Odometry Evaluation Results about limo HOT 4 CLOSED

from limo.

Yes, I am using docker and I did really slow down the rosbag speed. Even I tried for different speeds such that -r 0.01 or -r 0.1 and -r 0.08.
In the following you can see the specs of my computer and terminal output.
Thank you

Residual evaluation 0.0103
Jacobian evaluation 0.0671
Linear solver 0.0001
Minimizer 0.0778

Postprocessor 0.0000
Total 0.0779

Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 5.564529e-07 <= 1.000000e-06)

Duration solveTrimmed=0.129 sec

quaternion diff=0.00335895
[ INFO] [1593415566.005908192, 113.805810937]: In MonoLidar: number selected keyframes 0
[ INFO] [1593415566.005937287, 113.805810937]: In MonoLidar: number active keyframes 6
[ INFO] [1593415566.005957303, 113.805810937]: In MonoLidar: number active landmarks 637
[ INFO] [1593415566.005971019, 113.805810937]: In MonoLidar: number selected landmarks 445
[ INFO] [1593415566.062844538, 113.811860535]:
Duration 5 point=4 ms
Duration pose only adjustment=132 ms
Duration select keyframes=0 ms
Duration push=0 ms
Duration publish=56 ms
Duration send pose tf=0 ms
time callback=0.196855 sec

[ INFO] [1593415566.196201111, 113.822998822]: /gamma_correction_nodelet_left Gamma correction Entered callback!
[ INFO] [1593415566.199486510, 113.825438660]: /gamma_correction_nodelet_left gamma correction leaving callback!
[ INFO] [1593415566.357686768, 113.841582900]: Duration feature matching and tracking: 157 ms
size before randomization 113409
size after randomization 6000
Publish image projection cloud
[ INFO] [1593415566.953469770, 113.901069085]: Duration assign semantic labels=1 ms
[ INFO] [1593415566.958866245, 113.901069085]: Duration tracklet_depth_ros_tool=599 ms
speed=1.46544
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.765585e+02 0.00e+00 3.87e+02 0.00e+00 0.00e+00 1.00e+04 0 1.18e-02 1.19e-02
1 1.423831e+02 3.42e+01 4.07e+02 6.91e-01 1.96e+00 3.00e+04 0 1.36e-02 2.56e-02
2 1.278684e+02 1.45e+01 2.54e+02 4.03e-01 1.62e+00 9.00e+04 0 1.43e-02 3.98e-02
Robust solving tieration number: 2
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.002237e+02 0.00e+00 2.43e+02 0.00e+00 0.00e+00 1.00e+04 0 1.10e-02 1.11e-02
1 9.720633e+01 3.02e+00 1.33e+02 1.54e-01 1.47e+00 3.00e+04 0 1.28e-02 2.39e-02
2 9.648340e+01 7.23e-01 7.11e+01 8.45e-02 1.41e+00 9.00e+04 0 1.30e-02 3.70e-02
3 9.633257e+01 1.51e-01 3.78e+01 4.25e-02 1.40e+00 2.70e+05 0 1.26e-02 4.96e-02
4 9.630302e+01 2.96e-02 2.04e+01 1.50e-02 1.45e+00 8.10e+05 0 1.26e-02 6.22e-02
5 9.629621e+01 6.81e-03 1.13e+01 4.11e-03 1.52e+00 2.43e+06 0 1.29e-02 7.51e-02
6 9.629420e+01 2.01e-03 6.56e+00 9.50e-04 1.58e+00 7.29e+06 0 1.29e-02 8.80e-02
7 9.629349e+01 7.08e-04 3.93e+00 4.28e-04 1.61e+00 2.19e+07 0 1.26e-02 1.01e-01
8 9.629322e+01 2.74e-04 2.42e+00 4.23e-04 1.63e+00 6.56e+07 0 1.28e-02 1.13e-01
9 9.629311e+01 1.11e-04 1.52e+00 3.47e-04 1.64e+00 1.97e+08 0 1.27e-02 1.26e-01
---------------------------- motion only ------------------------
Merged summaries:

