庄庭达

+1

@Deephome 四元数里没有指数变换的概念，指数变换是李群李代数的概念。 一个四元数 q = [cos(θ/2), sin(θ/2)*nx, sin(θ/2)*ny, sin(θ/2)*nz]，其中旋转轴为n = (nx, ny, nz)，旋转角为θ. 当旋转角θ为小量，则cos(θ/2)≈1，sin(θ/2)≈θ/2。即q≈[1，(θ/2)*nx， (θ/2)*ny，(θ/2)*nz ]。

@Deephome 草率了，看来四元数里也有指数变换的概念，谢谢哈

@MichaelGrupp Thanks for your reply. I also run the example of Deutsches Museum bag as said in the EDIT part. There is also an error:`F1229 10:32:34.000000 4231 msg_conversion.cc:135] Check failed:...

@MichaelGrupp Thanks for your reply. But the Deutsches Museum bag is the demo bag provide by cartographer ros [tutorial](https://google-cartographer-ros.readthedocs.io/en/latest/demos.html#id1). It should not have this problem:`F1229 10:32:34.000000 4231 msg_conversion.cc:135] Check failed:...

@irexyc 我尝试分别使用torch2onnx.py和onnx2tensorrt.py转换，转成功了

@Jxpenggf 当加速度计各轴和东北天坐标系对齐，根据受力平衡，f+mg=ma. 加速度计通过测量 f 得到加速度测量，即imu_acc，imu_acc = f/m = a - g. 当加速度计各轴和东北天坐标系不对齐，Rwb*f + mg = ma，得出 imu_acc = Rbw(a-g)。以上推导与g的正负无关。东北天下g=(0,0,-9.81)。

Sorry, I have a mistake, "aligend" should be "aligned". The depth image is generated by the infrared camera. The color image is generated by the color camera. So there exists...

It seems like that depth and RGB images are not aligned indeed from the image below:  You can see the color information of the left edge of the...

看提示是message queue满了导致丢弃了，你可以加一些log看下具体是什么情况