irls_rotation_local_refiner: Failed to factorize the least squares system

[Devincool]

geometric_new.g2o.zip
你好，可以帮忙看一下这个错误吗？
数据用的是实际项目中产出的，这是在求出图片的相对位置又进行了一次BA优化操作后的结果（未做BA的也尝试过，都是这个错误）

[Devincool]

这个数据是通过五目相机倾斜摄影获取的，有五个不同的镜头，不知道是否适合该算法。

[AIBluefisher]

This actually could happen when node indices are not consistent (something might be wrong with the input) or the view graph is not fully connected (has more than 1 connected components). Maybe you should validate your input at first. You may also want to use the function inside the graph class to detect if there are more than 1 connected components.