Error switching between Tangent and Manifold Preintegration GNSS aided INS

[Trym Synnevåg]

Hi,

I have an issue when switching between Tangent and Manifold preintegration.

When using Tangent preintegration the nonlinear factor graph is solved and works perfectly. But when i switch to Manifold preintegration i am getting errors.

When trying to solve with LevenbergMarquardtOptimizer i am getting the error:

*** stack smashing detected ***: terminated

And when using fixedBatchOptimizer i am getting the error:

terminate called after throwing an instance of 'gtsam::IndeterminantLinearSystemException'
  what():  
Indeterminant linear system detected while working near variable
7061644215716937728 (Symbol: b0).

However, both these optimizers solve the problem with Tangent Preintegration.

Is there something i am missing that i need to add when switching between them? I am using  IMUfactor, inBetween factor(for bias) and GNSSfactor and priors are included.

Best regards,

Trym