Cholesky failure, writing debug.txt

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Hi.

We have tried testing DSV on KITTI sequences 00.

No matter when direct alignment or icp, DSV outputs "Cholesky failure, writing debug.txt (Hessian loadable by Octave)" when loop detection is triggered, then the system become very slow. Notice that we're using intel i7-12700.

We wonder why Cholesky failure happened, and why system became slow.

The image below is the screenshot of terminal when loop detected.

Thanks.

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