sophus error while running the mono-inertial

[ricardo11235]

when i run the Monocular-Inertial Node,the following happened

Loading ORB Vocabulary. This could take a while... Vocabulary loaded!

Initialization of Atlas from scratch Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name:

Camera Parameters:

• Camera: Pinhole
• Image scale: 1
• fx: 458.654
• fy: 457.296
• cx: 367.215
• cy: 248.375
• k1: -0.283408
• k2: 0.0739591
• p1: 0.00019359
• p2: 1.76187e-05
• fps: 24
• color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 1000
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7

Left camera to Imu Transform (Tbc): [3.4028235e+38, 0, 0, 0; 0, 0, 0, 0; 0, 0, 0, 0; 0, 0, 0, 0] Sophus ensure failed in function 'Sophus::SO3<Scalar_, Options>::SO3(const Transformation&) [with Scalar_ = float; int Options = 0; Sophus::SO3<Scalar_, Options>::Transformation = Eigen::Matrix<float, 3, 3>]', file '/home/bling/catkin_ws/src/ORB_SLAM3/Thirdparty/Sophus/sophus/so3.hpp', line 425. R is not orthogonal: inf 0 0 0 0 0 0 0 0 已放弃 (核心已转储)

why does it happen and how to fix it?

[Tao-11-chen]

same error

[cy-2022]

For me it is the RGB-D-inertial case, and R is filled with nans... Have been thinking if it is due to the calibration of the IMU and/or the joint-calibration of the IMU and the camera.

[macTracyHuang]

For me it is the RGB-D-inertial case, and R is filled with nans... Have been thinking if it is due to the calibration of the IMU and/or the joint-calibration of the IMU and the camera.

do u know if a joint-calibration of the IMU and the camera is necessary to run it? thx

[yyanzzw]

me too, my case is stereo_inertial, have anyone been solved this problem?