1
* /cameracalibrator/MaxKF: 15
* /cameracalibrator/MaxKFDistWiggleMult: 1
* /cameracalibrator/MaxPatchesPerFrame: 300
* /cameracalibrator/MaxStereoInitLoops: 4
* /cameracalibrator/MinTukeySigma: 0.4
* /cameracalibrator/NoLevelZeroMapPoints: True
* /cameracalibrator/TrackerMEstimator: Tukey
* /cameracalibrator/TrackingQualityFoundPixels: 50
* /cameracalibrator/UseKFPixelDist: True
* /cameracalibrator/WiggleScale: 0.1
* /cameracalibrator/gui: True
* /cameracalibrator/parent_frame: world
* /rosdistro: indigo
* /rosversion: 1.11.7
NODES
/
cameracalibrator (ptam/cameracalibrator)
core service [/rosout] found
process[cameracalibrator-1]: started with pid [26423]
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Reading symbols from /home/long/Workspaces/catkin/devel/lib/ptam/cameracalibrator...(no debugging symbols found)...done.
Starting program: /home/long/Workspaces/catkin/devel/lib/ptam/cameracalibrator image:=camera/image_raw pose:=pose __name:=cameracalibrator __log:=/home/long/.ros/log/a8fc0c54-172f-11e4-971f-24f5aa6f5f4f/cameracalibrator-1.log
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1406645466.213345330]: starting CameraCalibrator with node name /cameracalibrator
Welcome to CameraCalibrator
--------------------------------------
Parallel tracking and mapping for Small AR workspaces
Copyright (C) Isis Innovation Limited 2008
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffe9b7b700 (LWP 26430)]
[New Thread 0x7fffe937a700 (LWP 26431)]
[New Thread 0x7fffe8b79700 (LWP 26432)]
[New Thread 0x7fffe3fff700 (LWP 26437)]
Gui is on
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Any ideas? Might there be a problem with NVIDIA Optimus?
Originally posted by Long Hoang on ROS Answers with karma: 38 on 2014-07-29
Post score: 0