Iteration No.0

Solver Summary (v 1.13.0-eigen-(3.3.4)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-openmp)

                                 Original                  Reduced

Parameter blocks 64 1
Parameters 196 7
Effective parameters 195 6
Residual blocks 67 67
Residual 132 132

Minimizer TRUST_REGION

Dense linear algebra library EIGEN
Trust region strategy LEVENBERG_MARQUARDT

                                    Given                     Used

Linear solver DENSE_SCHUR DENSE_SCHUR
Threads 3 3
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 1
Schur structure d,6,0 d,d,d

Cost:
Initial 1.765585e+02
Final 1.278684e+02
Change 4.869008e+01

Minimizer iterations 3
Successful steps 3
Unsuccessful steps 0

Time (in seconds):
Preprocessor 0.0001

Residual evaluation 0.0036
Jacobian evaluation 0.0361
Linear solver 0.0001
Minimizer 0.0398

Postprocessor 0.0000
Total 0.0399

Termination: NO_CONVERGENCE (Maximum number of iterations reached. Number of iterations: 2.)

Iteration No.1

Solver Summary (v 1.13.0-eigen-(3.3.4)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-openmp)

                                 Original                  Reduced

Parameter blocks 60 1
Parameters 184 7
Effective parameters 183 6
Residual blocks 63 63
Residual 124 124

Minimizer TRUST_REGION

Dense linear algebra library EIGEN
Trust region strategy LEVENBERG_MARQUARDT

                                    Given                     Used

Linear solver DENSE_SCHUR DENSE_SCHUR
Threads 3 3
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 1
Schur structure d,6,0 d,d,d

Cost:
Initial 1.002237e+02
Final 9.629311e+01
Change 3.930608e+00

Minimizer iterations 10
Successful steps 10
Unsuccessful steps 0

Time (in seconds):
Preprocessor 0.0000

Residual evaluation 0.0171
Jacobian evaluation 0.1102
Linear solver 0.0002
Minimizer 0.1278

Postprocessor 0.0000
Total 0.1278

Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 4.757186e-07 <= 1.000000e-06)

Duration solveTrimmed=0.17 sec

quaternion diff=0.00539467
[ INFO] [1593415567.133911069, 113.919214830]: In MonoLidar: number selected keyframes 0
[ INFO] [1593415567.133932689, 113.919214830]: In MonoLidar: number active keyframes 6
[ INFO] [1593415567.133943080, 113.919214830]: In MonoLidar: number active landmarks 637
[ INFO] [1593415567.133966113, 113.919214830]: In MonoLidar: number selected landmarks 445
[ INFO] [1593415567.191692271, 113.924253177]:
Duration 5 point=4 ms
Duration pose only adjustment=172 ms
Duration select keyframes=0 ms
Duration push=0 ms
Duration publish=57 ms
Duration send pose tf=0 ms
time callback=0.237376 sec

