IndeterminantLinearSystemException for big numbers about gtsam

[ProfFan]

#121

[ProfFan]

I experimented with your example and the error is thrown here:

Partial Cholesky on HessianFactor failed.
Frontal keys Position 0: 5, 3, 4
HessianFactor:
 keys: 5(3) 3(3) 4(3)
Augmented information matrix: [
 	 2.50000756e+11       112232004  2.24448892e+13  5.57810201e-05      -112232004     -5.05048978   4.5924255e-05        -2.5e+11      -4.975e+16  2.44087647e+14;
    	      112232004  3.91666453e+11   2.8333066e+16 -1.03204984e-05  1.08333547e+11    0.0022673132         2.5e+11   4.5924255e-05         2.5e+14 -1.62631996e+15;
    	 2.24448892e+13   2.8333066e+16  5.66656832e+21     -7.28099848   2.1666934e+16      10554.4422               0               0        -1000000 -2.75252168e+20;
    	 5.57810201e-05 -1.03204984e-05     -7.28099848         2.5e+11  1.11998431e-06        -2.5e+14  -1.5308085e-05         2.5e+11               0        -2.5e+14;
    	     -112232004  1.08333547e+11   2.1666934e+16  1.11998431e-06  3.91666453e+11       4.975e+16        -2.5e+11  -1.5308085e-05               0  6.29648856e+14;
    	    -5.05048978    0.0022673132      10554.4422        -2.5e+14       4.975e+16      9.9005e+21      -4.975e+16        -2.5e+14        -1000000           5e+19;
    	  4.5924255e-05         2.5e+11               0  -1.5308085e-05        -2.5e+11      -4.975e+16           5e+11               0         2.5e+14          -5e+14;
    	       -2.5e+11   4.5924255e-05               0         2.5e+11  -1.5308085e-05        -2.5e+14               0           5e+11       4.975e+16          -5e+14;
    	     -4.975e+16         2.5e+14        -1000000               0               0        -1000000         2.5e+14       4.975e+16      9.9005e+21          -5e+19;
    	 2.44087647e+14 -1.62631996e+15 -2.75252168e+20        -2.5e+14  6.29648856e+14           5e+19          -5e+14          -5e+14          -5e+19  4.92386983e+19
  ]
/Users/proffan/Projects/Development/VISION/GTSAM/tests/testBigNumbers.cpp:95: Failure: "Exception:
Indeterminant linear system detected while working near variable
5 (Symbol: 5).

[ProfFan]

Note that the determinant of the information matrix is 1.3*10^135, which is definitely too much for any numerical computations to happen. The core reason is that you need to have reasonable figures for the noise models...