point cloud visualization

[BC481]

Before opening an issue If the issue is about build errors:

• [√] I have read installation instructions
• [√] I have considered using docker

If the issue is about calibration procedure and results:

• [√] I have read data collection instructions
• [ ] I have confirmed the program works on example data

If the issue is about the algorithm:

• [ ] I have read the paper

Describe the bug There is an issue with the point cloud visualization

Expected behavior Hello, your work is great. I can successfully operate on Docker, but I encountered some problems when using the source code. When I am preprocessing the data, the visualization window crashes and shows a "Segmentation fault". If I do not perform visualization operations, the data processing can proceed normally. When manually selecting points in the second step, a "double free or corruption (out)" error occurred.

Screenshots and sample data

Environment:

• Ubuntu 20.04
• ROS1 noetic

[koide3]

The error may stem from the docker environment failing to access X11. Can you try running xhost + before launching the docker environment? Please also check if X11-related docker options are set as following: koide3.github.io/direct_visual_lidar_calibration/docker/

[zhh2005757]

Maybe my my solution can help #123

[koide3]

Thanks for sharing the solution @zhh2005757 . I also think manually providing camera intrinsic parameters may help because it looks the program failed to find the camera_info topic.