ch7下pose_estimation_3d3d.cpp出现内存访问的问题

[anchao1997]

-- Max dist : 95.000000 -- Min dist : 4.000000 一共找到了79组匹配点 3d-3d pairs: 74 W= 11.9404 -0.567258 1.64182 -1.79283 4.31299 -6.57615 3.12791 -6.55815 10.8576 U= 0.474144 -0.880373 -0.0114952 -0.460275 -0.258979 0.849163 0.750556 0.397334 0.528006 V= 0.535211 -0.844064 -0.0332488 -0.434767 -0.309001 0.84587 0.724242 0.438263 0.532352 ICP via SVD results: R = [0.9972395977366735, 0.05617039856770108, -0.04855997354553421; -0.05598345194682008, 0.9984181427731503, 0.005202431117422968; 0.04877538122983249, -0.002469515369266706, 0.9988067198811419] t = [0.1417248739257467; -0.05551033302525168; -0.03119093188273836] R_inv = [0.9972395977366735, -0.05598345194682008, 0.04877538122983249; 0.05617039856770108, 0.9984181427731503, -0.002469515369266706; -0.04855997354553421, 0.005202431117422968, 0.9988067198811419] t_inv = [-0.1429199667309692; 0.04738475446275831; 0.03832465717628154] calling bundle adjustment addEdge: FATAL, cannot resolve caches for edge 0x560b02cba150 addEdge: FATAL, cannot resolve caches for edge 0x560b0293f0c0 addEdge: FATAL, cannot resolve caches for edge 0x560b0293f230 addEdge: FATAL, cannot resolve caches for edge 0x560b02f92450 addEdge: FATAL, cannot resolve caches for edge 0x560b02f925e0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f927d0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f929c0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f92bb0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f92da0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f92f90 addEdge: FATAL, cannot resolve caches for edge 0x560b02f93180 addEdge: FATAL, cannot resolve caches for edge 0x560b02f93370 addEdge: FATAL, cannot resolve caches for edge 0x560b02f93560 addEdge: FATAL, cannot resolve caches for edge 0x560b02f93750 addEdge: FATAL, cannot resolve caches for edge 0x560b02f93940 addEdge: FATAL, cannot resolve caches for edge 0x560b02f93b30 addEdge: FATAL, cannot resolve caches for edge 0x560b02f93d20 addEdge: FATAL, cannot resolve caches for edge 0x560b02f93f10 addEdge: FATAL, cannot resolve caches for edge 0x560b02f94100 addEdge: FATAL, cannot resolve caches for edge 0x560b02f942f0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f944e0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f946d0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f948c0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f94ab0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f956d0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3a300 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3a4f0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3a6e0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3a8d0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3aac0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3acb0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3aea0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3b090 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3b280 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3b470 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3b660 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3b850 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3ba40 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3bc30 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3be20 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3c010 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3c200 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3c3f0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3c5e0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3c7d0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3c9c0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3cbb0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3cda0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3cf90 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3d180 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3d370 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3d560 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3d750 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3d940 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3db30 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3dd20 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3df10 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3e100 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3e2f0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3e4e0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3e6d0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3e8c0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3eab0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3eca0 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3ee90 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3f080 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3f270 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3f460 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3f650 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3f840 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3fa30 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3fc20 addEdge: FATAL, cannot resolve caches for edge 0x560b02f3fe10 addEdge: FATAL, cannot resolve caches for edge 0x560b02f40000 terminate called after throwing an instance of 'std::bad_alloc' what(): std::bad_alloc 已放弃 (核心已转储)

与之前提交的issue差不多，到了bundleAdjustment()出现溢出