[ INFO] [1593415567.207356762, 113.926551225]: /gamma_correction_nodelet_left Gamma correction Entered callback!
[ INFO] [1593415567.209035299, 113.926551225]: /gamma_correction_nodelet_left gamma correction leaving callback!
[ INFO] [1593415567.346123128, 113.940656607]: Duration feature matching and tracking: 136 ms
size before randomization 113182
size after randomization 6000
Publish image projection cloud
[ INFO] [1593415567.936004067, 113.999119855]: Duration assign semantic labels=1 ms
speed=1.46544
[ INFO] [1593415567.940901570, 114.000125510]: Duration tracklet_depth_ros_tool=593 ms
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.266648e+02 0.00e+00 5.64e+02 0.00e+00 0.00e+00 1.00e+04 0 1.01e-02 1.02e-02
1 1.156629e+02 1.10e+01 2.50e+02 1.87e-01 1.54e+00 3.00e+04 0 1.16e-02 2.18e-02
2 1.128484e+02 2.81e+00 1.88e+02 1.03e-01 1.59e+00 9.00e+04 0 1.15e-02 3.33e-02
Robust solving tieration number: 2
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 9.041693e+01 0.00e+00 1.80e+02 0.00e+00 0.00e+00 1.00e+04 0 9.40e-03 9.43e-03
1 8.951446e+01 9.02e-01 1.10e+02 2.90e-02 1.61e+00 3.00e+04 0 1.20e-02 2.14e-02
2 8.918997e+01 3.24e-01 5.95e+01 3.43e-02 1.57e+00 9.00e+04 0 1.08e-02 3.22e-02
3 8.908223e+01 1.08e-01 2.97e+01 1.66e-02 1.59e+00 2.70e+05 0 1.08e-02 4.30e-02
4 8.904505e+01 3.72e-02 1.72e+01 7.43e-03 1.62e+00 8.10e+05 0 1.18e-02 5.48e-02
5 8.903152e+01 1.35e-02 1.04e+01 6.31e-03 1.61e+00 2.43e+06 0 1.13e-02 6.61e-02
6 8.902655e+01 4.97e-03 6.26e+00 4.23e-03 1.61e+00 7.29e+06 0 1.08e-02 7.69e-02
7 8.902471e+01 1.84e-03 3.77e+00 2.63e-03 1.61e+00 2.19e+07 0 1.08e-02 8.77e-02
8 8.902402e+01 6.96e-04 2.28e+00 1.61e-03 1.62e+00 6.56e+07 0 1.21e-02 9.98e-02
9 8.902375e+01 2.69e-04 1.39e+00 9.75e-04 1.63e+00 1.97e+08 0 1.09e-02 1.11e-01
10 8.902364e+01 1.06e-04 8.53e-01 5.94e-04 1.63e+00 5.90e+08 0 1.07e-02 1.21e-01
---------------------------- motion only ------------------------
Merged summaries:

Iteration No.0

Solver Summary (v 1.13.0-eigen-(3.3.4)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-openmp)

                                 Original                  Reduced

Parameter blocks 54 1
Parameters 166 7
Effective parameters 165 6
Residual blocks 56 56
Residual 111 111

Minimizer TRUST_REGION

Dense linear algebra library EIGEN
Trust region strategy LEVENBERG_MARQUARDT

                                    Given                     Used

Linear solver DENSE_SCHUR DENSE_SCHUR
Threads 3 3
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 1
Schur structure d,6,0 d,d,d

Cost:
Initial 1.266648e+02
Final 1.128484e+02
Change 1.381643e+01

Minimizer iterations 3
Successful steps 3
Unsuccessful steps 0

Time (in seconds):
Preprocessor 0.0001

Residual evaluation 0.0029
Jacobian evaluation 0.0301
Linear solver 0.0000
Minimizer 0.0332

Postprocessor 0.0000
Total 0.0333

Termination: NO_CONVERGENCE (Maximum number of iterations reached. Number of iterations: 2.)

Iteration No.1

Solver Summary (v 1.13.0-eigen-(3.3.4)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-openmp)

                                 Original                  Reduced

Parameter blocks 51 1
Parameters 157 7
Effective parameters 156 6
Residual blocks 52 52
Residual 104 104

Minimizer TRUST_REGION

Dense linear algebra library EIGEN
Trust region strategy LEVENBERG_MARQUARDT

                                    Given                     Used

Linear solver DENSE_SCHUR DENSE_SCHUR
Threads 3 3
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 1
Schur structure d,6,0 d,d,d

Cost:
Initial 9.041693e+01
Final 8.902364e+01
Change 1.393291e+00

Minimizer iterations 11
Successful steps 11
Unsuccessful steps 0

Time (in seconds):
Preprocessor 0.0000

Residual evaluation 0.0163
Jacobian evaluation 0.1062
Linear solver 0.0002
Minimizer 0.1229

Postprocessor 0.0000
Total 0.1230

Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 4.737449e-07 <= 1.000000e-06)

