test estimator failed when try out the marginalization strategy

[weihaoysgs]

i want to test the marginalization strategy for estimator, but get the following error, the test is failed.

WARNING: Logging before InitGoogleLogging() is written to STDERR
I0509 12:02:55.281731 1541098 test_estimator.cpp:121] case 0, 0
I0509 12:02:55.332015 1541098 test_estimator.cpp:261] Optimization done.
I0509 12:02:55.344079 1541098 test_estimator.cpp:261] Optimization done.
I0509 12:02:55.357443 1541098 test_estimator.cpp:261] Optimization done.
I0509 12:02:55.372718 1541098 test_estimator.cpp:261] Optimization done.
I0509 12:02:55.389052 1541098 test_estimator.cpp:261] Optimization done.
I0509 12:02:55.407203 1541098 test_estimator.cpp:261] Optimization done.
I0509 12:02:55.427950 1541098 test_estimator.cpp:261] Optimization done.
I0509 12:02:55.427958 1541098 test_estimator.cpp:264] == TRY MARGINALIZATION ==
F0509 12:02:55.428153 1541098 estimator.cpp:822] Check failed: residuals.size() != 0 
*** Check failure stack trace: ***
[1]    1541098 abort (core dumped)  ./devel/lib/svo_ceres_backend/test_estimator

i have try to update the code in estimator.cpp to the following, then running the test node, the program stucked.

 CHECK(residuals.size() != 0);

if(residuals.size() == 0)
  continue;

Has anyone encountered this situation?