Backend Crash

[saching13]

Description:
When running the oak's on-device feature after a min or 2 backend crashed with an error. Adding it here to track issues

Command:

bash ./scripts/stereoVIOOak.bash -b ../buildParallels -eod

Console output:

I0217 10:58:55.089138  6184 RgbdVisionImuFrontend.cpp:256] ===================================================
Frame number: 1204 at time 1065476029029 empirical framerate (sec): 0.0666294 (timestamp diff: 66629375)
I0217 10:58:55.089143  6184 RgbdVisionImuFrontend.cpp:271] Starting feature tracking...
I0217 10:58:55.089385  6184 RgbdVisionImuFrontend.cpp:294] Finished feature tracking.
I0217 10:58:55.089394  6184 RgbdVisionImuFrontend.cpp:317] Keyframe after [s]: 0.166574
I0217 10:58:55.089396  6184 RgbdVisionImuFrontend.cpp:321] Keyframe reason: max time elapsed.
I0217 10:58:55.090445  6184 VisionImuFrontend.cpp:90] Status mono: VALID
I0217 10:58:55.090452  6184 VisionImuFrontend.cpp:90] Status rgbd: VALID
I0217 10:58:55.091023  6184 RgbdVisionImuFrontend.cpp:423] timeSparseRgbd: 0
timeGetMeasurements: 0
I0217 10:58:55.091037  6184 RgbdVisionImuFrontend.cpp:439]  Relative pose of Curr Rgbd frame w.r.t body frame in Rgbd process -> R: [
	0.990072, 0.117599, 0.076995;
	-0.118862, 0.992838, 0.0120046;
	-0.0750319, -0.0210372, 0.996959
]
t: -0.218697 0.0877724 0.0389609
I0217 10:58:55.091049  6184 RgbdVisionImuFrontend.cpp:159] Keyframe 1713 with: 192 smart measurements
I0217 10:58:55.091053  6184 RgbdVisionImuFrontend.cpp:185] Frontend output is a keyframe: pushing to output callbacks.
I0217 10:58:55.091065  6184 ThreadsafeQueue.h:286] Queue with id: visualizer_frontend_queue is getting full, size: 3
I0217 10:58:55.091068  6184 PipelineModule.h:207] Module: VioFrontend - Pushed output.
I0217 10:58:55.091221  6185 RegularVioBackend.cpp:221] Tracker has a VALID status.
I0217 10:58:55.105043  6166 PipelineModule.h:207] Module: Display - Pushed output.
E0217 10:58:55.105132  6185 VioBackend.cpp:1221] 
Indeterminant linear system detected while working near variable
8502796096475496829 (Symbol: v381).

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.
E0217 10:58:55.105249  6185 VioBackend.cpp:1226] ERROR: Variable has type 'v' and index 381
Smoother's factors:
[
	size: 2097

Factor 0: SmartStereoProjectionPoseFactor, z = 
 calibration =  K:  855.82       0  630.33
      0  855.82 371.148
      0       0       1
Baseline: 0.075
calibration =  K:  855.82       0  630.33
      0  855.82 371.148
      0       0       1
Baseline: 0.075
calibration =  K:  855.82       0  630.33
      0  855.82 371.148

Additional files:
Please attach all the files needed to reproduce the error.

Please give also the following information:

• Kimera-Vio branch, tag or commit used
• GTSAM version used:
• OpenGV version used:
• OpenCV version used: type opencv_version
• Operating system and version (e.g. Ubuntu 16.04 or Windows 10):
• Did you change the source code? (yes / no):