Hi,

I am trying to calculate covariance of landmarks and camera pose using the graph saved from ORB_SLAM2.

I am facing below warning CHOLMOD warning: not positive definite.

# Using CHOLMOD poseDim -1 landMarkDim -1 blockordering 1
Read input from 1.g2o
Loaded 147 vertices
Loaded 290 edges
# graph is fixed by priors or already fixed vertex
Initial chi2 = 74121405.840581
CHOLMOD warning: not positive definite.

Command used

g2o -solver lm_var_cholmod -computeMarginals 1.g2o

G2O file

optimizer.verifyInformationMatrices() did not throw any error

Note: I have done a slight modification toEdgeSE3ProjectXYZ , EdgeSE3ProjectXYZ::write and EdgeSE3ProjectXYZ::read writes and reads the camera parameters Refer. EDGE_SE3_PROJECT_XYZ:EXPMAP 97 1 -43.4619 197.165 1 0 1 759.149 750.265 621.608 392.603 Last four numbers indicates camera parameters.