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

[ZhangYBZ]

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]

Maybe you need to specify input paths as absolute paths.

[ZhangYBZ]

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

[koide3]

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