标定好内参后跑自己的数据集会直接报错

[lio_sam_imuPreintegration-1] process has died [pid 36033, exit code -6, cmd /home/xmx/catkin_ws/devel/lib/lio_sam/lio_sam_imuPreintegration __name:=lio_sam_imuPreintegration __log:=/home/xmx/.ros/log/ef1fd620-73dc-11ee-8a30-ebeb8e456b7e/lio_sam_imuPreintegration-1.log].
log file: /home/xmx/.ros/log/ef1fd620-73dc-11ee-8a30-ebeb8e456b7e/lio_sam_imuPreintegration-1*.log

不去标定的话建图漂移又太严重了

原文高斯白噪声基本是e-6量级，但是我标定出来的四组最大的也才e-11

   avg-axis:
      gyr_n: 1.8922079478305962e-12
      gyr_w: 1.7488173290434131e-13

   avg-axis:
      acc_n: 1.0635124452990408e-11
      acc_w: 1.7085105179866623e-14