An error when implemented with my own images and imu data in stereo mode

[HanjiangHu]

Hi
Recently I have tested ICE-BA with my own data with the same format as EuRoC dataset in stereo mode. I just used the command ./run_ice_ba_stereo.sh to run the script without changing any default parameter except my own file name and path. But here came an error as below after calibration.dat was created successfully.
*** Aborted at 1545561811 (unix time) try "date -d @1545561811" if you are using GNU date ***
PC: @ 0x7fb8c5747fdf IMU::PreIntegrate()
*** SIGSEGV (@0x1c) received by PID 1734 (TID 0x7fb8c5dea980) from PID 28; stack trace: ***
@ 0x7fb8c4d44390 (unknown)
@ 0x7fb8c5747fdf IMU::PreIntegrate()
@ 0x7fb8c5748166 IMU::PreIntegrate()
@ 0x7fb8c56a1ed9 LocalBundleAdjustor::SynchronizeData()
@ 0x7fb8c569d4a0 LocalBundleAdjustor::Run()
@ 0x7fb8c55df707 IBA::Solver::PushCurrentFrame()
@ 0x41523f main
@ 0x7fb8c1560830 __libc_start_main
@ 0x417419 _start
I suppose this Segment Fault is probably related to IMU settings or calibration. Is there anyone who met such kind of error before? I will be of great appreciation if someone could help me solve this problem or analyze how it occurred.

[AbyssGaze]

Hi,
You could jump to IMU.cpp/747(void PreIntegrate), and judgment u1 is availability or not.
Secondly you need to ensure timestamp is Synchronized() in main function.