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haleqiu / AirDOS

This work is a dynamic object slam work

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buildSystem(): NaN within Jacobian for edge 0x.... for vertex 0

MarkChenYutian opened this issue · comments

commented

Hi,

When I was running the ./stereo_kitti_human on TartanAir_shibuya dataset, I noticed that the warning message like

buildSystem(): NaN within Jacobian for edge 0x556d40f6a750 for vertex 0
buildSystem(): NaN within Jacobian for edge 0x556d40f6aa60 for vertex 0
buildSystem(): NaN within Jacobian for edge 0x556d40f6ad70 for vertex 0
buildSystem(): NaN within Jacobian for edge 0x556d40f6b080 for vertex 0
buildSystem(): NaN within Jacobian for edge 0x556d40f6b6a0 for vertex 0
buildSystem(): NaN within Jacobian for edge 0x556d40f6bcc0 for vertex 0
buildSystem(): NaN within Jacobian for edge 0x556d40f6bfd0 for vertex 0
... (similar message repeated for several hundred times)

are emitted for each key frame though the final output trajectory is reasonable. Do you know why this occurs / is there any fix for this problem since the warning message is annoying?