Duration solveTrimmed=0.158 sec

quaternion diff=0.00634284
[ INFO] [1593415568.175507283, 114.023271059]: In MonoLidar: number selected keyframes 1
[ INFO] [1593415568.175538137, 114.023271059]: In MonoLidar: number active keyframes 7
[ INFO] [1593415568.175547482, 114.023271059]: In MonoLidar: number active landmarks 724
[ INFO] [1593415568.175554949, 114.023271059]: In MonoLidar: number selected landmarks 445
[ INFO] [1593415568.234486411, 114.028298942]:
Duration 5 point=1 ms
Duration pose only adjustment=161 ms
Duration select keyframes=0 ms
Duration push=73 ms
Duration publish=58 ms
Duration send pose tf=0 ms
time callback=0.297728 sec

[ INFO] [1593415568.236433222, 114.028298942]: /gamma_correction_nodelet_left Gamma correction Entered callback!
[ INFO] [1593415568.237118869, 114.028298942]: /gamma_correction_nodelet_left gamma correction leaving callback!
[ INFO] [1593415568.360697167, 114.028298942]: Duration feature matching and tracking: 123 ms
size before randomization 113126
size after randomization 6000
Publish image projection cloud
[ INFO] [1593415568.961855643, 114.028298942]: Duration assign semantic labels=1 ms
[ INFO] [1593415568.967036174, 114.028298942]: Duration tracklet_depth_ros_tool=604 ms
speed=1.57075
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.301035e+02 0.00e+00 8.47e+02 0.00e+00 0.00e+00 1.00e+04 0 8.88e-03 8.97e-03
1 1.030949e+02 2.70e+01 4.80e+02 6.52e-01 1.80e+00 3.00e+04 0 1.01e-02 1.91e-02
2 9.407482e+01 9.02e+00 3.00e+02 3.57e-01 1.56e+00 9.00e+04 0 1.01e-02 2.92e-02
Robust solving tieration number: 2
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.112663e+01 0.00e+00 2.93e+02 0.00e+00 0.00e+00 1.00e+04 0 1.07e-02 1.07e-02
1 6.852401e+01 2.60e+00 1.83e+02 1.59e-01 1.54e+00 3.00e+04 0 1.03e-02 2.11e-02
2 6.758006e+01 9.44e-01 1.15e+02 1.04e-01 1.52e+00 9.00e+04 0 9.55e-03 3.07e-02
3 6.729656e+01 2.84e-01 6.67e+01 5.56e-02 1.51e+00 2.70e+05 0 1.09e-02 4.15e-02
4 6.722229e+01 7.43e-02 3.56e+01 2.52e-02 1.50e+00 8.10e+05 0 1.06e-02 5.21e-02
5 6.720422e+01 1.81e-02 1.81e+01 1.15e-02 1.49e+00 2.43e+06 0 9.47e-03 6.16e-02
6 6.720000e+01 4.21e-03 8.92e+00 5.32e-03 1.48e+00 7.29e+06 0 9.55e-03 7.11e-02
7 6.719904e+01 9.61e-04 4.35e+00 2.45e-03 1.48e+00 2.19e+07 0 1.20e-02 8.31e-02
8 6.719882e+01 2.17e-04 2.10e+00 1.13e-03 1.47e+00 6.56e+07 0 1.04e-02 9.36e-02
---------------------------- motion only ------------------------
Merged summaries:

Iteration No.0

Solver Summary (v 1.13.0-eigen-(3.3.4)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-openmp)

                                 Original                  Reduced

Parameter blocks 49 1
Parameters 151 7
Effective parameters 150 6
Residual blocks 50 50
Residual 100 100

Minimizer TRUST_REGION

Dense linear algebra library EIGEN
Trust region strategy LEVENBERG_MARQUARDT

                                    Given                     Used

Linear solver DENSE_SCHUR DENSE_SCHUR
Threads 3 3
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 1
Schur structure d,6,0 d,d,d

Cost:
Initial 1.301035e+02
Final 9.407482e+01
Change 3.602865e+01

Minimizer iterations 3
Successful steps 3
Unsuccessful steps 0

Time (in seconds):
Preprocessor 0.0001

Residual evaluation 0.0026
Jacobian evaluation 0.0264
Linear solver 0.0000
Minimizer 0.0291

Postprocessor 0.0000
Total 0.0292

Termination: NO_CONVERGENCE (Maximum number of iterations reached. Number of iterations: 2.)

