CHOLMOD warning: not positive definite

asked 2018-08-23 13:19:46 -0500


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.

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This is a rather specific error for a rather specific package. Not saying you won't get any responses, but the intersection between people that frequent ROS Answers and those that use this pkg is probably not very large.

gvdhoorn gravatar imagegvdhoorn ( 2018-08-24 03:46:15 -0500 )edit