PGBA: Built graph with 4 IMU factors and 6 poses. PGBA Error: 24.0295 PGBA: 1.37955 var: 1.94439 5.38786 16.2945 13.8588 0.000258287 0.000351932 0.000296225 Switching to initializer state: RealtimeCoarseIMUInitState CoarseIMUInit normalized error: 0.0251517 variance: 0.282017 scale: 1.38545 Switching to initializer state: RealtimePGBAState Updating transform with index 0 to val: 1.38545 PGBA: Built graph with 5 IMU factors and 7 poses. PGBA Error: 16.7935 PGBA: 1.38484 var: 0.309233 2.86596 15.6689 13.269 0.000181167 0.000184842 0.000182667 Switching to initializer state: InitializedFromRealtimePGBAState INITIALIZED IMU Integration. Using IMU data in main optimization from now on! Switching to initializer state: PotentialMarginalizationReplacementState REPEAT LEVEL! 段错误 (核心已转储)

这段错误信息看起来是来自某个程序的输出，它可能涉及到图结构和传感器数据处理。根据错误信息，它显示了建立图形、PGBA错误和一些方差值等信息。段错误（Segmentation fault）表示程序访问了无效的内存地址导致崩溃。如果你想解决这个问题，可能需要检查代码中的错误或者查找相关的文档和资源来理解这个程序的工作原理和使用方法。