terminate called after throwing an instance of 'std::out_of_range' inTUM dataset

[DavidNY123]

[d2vins_node-1] terminate called after throwing an instance of 'std::out_of_range' [d2vins_node-1] what(): vector::_M_range_check: n (which is 18446744073709551615) >= this->size() (which is 0) [d2vins_node-1] Stack trace (most recent call last): [d2vins_node-1] 31 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9affa2626, in void message_filters::Synchronizer<message_filters::sync_policies::ExactTime<sensormsgs::msg::Image<std::allocator >, sensormsgs::msg::Image<std::allocator >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType> >::cb<1>(std::tuple_element<1, std::tuple<message_filters::MessageEvent<sensormsgs::msg::Image<std::allocator > const>, message_filters::MessageEvent<sensormsgs::msg::Image<std::allocator > const>, message_filters::MessageEvent, message_filters::MessageEvent, message_filters::MessageEvent, message_filters::MessageEvent, message_filters::MessageEvent, message_filters::MessageEvent, message_filters::MessageEvent > >::type const&) [d2vins_node-1] 30 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9affa6aa3, in void message_filters::sync_policies::ExactTime<sensormsgs::msg::Image<std::allocator >, sensormsgs::msg::Image<std::allocator >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType>::add<1>(std::tuple_element<1, std::tuple<message_filters::MessageEvent<sensormsgs::msg::Image<std::allocator > const>, message_filters::MessageEvent<sensormsgs::msg::Image<std::allocator > const>, message_filters::MessageEvent, message_filters::MessageEvent, message_filters::MessageEvent, message_filters::MessageEvent, message_filters::MessageEvent, message_filters::MessageEvent, message_filters::MessageEvent > >::type const&) [d2vins_node-1] 29 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9affab3fb, in message_filters::sync_policies::ExactTime<sensormsgs::msg::Image<std::allocator >, sensormsgs::msg::Image<std::allocator >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType>::checkTuple(std::tuple<message_filters::MessageEvent<sensormsgs::msg::Image<std::allocator > const>, message_filters::MessageEvent<sensormsgs::msg::Image<std::allocator > const>, message_filters::MessageEvent, message_filters::MessageEvent, message_filters::MessageEvent, message_filters::MessageEvent, message_filters::MessageEvent, message_filters::MessageEvent, message_filters::MessageEvent >&) [d2vins_node-1] 28 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9affae528, in message_filters::Synchronizer<message_filters::sync_policies::ExactTime<sensormsgs::msg::Image<std::allocator >, sensormsgs::msg::Image<std::allocator >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType> >::signal(message_filters::MessageEvent<sensormsgs::msg::Image<std::allocator > const> const&, message_filters::MessageEvent<sensormsgs::msg::Image<std::allocator > const> const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&) [d2vins_node-1] 27 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9affae897, in message_filters::Signal9<sensormsgs::msg::Image<std::allocator >, sensormsgs::msg::Image<std::allocator >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType>::call(message_filters::MessageEvent<sensormsgs::msg::Image<std::allocator > const> const&, message_filters::MessageEvent<sensormsgs::msg::Image<std::allocator > const> const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&) [d2vins_node-1] 26 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9affdaf79, in message_filters::CallbackHelper9T<std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&>::call(bool, message_filters::MessageEvent<sensormsgs::msg::Image<std::allocator > const> const&, message_filters::MessageEvent<sensormsgs::msg::Image<std::allocator > const> const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&, message_filters::MessageEvent const&) [d2vins_node-1] 25 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9affde168, in std::function<void (std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr, std::shared_ptr, std::shared_ptr, std::shared_ptr, std::shared_ptr, std::shared_ptr, std::shared_ptr)>::operator()(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr, std::shared_ptr, std::shared_ptr, std::shared_ptr, std::shared_ptr, std::shared_ptr, std::shared_ptr) const [d2vins_node-1] 24 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9aff8228d, in std::_Function_handler<void (std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr, std::shared_ptr, std::shared_ptr, std::shared_ptr, std::shared_ptr, std::shared_ptr, std::shared_ptr), std::function<void (std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&)> >::_M_invoke(std::_Any_data const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>&&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>&&, std::shared_ptr&&, std::shared_ptr&&, std::shared_ptr&&, std::shared_ptr&&, std::shared_ptr&&, std::shared_ptr&&, std::shared_ptr&&) [d2vins_node-1] 23 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9aff8785e, in std::function<void (std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&)>::operator()(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&) const [d2vins_node-1] 22 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9aff7a703, in std::_Function_handler<void (std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&), std::_Bind<std::_Bind<void (D2FrontEnd::D2Frontend::(D2FrontEnd::D2Frontend, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>)> (std::_Placeholder<1>, std::_Placeholder<2>, std::_Placeholder<3>, std::_Placeholder<4>, std::_Placeholder<5>, std::_Placeholder<6>, std::_Placeholder<7>, std::_Placeholder<8>, std::_Placeholder<9>)> >::_M_invoke(std::_Any_data const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&) [d2vins_node-1] 21 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9aff8201d, in void std::_Bind<std::_Bind<void (D2FrontEnd::D2Frontend::(D2FrontEnd::D2Frontend, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>)> (std::_Placeholder<1>, std::_Placeholder<2>, std::_Placeholder<3>, std::_Placeholder<4>, std::_Placeholder<5>, std::_Placeholder<6>, std::_Placeholder<7>, std::_Placeholder<8>, std::_Placeholder<9>)>::operator()<std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, void>(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&) [d2vins_node-1] 20 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9aff87689, in void std::_Bind<std::_Bind<void (D2FrontEnd::D2Frontend::(D2FrontEnd::D2Frontend, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>)> (std::_Placeholder<1>, std::_Placeholder<2>, std::_Placeholder<3>, std::_Placeholder<4>, std::_Placeholder<5>, std::_Placeholder<6>, std::_Placeholder<7>, std::_Placeholder<8>, std::_Placeholder<9>)>::__call<void, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, 0ul, 1ul, 2ul, 3ul, 4ul, 5ul, 6ul, 7ul, 8ul>(std::tuple<std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&>&&, std::_Index_tuple<0ul, 1ul, 2ul, 3ul, 4ul, 5ul, 6ul, 7ul, 8ul>) [d2vins_node-1] 19 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9aff9029e, in std::invoke_result<std::_Bind<void (D2FrontEnd::D2Frontend::(D2FrontEnd::D2Frontend, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>)>&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&>::type std::invoke<std::_Bind<void (D2FrontEnd::D2Frontend::(D2FrontEnd::D2Frontend, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>)>&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&>(std::_Bind<void (D2FrontEnd::D2Frontend::(D2FrontEnd::D2Frontend, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>)>&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&) [d2vins_node-1] 18 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9aff986ec, in void std::invoke_impl<void, std::_Bind<void (D2FrontEnd::D2Frontend::(D2FrontEnd::D2Frontend, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>)>&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&>(std::invoke_other, std::_Bind<void (D2FrontEnd::D2Frontend::(D2FrontEnd::D2Frontend, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>)>&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&) [d2vins_node-1] 17 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9aff9e15b, in void std::_Bind<void (D2FrontEnd::D2Frontend::(D2FrontEnd::D2Frontend, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>)>::operator()<std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, void>(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&) [d2vins_node-1] 16 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9affa2d02, in void std::_Bind<void (D2FrontEnd::D2Frontend::(D2FrontEnd::D2Frontend, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>)>::__call<void, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, 0ul, 1ul, 2ul>(std::tuple<std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&, std::shared_ptr const&>&&, std::_Index_tuple<0ul, 1ul, 2ul>) [d2vins_node-1] 15 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9affa7b2e, in std::invoke_result<void (D2FrontEnd::D2Frontend::&)(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>), D2FrontEnd::D2Frontend&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&>::type std::invoke<void (D2FrontEnd::D2Frontend::&)(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>), D2FrontEnd::D2Frontend&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&>(void (D2FrontEnd::D2Frontend::&)(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>), D2FrontEnd::D2Frontend&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&) [d2vins_node-1] 14 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9affac65d, in void std::__invoke_impl<void, void (D2FrontEnd::D2Frontend::&)(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>), D2FrontEnd::D2Frontend&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&>(std::invoke_memfun_deref, void (D2FrontEnd::D2Frontend::&)(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>), D2FrontEnd::D2Frontend&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const> const&) [d2vins_node-1] 13 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9aff5639a, in D2FrontEnd::D2Frontend::stereoImagesCallback(std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>, std::shared_ptr<sensormsgs::msg::Image<std::allocator > const>) [d2vins_node-1] 12 Object "/root/D2SLAM/install/d2frontend/lib/liblibd2frontend.so", at 0x7fb9aff573c1, in D2FrontEnd::D2Frontend::processStereoframe(D2Common::StereoFrame const&) [d2vins_node-1] 11 Object "/root/D2SLAM/install/d2vins/lib/d2vins/d2vins_node", at 0x55cac3534df6, in D2VINSNode::getMotionPredict(double) const [d2vins_node-1] 10 Object "/root/D2SLAM/install/d2vins/lib/d2vins/d2vins_node", at 0x55cac3612b95, in D2VINS::D2Estimator::getMotionPredict(double) const [d2vins_node-1] 9 Object "/root/D2SLAM/install/d2vins/lib/d2vins/d2vins_node", at 0x55cac3616cd6, in D2Common::IMUBuffer::operator [d2vins_node-1] 8 Object "/root/D2SLAM/install/d2vins/lib/d2vins/d2vins_node", at 0x55cac361e3c2, in std::vector<D2Common::IMUData, std::allocator >::at(unsigned long) [d2vins_node-1] 7 Object "/root/D2SLAM/install/d2vins/lib/d2vins/d2vins_node", at 0x55cac3626579, in std::vector<D2Common::IMUData, std::allocator >::_M_range_check(unsigned long) const [d2vins_node-1] 6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28", at 0x7fb995386368, in [d2vins_node-1] 5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28", at 0x7fb99538f698, in __cxa_throw [d2vins_node-1] 4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28", at 0x7fb99538f3e6, in std::terminate() [d2vins_node-1] 3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28", at 0x7fb99538f37b, in [d2vins_node-1] 2 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28", at 0x7fb9953838d0, in [d2vins_node-1] 1 Object "/usr/lib/x86_64-linux-gnu/libc-2.31.so", at 0x7fb994fa9858, in abort [d2vins_node-1] 0 Object "/usr/lib/x86_64-linux-gnu/libc-2.31.so", at 0x7fb994fca00b, in raise [d2vins_node-1] Aborted (Signal sent by tkill() 6778 0)