现象:
computeActiveErrors(): found NaN in error for edge 0x7fab384f0cc0
computeActiveErrors(): found NaN in error for edge 0x7fab384f18c0
computeActiveErrors(): found NaN in error for edge 0x7fab384f1ac0
computeActiveErrors(): found NaN in error for edge 0x7fab384f26c0
computeActiveErrors(): found NaN in error for edge 0x7fab384f28c0
buildSystem(): NaN within Jacobian for edge 0x7fab3876cd10 for vertex 0
buildSystem(): NaN within Jacobian for edge 0x7fab3876cf10 for vertex 0
buildSystem(): NaN within Jacobian for edge 0x7fab3876db10 for vertex 0
buildSystem(): NaN within Jacobian for edge 0x7fab3876dd10 for vertex 0
void g2o::SparseOptimizer::update(const number_t*): Update contains a nan for vertex 0
Sophus ensure failed in function 'static Sophus::SO3<Scalar_> Sophus::SO3<Scalar_, Options>::expAndTheta(const Tangent&, Sophus::SO3<Scalar_, Options>::Scalar*) [with Scalar_ = do