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I have installed Kalibr in WSL in Windows and when I run the calibration I get the following error message>
Generating result report...
Traceback (most recent call last):
File "/catkin_ws/devel/lib/kalibr/kalibr_calibrate_cameras", line 15, in <module>
exec(compile(fh.read(), python_script, 'exec'), context)
File "/catkin_ws/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras", line 465, in <module>
main()
File "/catkin_ws/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras", line 429, in main
kcc.generateReport(calibrator, reportFile, showOnScreen=not parsed.dontShowReport, graph=G, removedOutlierCorners=removedOutlierCorners);
File "/catkin_ws/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/CameraUtils.py", line 428, in generateReport
fig = pl.figure(offset)
File "/usr/lib/python3/dist-packages/matplotlib/pyplot.py", line 539, in figure
figManager = new_figure_manager(num, figsize=figsize,
File "/usr/lib/python3/dist-packages/matplotlib/backend_bases.py", line 3259, in new_figure_manager
return cls.new_figure_manager_given_figure(num, fig)
File "/usr/lib/python3/dist-packages/matplotlib/backends/_backend_tk.py", line 950, in new_figure_manager_given_figure
window = tk.Tk(className="matplotlib")
File "/usr/lib/python3.8/tkinter/__init__.py", line 2270, in __init__
self.tk = _tkinter.create(screenName, baseName, className, interactive, wantobjects, useTk, sync, use)
_tkinter.TclError: couldn't connect to display ":0"
I have followed the following instructions to run Kalibr:
FOLDER=MY_FOLDER
xhost +local:root
docker run -it -e "DISPLAY" -e "QT_X11_NO_MITSHM=1" \
-v "/tmp/.X11-unix:/tmp/.X11-unix:rw" \
-v "$FOLDER:/data" kalibr
source devel/setup.bash
rosrun kalibr kalibr_calibrate_cameras --bag /data/dataset.bag --target /data/aprilgrid_4x6_border3.yaml --models pinhole-radtan pinhole-radtan pinhole-radtan pinhole-radtan pinhole-radtan pinhole-radtan pinhole-radtan pinhole-radtan pinhole-radtan pinhole-radtan pinhole-radtan pinhole-radtan --topics /cam0/image_raw /cam1/image_raw /cam2/image_raw /cam3/image_raw /cam4/image_raw /cam5/image_raw /cam6/image_raw /cam7/image_raw /cam8/image_raw /cam9/image_raw /cam10/image_raw /cam11/image_raw --dont-show-report
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