Closed Hateley123 closed 1 year ago
It looks like you have inputted an invalid rotation matrix, thus it is complaining about the magnitude of the quaterion.
quat2r() debug assert(q.norm() == 1.f) failed [0.998661 == 1 (0.00133871 > 0.0001)]: The quaternion must be a unit vector to represent a rotation
Hi ya we got it to work, the target was fine apparently there was an issue with our time stamps. Even though both cameras activated at same time the time stamps for the images were wildly different. once we fixed the timing it worked.
Everytime I try to calibrate my imu and cameras I get the following output. I am able to use kalibr to calibrate my cameras individually, and my rosbag is fine as I used it to calibrate each camera and get the imu noise. However, anytime I try to calibrate systems together Kalibr keeps throwing exceptions and producing errors. Does anyone know how to get around these. I have copied by yamls below.
Camera Yaml
IMU Yaml
System Output