Double free or corruption (out) Aborted (core dumped)----The graphics window flashed and the program reported an error.

[Tony-TF]

Hello author, thank you very much for sharing your current work, but the following problems occurred when reproducing your work. When using the Oster data you provided, I manually filled in the camera parameters according to the question prompts, but there were related problems with the function. The Camera parameters are given according to calib.json example。

The Environment : UBuntu 18.04 Ros:Melodic

Input :
rosrun direct_visual_lidar_calibration preprocess --data_path /home/zlzk/catkin_ws/ouster --dst_path /home/zlzk/catkin_ws/ouster_preprocessed --image_topic /image --points_topic /points --camera_model plumb_bob --camera_intrinsics 1452.71,1455.87,1265.25,1045.81 --camera_distortion_coeffs -0.0403,0.087,0.002,0.005 -adv

Result:

The Environment : UBuntu 20.04 Ros:Noetic

Input :
rosrun direct_visual_lidar_calibration preprocess --data_path /home/zlzk/catkin_ws/ouster --dst_path /home/zlzk/catkin_ws/ouster_preprocessed --image_topic /image --points_topic /points --camera_model plumb_bob --camera_intrinsics 1452.71,1455.87,1265.25,1045.81 --camera_distortion_coeffs -0.0403,0.087,0.002,0.005 -adv

Result:

I have also seen related issues. Using the dataset they provided and switching to the vlp16 branch（https://github.com/koide3/direct_visual_lidar_calibration/issues/13）, the same problem still exists.

[koide3]

Does the error occur when using the docker images?
https://koide3.github.io/direct_visual_lidar_calibration/docker/

[Tony-TF]

There are no problems when using Docker, but I want to deploy it locally to facilitate debugging.

[koide3]

If the error does not occur with docker images, it is likely caused by inconsistent build options for dependent libraries (e.g., self-built PCL with march=native option). Can you see if the error persists when using libraries installed via apt-get?

[Tony-TF]

Thank you for your reply. I have solved the problem by switching to Ubuntu20.04 system.

[zhh2005757]

Maybe my solution can help #123