InvalidArgumentError (see above for traceback): Cholesky decomposition was not successful. The input might not be valid.

[hzxie]

Caused by op 'motion/PnP_1/Cholesky', defined at: 
  File "demos/demo_uncalibrated.py", line 152, in <module>  
    main(args) 
  File "demos/demo_uncalibrated.py", line 90, in main  
    use_fcrn=True, is_calibrated=False, use_regressor=False)
  File "deepv2d/deepv2d.py", line 68, in __init__ 
    self._build_motion_graph()
  File "deepv2d/deepv2d.py", line 129, in _build_motion_graph    
    images, depths, intrinsics, edge_inds, init=do_init)    
  File "deepv2d/modules/motion.py", line 287, in forward    
    (jj,ii), num_fixed=num_fixed, include_intrinsics=(not self.is_calibrated))  
  File "deepv2d/geometry/transformation.py", line 527, in global_optim
    delta_update = cholesky_solve(H, b) 
  File "deepv2d/geometry/cholesky.py", line 32, in solve    
    x = cholesky_solve(H, b)  
  File "/mnt/lustre/xiehaozhe/Applications/anaconda3/lib/python3.6/site-packages/tensorflow/python/ops/custom_gradient.py", line 111, in decorated  
    return _graph_mode_decorator(f, *args, **kwargs)
  File "/mnt/lustre/xiehaozhe/Applications/anaconda3/lib/python3.6/site-packages/tensorflow/python/ops/custom_gradient.py", line 132, in 
    result, grad_fn = f(*args)
  File "deepv2d/geometry/cholesky.py", line 9, in cholesky_solve
    chol = tf.linalg.cholesky(H)
  File "/mnt/lustre/xiehaozhe/Applications/anaconda3/lib/python3.6/site-packages/tensorflow/python/ops/gen_linalg_ops.py", line 709, in 
    "Cholesky", input=input, name=name)
  File "/mnt/lustre/xiehaozhe/Applications/anaconda3/lib/python3.6/site-packages/tensorflow/python/framework/op_def_library.py", line 787, in 
    op_def=op_def)
  File "/mnt/lustre/xiehaozhe/Applications/anaconda3/lib/python3.6/site-packages/tensorflow/python/util/deprecation.py", line 488, in 
    return func(*args, **kwargs)
  File "/mnt/lustre/xiehaozhe/Applications/anaconda3/lib/python3.6/site-packages/tensorflow/python/framework/ops.py", line 3274, in 
    op_def=op_def)
  File "/mnt/lustre/xiehaozhe/Applications/anaconda3/lib/python3.6/site-packages/tensorflow/python/framework/ops.py", line 1770, in 
    self._traceback = tf_stack.extract_stack() 

InvalidArgumentError (see above for traceback): Cholesky decomposition was not successful. The input might not be valid.
    [[node motion/PnP_1/Cholesky (defined at deepv2d/geometry/cholesky.py:9) = Cholesky[T=DT_DOUBLE, _device="/job:localhost/replica:0/task:0/device:CPU:0"](motion/PnP_1/Cast_3)]]
    [[{{node motion/PnP_2/Cast_5/_2999}} = _Recv[client_terminated=false, recv_device="/job:localhost/replica:0/task:0/device:GPU:0", send_device="/job:localhost/replica:0/task:0/device:CPU:0", send_device_incarnation=1, tensor_name="edge_5542_motion/PnP_2/Cast_5", tensor_type=DT_FLOAT, _device="/job:localhost/replica:0/task:0/device:GPU:0"]()]]