Comments (3)
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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).
from gtsam.
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...
from gtsam.
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