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TouchDeeper / VIW-Fusion

Visual-inertial-wheel fusion odometry, better performance in scenes with drastic changes in light
GNU General Public License v3.0
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gyroscope bias initial calibration -nan -nan -nan【陀螺仪初始化问题】 #23

Closed julyfire-wang closed 9 months ago

julyfire-wang commented 1 year ago

我用自己录的数据跑的时候遇到以下问题，请问您是否知道原因。 [ WARN] [1690423697.385804257]: gyroscope bias initial calibration -nan -nan -nan Sophus ensure failed in function 'void Sophus::SO3Base::normalize() [with Derived = Sophus::SO3]', file '/home/nhy/study/slambook2/3rdparty/Sophus/sophus/so3.hpp', line 320. Quaternion (-nan nan -nan -nan) should not be close to zero! 已放弃 (核心已转储)

TouchDeeper commented 11 months ago

那需要看一下是否录到了陀螺仪数据，你可以播放bag，并用rostopic看一下值