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[quickstates]

Why do I encounter the following error when running the TUM VI dataset with S-MSCKF: ...? Are there any issues with my configuration file parameters?

The configuration file is as follows：

The modifications of the output file from Kalibr:

1. For each matrix (e.g. cam0/T_cam_imu), remove the brackets and minus sign for each line. Use one pair of brackets for each matrix.

2. Add the T_imu_body at the end of the calibration file (usually set to identity).

#The following transformation matrix T_cam_imu T_cn_cnm1 is inverse to the transformation matrix on OKVIS and ORB3.

Transformation from IMU to camera 0

cam0:
T_cam_imu:
[ -0.9995250378696743, 0.029615343885863205, -0.008522328211654736, 0.04727988224914392,
0.0075019185074052044, -0.03439736061393144, -0.9993800792498829, -0.047443232143367084,
-0.02989013031643309, -0.998969345370175, 0.03415885127385616, -0.0681999605066297,
0, 0, 0, 1]
camera_model: pinhole
distortion_coeffs: [0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182]
distortion_model: equidistant
intrinsics: [190.97847715128717, 190.9733070521226, 254.93170605935475, 256.8974428996504]
resolution: [512, 512]
timeshift_cam_imu: 0.0
rostopic: /cam0/image_raw
cam1:
T_cam_imu:
[-0.9995110484978581, 0.030299116376600627, -0.0077218830287333565, -0.053697434688869734,
0.008104079263822521, 0.012511643720192351, -0.9998888851620987, -0.046131737923635924,
-0.030199136245891378, -0.9994625667418545, -0.012751072573940885, -0.07149261284195751,
0, 0, 0, 1.000000000000000]
T_cn_cnm1:
[ 0.999999445773493, 0.000791687752817, 0.000694034010224, 0.101063427414194,
-0.000823363992158, 0.998899461915674, 0.046895490788700, 0.001946204678584,
-0.000656143613644, -0.046896036240590, 0.998899560146304, 0.001015350132563,
0, 0, 0, 1.000000000000000]
camera_model: pinhole
distortion_coeffs: [0.0034003170790442797, 0.001766278153469831, -0.00266312569781606, 0.0003299517423931039]
distortion_model: equidistant
intrinsics: [190.44236969414825, 190.4344384721956, 252.59949716835982, 254.91723064636983]
resolution: [512, 512]
timeshift_cam_imu: 0.0
rostopic: /cam1/image_raw
T_imu_body:
[1.0000, 0.0000, 0.0000, 0.0000,
0.0000, 1.0000, 0.0000, 0.0000,
0.0000, 0.0000, 1.0000, 0.0000,
0.0000, 0.0000, 0.0000, 1.0000]