第四章的./bin/test_preintegration 报错

[tctctcc]

gdb) bt

0 __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50

1 0x00007ffff7830859 in __GI_abort () at abort.c:79

2 0x00007ffff7e7ec81 in Sophus::defaultEnsure<Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > > (description=0x7ffff7ec7fc0 "Quaternion (%) should not be close to zero!", line=295,

file=0x7ffff7ec7ff0 "/home/tc/learn_SLAM/slam_in_autonomous_driving-master/thirdparty/sophus/sophus/so3.hpp", 
function=0x7ffff7ec8048 "void Sophus::SO3Base<Derived>::normalize() [with Derived = Sophus::SO3<double>]") at /usr/include/c++/9/ext/new_allocator.h:89

3 Sophus::SO3Base<Sophus::SO3<double, 0> >::normalize (this=0x7fffffffca60) at /home/tc/learn_SLAM/slam_in_autonomous_driving-master/thirdparty/sophus/sophus/so3.hpp:295

4 Sophus::SO3<double, 0>::SO3<Eigen::Quaternion<double, 0> > (quat=..., this=0x7fffffffca60) at /home/tc/learn_SLAM/slam_in_autonomous_driving-master/thirdparty/sophus/sophus/so3.hpp:502

5 Sophus::SO3Base<Sophus::SO3<double, 0> >::operator*<Sophus::SO3<double, 0> > (other=..., this=)

at /home/tc/learn_SLAM/slam_in_autonomous_driving-master/thirdparty/sophus/sophus/so3.hpp:333

6 sad::IMUPreintegration::Predict (this=, start=..., grav=...) at /home/tc/learn_SLAM/slam_in_autonomous_driving-master/src/ch4/imu_preintegration.cc:79

7 0x000055555558296c in PREINTEGRATION_TEST_ROTATION_TEST_Test::TestBody (this=) at /home/tc/learn_SLAM/slam_in_autonomous_driving-master/src/ch4/test_preintegration.cc:47

8 0x00005555555f5051 in testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void> (location=0x555555610535 "the test body", method=, object=0x5555556b4b40)

at ./googletest/src/gtest.cc:2414

9 testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void> (object=object@entry=0x5555556b4b40, method=, location=location@entry=0x555555610535 "the test body")

at ./googletest/src/gtest.cc:2469

10 0x00005555555e8596 in testing::Test::Run (this=0x5555556b4b40) at ./googletest/src/gtest.cc:2508

11 testing::Test::Run (this=0x5555556b4b40) at ./googletest/src/gtest.cc:2498

12 0x00005555555e86f5 in testing::TestInfo::Run (this=0x5555556b4640) at ./googletest/src/gtest.cc:2684

13 testing::TestInfo::Run (this=0x5555556b4640) at ./googletest/src/gtest.cc:2657

14 0x00005555555e87dd in testing::TestSuite::Run (this=0x5555556b49d0) at ./googletest/src/gtest.cc:2816

15 testing::TestSuite::Run (this=0x5555556b49d0) at ./googletest/src/gtest.cc:2795

16 0x00005555555e8cfc in testing::internal::UnitTestImpl::RunAllTests (this=0x555555647d60) at /usr/include/c++/9/bits/stl_vector.h:1040

17 0x00005555555f55c1 in testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool> (

location=0x555555611928 "auxiliary test code (environments or event listeners)", method=<optimized out>, object=0x555555647d60) at ./googletest/src/gtest.cc:2414

18 testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool> (object=0x555555647d60, method=,

location=location@entry=0x555555611928 "auxiliary test code (environments or event listeners)") at ./googletest/src/gtest.cc:2469

19 0x00005555555e8f2c in testing::UnitTest::Run (this=0x55555562ea20 <testing::UnitTest::GetInstance()::instance>) at ./googletest/include/gtest/gtest.h:1412

20 0x000055555557df9e in RUN_ALL_TESTS () at /usr/include/gtest/gtest.h:2473

21 main (argc=, argv=) at /home/tc/learn_SLAM/slam_in_autonomous_driving-master/src/ch4/test_preintegration.cc:396