Avoid hard crash if Jacobian matrix is rank deficient #1557
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lucasthahn
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Aug 17, 2022
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Ceres hard crashes (
LOG(FATAL)) incovariance.GetCovarianceMatrixInTangentSpaceif the Jacobian matrix is rank deficient. In this case,covariance.Computereturnsfalseas well.If the Jacobian computation fails, we can directly return false (refinement failed) to avoid the hard crash.