The Eigen3 library can not compute the eigenvectors together with the eigenvalues

asked 2017-04-17 03:06:44 -0500

DT gravatar image

updated 2017-04-17 03:13:45 -0500

Hi!, I'm using ubuntu 16.04 and ROS-Kinetic branches,

I have cloned elevation mapping package from https://github.com/ethz-asl/elevation... .

The problem is when I launching the elevation mapping packages at first I get some fused elevation mapping data then after sometimes I get an exception error from the Egien3 library which says:

elevation_mapping: /usr/include/eigen3/Eigen/src/Eigenvalues/EigenSolver.h:347: Eigen::EigenSolver<_MatrixType>::EigenvectorsType Eigen::EigenSolver<_MatrixType>::eigenvectors() const [with _MatrixType = Eigen::Matrix<double, 2,="" 2="">; Eigen::EigenSolver<_MatrixType>::EigenvectorsType = Eigen::Matrix<std::complex<double>, 2, 2>; typename Eigen::NumTraits<typename derived::scalar="">::Real = double]: Assertion `m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues."' failed.

And It crashes.

Is there any way to fix this problem?

I'll appreciate any help.

edit retag flag offensive close merge delete

Comments

Is there anything else in the error message? Do you know where in elevation_mapping the error is coming from?

Airuno2L gravatar imageAiruno2L ( 2017-04-17 09:04:20 -0500 )edit

No, actually I'm on it and when finding it out I'll let you know. But what I know is it refers to "347" lines of the EigenSolver header which relates to ComplexScalar() function.

DT gravatar imageDT ( 2017-04-17 09:24:58 -0500 )edit

I've found it! It comes from line 276 of the ElevationMap.cpp in elevation_mapping. I have tried it with try & catch but It doesn't work.

DT gravatar imageDT ( 2017-04-18 02:13:09 -0500 )edit

this is the line which causes the error and crash; const double ellipseRotation(atan2(solver.eigenvectors().col(maxEigenvalueIndex).real()(1), solver.eigenvectors().col(maxEigenvalueIndex).real()(0)));

DT gravatar imageDT ( 2017-04-18 02:13:49 -0500 )edit

I don't know the code but when I set the default parameters 1,0 permanent the error disappear.

DT gravatar imageDT ( 2017-04-18 05:46:06 -0500 )edit

I've also posted this Issue here https://github.com/ethz-asl/elevation... But got no answer.

DT gravatar imageDT ( 2017-04-18 08:23:53 -0500 )edit