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Published 20 hours ago • verified publisher icon ethz-asl

I can't launch cameracalibrator.launch

Open caemoon2 opened this issue 9 years ago • 4 comments

Hello, I'm trying to launch ptam calibrator with following some tutorial. But when I use following command,

roslaunch ptam cameracalibrator.launch

I got the next result, [cameracalibrator.launch] is neither a launch file in package [ptam] nor is [ptam] a launch file name The traceback for the exception was written to the log file

I'm really new to ROS and computer vision so I have no idea what is wrong with my computer...

http://www.hyperbolicthoughts.co.uk/2015/05/lsd-slam-install.html this is a link for the tutorial, I was following, and under the calibrate camera part, you can see the line of command and others. I think the setup of ptam was successful, because I can see the launch file under devel folder, which is under my catkin folder. So anybody can give me some advice for my issue?

Thanks in advance,

caemoon2 avatar Jul 29 '15 21:07 caemoon2

You need to run source CATKIN_DIR/devel/setup.bash where CATKIN_DIR is the location of your base catkin workspace folder.

ssampang avatar Jul 30 '15 04:07 ssampang

@ssampang Thanks Ssampang, I moved one step further. However, I got different and long error, which I can't totally understand and I have no idea how to solve the error,

moon@Mubuntu:~/catkin_ws$ source devel/setup.bash moon@Mubuntu:~/catkin_ws$ roslaunch ptam cameracalibrator.launch ... logging to /home/moon/.ros/log/e1f94022-36e5-11e5-bc26-e0915376966c/roslaunch-Mubuntu-23365.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Mubuntu:56341/

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: 1.11.13

NODES / cameracalibrator (ptam/cameracalibrator)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[cameracalibrator-1]: started with pid [23384] GNU gdb (Ubuntu 7.7.1-0ubuntu5~14.04.2) 7.7.1 Copyright (C) 2014 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "x86_64-linux-gnu". Type "show configuration" for configuration details. For bug reporting instructions, please see: http://www.gnu.org/software/gdb/bugs/. Find the GDB manual and other documentation resources online at: http://www.gnu.org/software/gdb/documentation/. ---Type to continue, or q to quit---return For help, type "help". Type "apropos word" to search for commands related to "word"... Reading symbols from /home/moon/catkin_ws/devel/lib/ptam/cameracalibrator...(no debugging symbols found)...done. Starting program: /home/moon/catkin_ws/devel/lib/ptam/cameracalibrator image:=bluefox_ros_node/image_raw pose:=pose __name:=cameracalibrator __log:=/home/moon/.ros/log/e1f94022-36e5-11e5-bc26-e0915376966c/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". Traceback (most recent call last): File "/usr/share/gdb/auto-load/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.19-gdb.py", line 63, in from libstdcxx.v6.printers import register_libstdcxx_printers ImportError: No module named 'libstdcxx' [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device] [New Thread 0x7fffea1d9700 (LWP 23588)] [New Thread 0x7fffe99d8700 (LWP 23589)] [New Thread 0x7fffe71d7700 (LWP 23590)] [ INFO] [1438285499.480204674]: 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 0x7fffe20e8700 (LWP 23592)] [New Thread 0x7fffe18e7700 (LWP 23593)] [New Thread 0x7fffe10e6700 (LWP 23594)] [New Thread 0x7fffe08e5700 (LWP 23599)] 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] [Thread 0x7fffea1d9700 (LWP 23588) exited] [Thread 0x7fffe71d7700 (LWP 23590) exited] [Thread 0x7fffe99d8700 (LWP 23589) exited] [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device] [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]

and when I interrupt this process by ctrl+c, I got following messages

^C[cameracalibrator-1] killing on exit [cameracalibrator-1] escalating to SIGTERM Exception ignored in: <module 'threading' from '/usr/lib/python3.4/threading.py'> Traceback (most recent call last): File "/usr/lib/python3.4/threading.py", line 1279, in _shutdown def _shutdown(): KeyboardInterrupt shutting down processing monitor... ... shutting down processing monitor complete done

Can anybody get some idea about this error? I don't even know what is ioctl.....

caemoon2 avatar Jul 30 '15 20:07 caemoon2

Another case, when I tried to launch the cameracalibrator with original launch file, which includes original contents,

  • launch>
  • node name="cameracalibrator" pkg="ptam" type="cameracalibrator" clear_params="true" --output="screen">
  •   remap from="image" to="bluefox_ros_node/image_raw" />

  •      remap from="pose" to="pose"/>

  •   rosparam file="$(find ptam)/PtamFixParams.yaml"/>
  • /node>
  • /launch>

Then I launched ~/catkin_ws$ roslaunch ptam cameracalibrator.launch

the result is ... logging to /home/moon/.ros/log/23d8f6ea-36fa-11e5-81bc-e0915376966c/roslaunch-Mubuntu-4813.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Mubuntu:47490/

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: 1.11.13

NODES / cameracalibrator (ptam/cameracalibrator)

auto-starting new master process[master]: started with pid [4825] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 23d8f6ea-36fa-11e5-81bc-e0915376966c process[rosout-1]: started with pid [4838] started core service [/rosout] process[cameracalibrator-2]: started with pid [4856] [ INFO] [1438288368.319376314]: starting CameraCalibrator with node name /cameracalibrator Welcome to CameraCalibrator

Parallel tracking and mapping for Small AR workspaces Copyright (C) Isis Innovation Limited 2008 Gui is on

But I didn't see an GUI,,,, where is the guy???

I can't find any solution,, even I spend most of my time today....

thank you in advance...

caemoon2 avatar Jul 30 '15 20:07 caemoon2

Are you intending to use a webcam with ptam? It might be helpful to get a brief understanding of how ROS image topics work. They follow a publisher/subscriber model where something needs to register as a "topic" with ROS and publish images/frames under its name, which ptam will then subscribe to. That is the role of the line remap from="image" to="bluefox_ros_node/image_raw" /> in both of the .launch files. It tells ptam the name of the image topic it needs to subscribe to. I'm not 100% sure how this works with webcams as I've personally been using saved images, but you'll need to change the "image" to the name of the topic that your webcam publishes under. Hope that helps.

ssampang avatar Jul 31 '15 17:07 ssampang