nan return value after calling dual_conic.bounds() in realsense.py example script about gtsam-quadrics HOT 1 OPEN

At a quick glance, that dual conic doesn't seem to be well defined. The mathematics for projecting dual quadrics should be well defined even at edge cases, but perhaps there is something we have missed. Could you please let us know what the parameters of your quadric, camera pose and calibration were during this test?

What might be happening, is that the naïve data association is attempting to look at a quadric outside the cameras current view. Typically we expect this to result in an open conic that stretches across the screen and a large bounding box that exists mostly outside the screen, but the math should hold up.

from gtsam-quadrics.