NANs in L_inv!!

[Wjt-shift]

When I run the code,I got this error.It seems L matrix can't inverse.How should I solve it?Thanks a lot. @ToniRV @jrpowers NANs in L_inv!! Traceback (most recent call last): File "/home/wjt/data/code/NeRF-SLAM/./examples/slam_demo.py", line 200, in <module> run(args) File "/home/wjt/data/code/NeRF-SLAM/./examples/slam_demo.py", line 179, in run and (not slam or slam_module.spin()) \ File "/home/wjt/data/code/NeRF-SLAM/./examples/../pipeline/pipeline_module.py", line 101, in spin output = self.spin_once(input); File "/home/wjt/data/code/NeRF-SLAM/./examples/../slam/slam_module.py", line 11, in spin_once output = self.slam(input) File "/home/wjt/data/software/anaconda3/envs/nerfslam/lib/python3.9/site-packages/torch/nn/modules/module.py", line 1130, in _call_impl return forward_call(*input, **kwargs) File "/home/wjt/data/code/NeRF-SLAM/./examples/../slam/meta_slam.py", line 30, in forward output = self._frontend(batch["data"], self.state, self.delta) File "/home/wjt/data/code/NeRF-SLAM/./examples/../slam/vio_slam.py", line 114, in _frontend x0_visual, visual_factors, viz_out = self.visual_frontend(batch) # TODO: currently also calls BA, and global BA File "/home/wjt/data/software/anaconda3/envs/nerfslam/lib/python3.9/site-packages/torch/nn/modules/module.py", line 1130, in _call_impl return forward_call(*input, **kwargs) File "/home/wjt/data/code/NeRF-SLAM/./examples/../slam/visual_frontends/visual_frontend.py", line 326, in forward self.__initialize() File "/home/wjt/data/code/NeRF-SLAM/./examples/../slam/visual_frontends/visual_frontend.py", line 650, in __initialize x0, rcm_factor = self.update(kf0=None, kf1=None, use_inactive=True) File "/home/wjt/data/software/anaconda3/envs/nerfslam/lib/python3.9/site-packages/torch/amp/autocast_mode.py", line 12, in decorate_autocast return func(*args, **kwargs) File "/home/wjt/data/code/NeRF-SLAM/./examples/../slam/visual_frontends/visual_frontend.py", line 439, in update x0, rcm_factor = self.ba(gru_estimated_flow, gru_estimated_flow_weight, damping, File "/home/wjt/data/code/NeRF-SLAM/./examples/../slam/visual_frontends/visual_frontend.py", line 1176, in ba raise RuntimeError: No active exception to reraise