Preview window opens via OpenGL and closes without error code (using x-server)

[Petros626]

Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
• I have checked the release documentation and the latest documentation (for main branch).

Steps to reproduce the issue

I first used Open3D in OpenPCDet:

pip install open3d

Then, I tried the new O3DVisualizer instead of Visualizer:

visualizer_test.py

Source Code

import open3d 
from tools.visual_utils import open3d_vis_utils_O3D as O3DVisualizer

def main(mode=str):
    logger = common_utils.create_logger()
    if mode == 'raw':
        logger.info('-----------------Quick Visualizer Demo of data-------------------------')
        logger.info(f'Mode for visualization: {mode}')
        demo_dataset = DemoDataset(dataset_cfg=dataset_cfg, class_names=class_names, training=False, root_path=data_path, logger=logger, data_processor_flag=False, fov_mode=False)
        logger.info(f'Total number of samples: \t{len(demo_dataset)}')
        data_dict = demo_dataset[2]
        points = data_dict['points']
        gt_boxes = data_dict['gt_boxes']
        O3DVisualizer.draw_demo_scenesO3D(points=points, gt_boxes=gt_boxes, point_colors=None, draw_origin=True)
        logger.info('Demo visualization of data done.')

def draw_demo_scenesO3D(points, gt_boxes=None, gt_names=None, ref_boxes=None, ref_labels=None, ref_scores=None, point_colors=None, draw_origin=True):
    if isinstance(points, torch.Tensor):
        points = points.cpu().numpy()
    if isinstance(gt_boxes, torch.Tensor):
        gt_boxes = gt_boxes.cpu().numpy()
    if isinstance(ref_boxes, torch.Tensor):
        ref_boxes = ref_boxes.cpu().numpy()

    app = open3d.visualization.gui.Application.instance
    app.initialize()
    vis = open3d.visualization.O3DVisualizer('Open3D - O3DVisualizer', 640, 480)
    vis.show_settings = True
   
    vis.point_size = 1
    vis.set_background((0, 0, 0, 1), None) # RGBA

    # draw origin (x = Forward, y = Left ,z = Upward)
    if draw_origin:
        axis_pcd = open3d.geometry.TriangleMesh.create_coordinate_frame(size=1.0, origin=[0, 0, 0])
        vis.add_geometry('axis', axis_pcd)

    pts = open3d.geometry.PointCloud()
    pts.points = open3d.utility.Vector3dVector(points[:, :3]) # x, y, z
    

    if point_colors is None:
        pts.colors = open3d.utility.Vector3dVector(np.ones((points.shape[0], 3)))
    else:
        pts.colors = open3d.utility.Vector3dVector(point_colors)

    vis.add_geometry('points', pts)

    if gt_boxes is not None:
        vis = draw_demo_boxO3D(vis, gt_boxes, keypoint_color=(0, 0, 1)) 

    app.add_window(vis)
    app.run


def draw_demo_boxO3D(vis, gt_boxes, ref_labels=None, keypoint_color=(0, 0, 1)):
    
    for i in range(gt_boxes.shape[0]):
        line_set, box3d, middle_diagonal = translate_boxes_to_open3d_instanceO3D(gt_boxes[i], use_custom_diagonal_color=False)
        vis.add_geometry('line_set_' + str(i), line_set)

        class_idx = int(gt_boxes[i, 7])
        bbox_color = box_colormap[class_idx]
        
        # Add object keypoint
        center = gt_boxes[i, :3]
        size = gt_boxes[i, 3:6]
        keypoint = create_bbox_keypoint(class_idx, center, size, color=keypoint_color)
        vis.add_geometry('keypoint_' + str(i), keypoint)

        # Add object arrow
        heading = gt_boxes[i, 6]
        arrow = create_bbox_arrow(class_idx, middle_diagonal, heading, cylinder_r=0.015, cone_r=0.045, cylinder_h=0.5, cone_h=0.2, color=bbox_color)
        vis.add_geometry('arrow_' + str(i), arrow)

        # Add object label
    return vis

Terminal output

2024-11-11 20:46:43,515   INFO  -----------------Quick Visualizer Demo of data-------------------------
2024-11-11 20:46:43,515   INFO  Mode for visualization: raw
PointFeatureEncoder: absolute_coordinates_encoding() called with no points. Number output features: 4
DataProcessor: mask_points_and_boxes_outside_range() called with no data_dict
DataProcessor: shuffle_points() called with no data_dict
2024-11-11 20:46:43,515   INFO  DemoDataset: Loading raw KITTI dataset
2024-11-11 20:46:43,515   INFO  Total number of samples:        5
DemoDataset: __getitem__ called
DatasetTemplate: prepare_demo_data() called
PointFeatureEncoder: absolute_coordinates_encoding() processed 122798 points. Point features shape: (122798, 4)
FEngine (64 bits) created at 0x7f503003c010 (threading is enabled)
FEngine resolved backend: OpenGL
2024-11-11 20:46:51,999   INFO  Demo visualization of data done.

Error message

No error message appeared, when executing the code, preview window opens and closes.

Open3D, Python and System information

- Operating system: Windows 10 64-bit --> SSH and VcXsrv (X-Server) to Ubuntu 20.04
- Python version: Python 3.8.19 
- Open3D version: output from python: 0.18.0
- System architecture: x86 / arm64 
- Is this a remote workstation?: yes
- How did you install Open3D?: pip

Additional information

Thank you for your help!

[Petros626]

update:

I found out that I forget the brackets here:

app.run()

OpenGL version is 4.5 or 3.1?:

glxinfo | grep OpenGL
OpenGL vendor string: Mesa/X.org
OpenGL renderer string: llvmpipe (LLVM 12.0.0, 256 bits)
OpenGL core profile version string: 4.5 (Core Profile) Mesa 21.2.6
OpenGL core profile shading language version string: 4.50
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL core profile extensions:
OpenGL version string: 3.1 Mesa 21.2.6
OpenGL shading language version string: 1.40
OpenGL context flags: (none)
OpenGL extensions:
OpenGL ES profile version string: OpenGL ES 3.2 Mesa 21.2.6
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20
OpenGL ES profile extensions:

Error message:

X Error of failed request:  BadDrawable (invalid Pixmap or Window parameter)
  Major opcode of failed request:  72 (X_PutImage)
  Resource id in failed request:  0x200007
  Serial number of failed request:  169
  Current serial number in output stream:  185

Additional information:

current Problem:

there should be showed a 3D point cloud scene instead of this template (tried this too #2836). Could you take a look @wasdee, @littlesaohuo, @errissa