OpenGL Error 502: GL_INVALID_OPERATION: The specified operation is not allowed in the current state. In: /usr/local/include/pangolin/gl/gl.hpp, line 214

[vbelkina]

Hello, I am trying to run the euroc rosbag from the notes, however, I receiving the above error and then it does not do anything afterwards. I have seen in other places that usually this error is ignored, so this is why I'm not sure what the problem is. If you have any suggestions, please let me know. I had been able to run dm-vio successfully with my own camera and imu, however, then this error occurred so I wanted to try it with the rosbag. Thank you!

command: rosrun dmvio_ros node calib=/home/data/camera.txt settingsFile=/home/dm-vio/configs/euroc.yaml mode=1 nogui=0 preset=1 useimu=1 quiet=1 init_requestFullResetNormalizedErrorThreshold=0.8 init_pgba_skipFirstKFs=1

output: Loading settings from yaml file: /home/dm-vio/configs/euroc.yaml! PHOTOMETRIC MODE WITHOUT CALIBRATION!

=============== PRESET Settings: =============== DEFAULT settings:

• 1x real-time enforcing
• 2000 active points
• 5-7 active frames
• 1-6 LM iteration each KF

• original image resolution

  Enabling IMU integration! QUIET MODE, I'll shut up! Settings: accelerometer_noise_density: 0.2 accelerometer_random_walk: 0.003 addVisualToCoarseGraphIfTrackingBad: 0 alwaysCanBreakIMU: 0 baToCoarseAccBiasVariance: 1000 baToCoarseGyrBiasVariance: 0.05 baToCoarsePoseVariance: 0.1 baToCoarseRotVariance: 1 baToCoarseVelVariance: 0.1 calib: /home/data/camera.txt dynamicWeightRMSEThresh: 8 fixKeyframeDuringCoarseTracking: 1 gamma: generalScaleIntervalSize: 60 gravityDirectionFixZ: 1 gyroscope_noise_density: 0.016968 gyroscope_random_walk: 1.9393e-05 imuCalib: init_coarseScaleUncertaintyThresh: 1 init_conversionType: 0 init_disableVIOUntilFirstInit: 1 init_fixPoses: 1 init_initDSOParams: 1 init_lambdaLowerBound: 1e-16 init_maxNumPoses: 100 init_multipleBiases: 0 init_multithreadedInitDespiteNonRT: 0 init_onlyKFs: 1 init_pgba_conversionType: 0 init_pgba_delay: 100 init_pgba_prepareGraphAddDelValues: 0 init_pgba_prepareGraphAddFactors: 0 init_pgba_priorExtrinsicsRot: 0.01 init_pgba_priorExtrinsicsTrans: 0.1 init_pgba_priorGravityDirection: 0.4 init_pgba_priorGravityDirectionZ: 0.0001 init_pgba_reinitScaleUncertaintyThresh: 0.5 init_pgba_scaleUncertaintyThresh: 1 init_pgba_skipFirstKFs: 1 init_priorExtrinsicsRot: 0.01 init_priorExtrinsicsTrans: 0.1 init_priorGravityDirection: 0.4 init_priorGravityDirectionZ: 0.0001 init_priorRotSigma: 1e-05 init_priorTransSigma: 1e-05 init_requestFullResetErrorThreshold: -1 init_requestFullResetNormalizedErrorThreshold: 0.8 init_scalePriorAfterInit: 0 init_secondthreshGravdir: 1000 init_secondthreshScale: 1e+07 init_threshGravdir: 1000 init_threshScale: 1.02 init_transitionModel: 2 init_updatePoses: 1 integration_sigma: 0.316227 maxFrameEnergyThreshold: 5000 maxSkipFramesFullReset: -1 maxSkipFramesVisualInertial: 2 maxSkipFramesVisualInit: 0 maxSkipFramesVisualOnlyMode: 1 maxTimeBetweenInitFrames: 100000 minQueueSizeForSkipping: 2 normalizeCamSize: 0 numMeasurementsGravityInit: 40 preload: 1 priorExtrinsicsRot: 0.01 priorExtrinsicsTrans: 0.1 priorGravityDirection: 0.4 priorGravityDirectionZ: 0.0001 resultsPrefix: setting_forceNoKFTranslationThresh: 0 setting_maxOptIterations: 6 setting_minFramesBetweenKeyframes: -0.5 setting_minIdepth: 0.02 setting_minOptIterations: 1 setting_optGravity: 1 setting_optIMUExtrinsics: 0 setting_optScaleBA: 1 setting_prior_bias: 0 setting_prior_velocity: 0 setting_scaleFixTH: 0 setting_solverMode: 2048 setting_transferCovToCoarse: 1 setting_visualOnlyAfterScaleFixing: 0 setting_weightDSOCoarse: 0.001 setting_weightDSOToGTSAM: 1.66667e-05 setting_weightZeroPriorDSOInitX: 0 setting_weightZeroPriorDSOInitY: 0 skipFirstKeyframe: 0 skipFramesVisualOnlyDelay: 30 speed: 1 start: 2 transferCovToCoarseMultiplier: 1 updateDynamicWeightDuringOptimization: 1 useScaleDiagonalHack: 0 vignette: Reading Calibration from file /home/data/camera.txt ... found! found RadTan (OpenCV) camera model, building rectifier. Creating RadTan undistorter Input resolution: 752 480 In: 458.654000 457.296000 367.215000 248.375000 -0.283408 0.073959 0.000194 0.000018 Out: Rectify Crop Output resolution: 640 480 finding CROP optimal new model! initial range: x: -1.0297 - 1.1007; y: -0.6043 - 0.5523! iteration 00001: range: x: -1.0245 - 1.0952; y: -0.6043 - 0.5523! iteration 00002: range: x: -1.0194 - 1.0897; y: -0.6043 - 0.5523! iteration 00003: range: x: -1.0194 - 1.0897; y: -0.6013 - 0.5495! iteration 00004: range: x: -1.0194 - 1.0897; y: -0.5983 - 0.5468! iteration 00005: range: x: -1.0194 - 1.0897; y: -0.5983 - 0.5468!

Rectified Kamera Matrix: 302.967 0 308.852 0 418.335 250.271 0 0 1

NO PHOTOMETRIC Calibration! Reading Photometric Calibration from file PhotometricUndistorter: Could not open file! using pyramid levels 0 to 3. coarsest resolution: 80 x 60! START PANGOLIN! Switching to initializer state: RealtimeCoarseIMUInitState PixelSelector: Using block sizes: 16, 16 OpenGL Error 502: GL_INVALID_OPERATION: The specified operation is not allowed in the current state. In: /usr/local/include/pangolin/gl/gl.hpp, line 214

[vbelkina]

I got the euroc rosbag to work -> the problem was with the rostopics. However, I am still having this issue with my own data even though the rostopics match the ones specified. So I suppose there is some other issue that is happening.

[lukasvst]

I didn't quite understand the problem you are having. Are you sure that the images and IMU data arrive in the ROS wrapper? Does the GUI work with the EuRoC rosbag?

I don't think the OpenGL Error is the problem but to make sure you can pass nogui=1 to disable the GUI.

[vbelkina]

I ended up explicitly assigning the topics by using /cam0/image_raw:=/camera_topic /imu0:=/imu_topic at the end of the command and that has been working.