重建点云的时候出现错误Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.

我在使用自己的数据集构建场景重建时，经常会出现这样的错误 I1110 07:47:53.427736 3116067 incremental_pipeline.cc:433] Registering image #2 (num_reg_frames=19) I1110 07:47:53.427824 3116067 incremental_pipeline.cc:436] => Image sees 772 / 3784 points I1110 07:47:54.532792 3116067 incremental_pipeline.cc:433] Registering image #4 (num_reg_frames=20) I1110 07:47:54.532835 3116067 incremental_pipeline.cc:436] => Image sees 829 / 3847 points I1110 07:47:55.590627 3116067 incremental_pipeline.cc:43] Retriangulation and Global bundle adjustment I1110 07:47:57.105170 3116067 incremental_pipeline.cc:433] Registering image #14 (num_reg_frames=21) I1110 07:47:57.105209 3116067 incremental_pipeline.cc:436] => Image sees 703 / 3574 points I1110 07:47:58.028903 3116067 incremental_pipeline.cc:433] Registering image #199 (num_reg_frames=22) I1110 07:47:58.028942 3116067 incremental_pipeline.cc:436] => Image sees 661 / 3894 points W1110 07:47:58.379808 3116067 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W1110 07:47:58.381362 3116067 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W1110 07:47:58.404711 3116067 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W1110 07:47:58.428017 3116067 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. W1110 07:47:58.451267 3116067 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization. 请问这是由于什么原因造成的呢？我不确定是否这个错误会对我的重建性能造成一定的影响。