[2020-06-22 00:54:44.212] [info] SpinOnce : Triangulate features 22
[2020-06-22 00:54:44.212] [info] SpinOnce : ########## Update iSAM2 Observation ##########
[2020-06-22 00:54:44.235] [error] /home/ery/Devel/vi-slam/src/vslam/backend/BackendUtilities.cpp:UpdateISAMObservation Re calling Solver IndeterminantLinearSystemException error:
Indeterminant linear system detected while working near variable
7782220156096217218 (Symbol: l130).
Thrown when a linear system is ill-posed. The most common cause for this
error is having underconstrained variables. Mathematically, the system is
underdetermined. See the GTSAM Doxygen documentation at
http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for
more information.