[liorf_imuPreintegration-2] process has died

[J-alchemist]

terminate called after throwing an instance of 'gtsam::IndeterminantLinearSystemException'
what():
Indeterminant linear system detected while working near variable
8646911284551352339 (Symbol: x19).

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.
124644
[liorf_imuPreintegration-2] process has died

when I Run kitti dataset

[YJZLuckyBoy]

This problem may be caused by the version of gtsam. You can use gtsam 4.0.2.