Iteration No.1

Solver Summary (v 1.13.0-eigen-(3.3.4)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-openmp)

                                 Original                  Reduced

Parameter blocks 46 1
Parameters 142 7
Effective parameters 141 6
Residual blocks 47 47
Residual 94 94

Minimizer TRUST_REGION

Dense linear algebra library EIGEN
Trust region strategy LEVENBERG_MARQUARDT

                                    Given                     Used

Linear solver DENSE_SCHUR DENSE_SCHUR
Threads 3 3
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 1
Schur structure d,6,0 d,d,d

Cost:
Initial 7.112663e+01
Final 6.719882e+01
Change 3.927801e+00

Minimizer iterations 9
Successful steps 9
Unsuccessful steps 0

Time (in seconds):
Preprocessor 0.0000

Residual evaluation 0.0128
Jacobian evaluation 0.0816
Linear solver 0.0002
Minimizer 0.0948

Postprocessor 0.0000
Total 0.0948

Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 7.283209e-07 <= 1.000000e-06)

Duration solveTrimmed=0.126 sec

quaternion diff=0.00369773
[ INFO] [1593415569.099228719, 114.028298942]: In MonoLidar: number selected keyframes 0
[ INFO] [1593415569.099252589, 114.028298942]: In MonoLidar: number active keyframes 7
[ INFO] [1593415569.099263569, 114.028298942]: In MonoLidar: number active landmarks 724
[ INFO] [1593415569.099274400, 114.028298942]: In MonoLidar: number selected landmarks 445
n=0
n=1
n=2
Num connecting lms=68
n=3
Num connecting lms=40
n=4
Num connecting lms=27
n=5
Num connecting lms=20
n=6
Num connecting lms=16
Duration cheirality check=84 ms
Size before voxelization=581
Duration pcl stuff=9 ms
AFter voxelization: near=200 middle=157 far=83
Duration lm_sel::apply all selection schemes=104 ms
Duration lm_sel::get_lm_diff=0 ms
Duration lm_sel::get_non_sel_lms=1 ms
duration solver:lms_selection=106 ms
Size residual block ids gp size=23
Cost gp res=20.7546
Size keyframes=6
Normal reg has inital cost=0
Distance reg has inital cost=0
Motion reg has inital cost=0.0240018
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.056725e+03 0.00e+00 2.40e+03 0.00e+00 0.00e+00 1.00e+04 0 2.04e-01 2.06e-01
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.056725e+03 0.00e+00 2.40e+03 0.00e+00 0.00e+00 1.00e+04 0 2.03e-01 2.05e-01

Outlier rejection is instable, problem didnt' reduce error after 6 iterations
Robust solving tieration number: 0
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.845582e+02 0.00e+00 2.32e+03 0.00e+00 0.00e+00 1.00e+04 0 1.86e-01 1.88e-01
[ INFO] [1593415569.872133113, 114.028298942]: In MonoLidar:Merged summaries:

Iteration No.0

Solver Summary (v 1.13.0-eigen-(3.3.4)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-openmp)

                                 Original                  Reduced

Parameter blocks 469 466
Parameters 1419 1408
Effective parameters 1413 1403
Residual blocks 1176 1175
Residual 2184 2181

Minimizer TRUST_REGION

Dense linear algebra library EIGEN
Trust region strategy LEVENBERG_MARQUARDT

                                    Given                     Used

Linear solver DENSE_SCHUR DENSE_SCHUR
Threads 3 3
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 455,11
Schur structure d,d,d d,d,d

Cost:
Initial 1.056725e+03
Final 1.056725e+03
Change 0.000000e+00

Minimizer iterations 1
Successful steps 1
Unsuccessful steps 0

Time (in seconds):
Preprocessor 0.0017

Residual evaluation 0.0000
Jacobian evaluation 0.2031
Linear solver 0.0000
Minimizer 0.2034

Postprocessor 0.0002
Total 0.2054

Termination: NO_CONVERGENCE (Maximum solver time reached. Total solver time: 2.050406e-01 >= 1.500000e-01.)

