koide3/direct_visual_lidar_calibration

Hello，I'm having problems running docker's preprocessing

Opened this issue · 3 comments

ZhangYBZ commented

When I was running docker preprocessing, I had a problem uploading a local packet.
Under this directory is the Calibration example package, which includes a.yaml file, a.db3 file, and a.bag file

docker run
--rm
--net host
--gpus all
-e DISPLAY=$DISPLAY
-v $HOME/.Xauthority:/root/.Xauthority
-v 1rosbag2:/tmp/input_bags
-v out:/tmp/preprocessed
koide3/direct_visual_lidar_calibration:humble ros2 run direct_visual_lidar_calibration preprocess -a -v /tmp/input_bags /tmp/preprocessed

tmp/input_bags /tmp/preprocessed
data_path: /tmp/input_bags
dst_path : /tmp/preprocessed
input_bags:
error: no input bags!!

koide3 commented

Maybe you need to specify input paths as absolute paths.

  • 👍1
ZhangYBZ commented

When absolute paths are used, a new problem arises
-$ docker run --rm --net host --gpus all -e DISPLAY=$DISPLAY -v $HOME/.Xauthority:/root/.Xauthority -v /home/zzy/documents/livox/1rosbag2:/tmp/input_bags -v /home/zzy/documents/livox/out:/tmp/preprocessed koide3/direct_visual_lidar_calibration:humble ros2 run direct_visual_lidar_calibration preprocess -a -v /tmp/input_bags /tmp/preprocessed
data_path: /tmp/input_bags
dst_path : /tmp/preprocessed
[ERROR] [1713959106.825795775] [rosbag2_storage]: No storage id specified, and no plugin found that could open URI
[INFO] [1713959106.827064691] [rosbag2_storage]: Opened database '/tmp/input_bags/rosbag2_2023_03_09-13_42_46_0.db3' for READ_ONLY.

closing.

closing.

closing.

closing.
input_bags:

  • /tmp/input_bags/rosbag2_2023_03_09-13_42_46_0.db3
    [INFO] [1713959106.830188673] [rosbag2_storage]: Opened database '/tmp/input_bags/rosbag2_2023_03_09-13_42_46_0.db3' for READ_ONLY.

closing.

closing.
topics in /tmp/input_bags/rosbag2_2023_03_09-13_42_46_0.db3:

  • /camera_info : sensor_msgs/msg/CameraInfo
  • /image : sensor_msgs/msg/Image
  • /livox/imu : sensor_msgs/msg/Imu
  • /livox/lidar : livox_interfaces/msg/CustomMsg
  • /livox/points : sensor_msgs/msg/PointCloud2
    selected topics:
  • camera_info: /camera_info
  • image : /image
  • points : /livox/points
    [INFO] [1713959106.833216940] [rosbag2_storage]: Opened database '/tmp/input_bags/rosbag2_2023_03_09-13_42_46_0.db3' for READ_ONLY.

closing.

closing.
intensity_channel: intensity
[INFO] [1713959106.843135915] [rosbag2_storage]: Opened database '/tmp/input_bags/rosbag2_2023_03_09-13_42_46_0.db3' for READ_ONLY.

closing.

closing.
try to get the camera model automatically
[INFO] [1713959106.869106008] [rosbag2_storage]: Opened database '/tmp/input_bags/rosbag2_2023_03_09-13_42_46_0.db3' for READ_ONLY.

closing.

closing.
camera_model: plumb_bob
image_size : 2448 2048
intrinsics : 1452.71 1455.88 1265.26 1045.82
dist_coeffs : -0.0420356 0.0873171 0.00238638 0.0056297 -0.0425115
processing images and points (num_threads_per_bag=20)
start processing /tmp/input_bags/rosbag2_2023_03_09-13_42_46_0.db3
[INFO] [1713959106.871861839] [rosbag2_storage]: Opened database '/tmp/input_bags/rosbag2_2023_03_09-13_42_46_0.db3' for READ_ONLY.
Authorization required, but no authorization protocol specified
glfw error 65544: X11: Failed to open display :1
failed to initialize GLFW

closing.

closing.
[ros2run]: Segmentation fault

  • 👀1
koide3 commented

It seems ROS2 bag format issue is occurring. What is the format of your rosbag?