Iteration No.1

Solver Summary (v 1.13.0-eigen-(3.3.4)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-openmp)

                                 Original                  Reduced

Parameter blocks 440 437
Parameters 1332 1321
Effective parameters 1326 1316
Residual blocks 1071 1070
Residual 1996 1993

Minimizer TRUST_REGION

Dense linear algebra library EIGEN
Trust region strategy LEVENBERG_MARQUARDT

                                    Given                     Used

Linear solver DENSE_SCHUR DENSE_SCHUR
Threads 3 3
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 426,11
Schur structure d,d,d d,d,d

Cost:
Initial 5.845582e+02
Final 5.845582e+02
Change 0.000000e+00

Minimizer iterations 1
Successful steps 1
Unsuccessful steps 0

Time (in seconds):
Preprocessor 0.0016

Residual evaluation 0.0000
Jacobian evaluation 0.1861
Linear solver 0.0000
Minimizer 0.1865

Postprocessor 0.0003
Total 0.1883

Termination: NO_CONVERGENCE (Maximum solver time reached. Total solver time: 1.879018e-01 >= 1.500000e-01.)

Duration solveTrimmed=0.649 sec

plane dist=0.31
plane dist=0.31
plane dist=0.31
plane dist=0.31
plane dist=0.31
plane dist=0.31
[ INFO] [1593415569.929556039, 114.028298942]:
Duration 5 point=5 ms
Duration pose only adjustment=128 ms
Duration select keyframes=0 ms
Duration push=0 ms
In MonoLidar: Duration solve=770 ms
Duration publish=56 ms
Duration send pose tf=0 ms
time callback=0.966994 sec

^C[mono_lidar-19] killing on exit
[semantic_labels_nodelet-18] killing on exit
[semantic_labels_nodelet_manager-16] killing on exit
[label_dilation_nodelet-17] killing on exit
[add_outlier_flag_node-15] killing on exit
[ INFO] [1593415584.403033983, 114.028298942]: Unloading nodelet /semantic_labels_nodelet from manager semantic_labels_nodelet_manager
[transform_local_cs_camera_gt-14] killing on exit
[transform_vehicle_camera_vehicle_gt-13] killing on exit
[transform_local_cs-12] killing on exit
[transform_local_estimate_prior-11] killing on exit
[transform_local_cs_left_camera_estimate_prior-10] killing on exit
[ INFO] [1593415584.410095520, 114.028298942]: Unloading nodelet /label_dilation_nodelet from manager semantic_labels_nodelet_manager
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[transform_vehicle_left_camera_estimate_prior-9] killing on exit
[transform_local_cs_vehcile_estimate-8] killing on exit
[transform_vehicle_left_camera_estimate-7] killing on exit
[tf2_static_alias_vehicle_to_rig_right_estimate-6] killing on exit
[tf2_static_alias_vehicle_to_rig_left_estimate-5] killing on exit
[tracklets_depth_node-4] killing on exit
[viso_feature_tracking_nodelet_left-3] killing on exit
[ INFO] [1593415584.709337631, 114.028298942]: Unloading nodelet /viso_feature_tracking_nodelet_left from manager feature_matching_nodelet_manager
[gamma_correction_nodelet_left-2] killing on exit
[feature_matching_nodelet_manager-1] killing on exit

Dumped map to /tmp/mono_lidar_map_dump.yaml--------------------------------------

shutting down processing monitor...
... shutting down processing monitor complete
done
root@9dca07168881:/workspace/limo_ws/devel# ^C
root@9dca07168881:/workspace/limo_ws/devel# ^C
root@9dca07168881:/workspace/limo_ws/devel#

from limo.

Hm, the ba runs at 3x the speed I would expect from your machine specs...
Perhaps the docker container is the issue (i find it hard to estimate the performance of a virtualized device...) could you try running the install bash script and do the evaluation of 04.bag again?
Thanks for finding this issue and your motivation and time :)

Best,
Johannes

from limo.

Closing due to inactivity.

from limo.