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ETH3D / badslam

Bundle Adjusted Direct RGB-D SLAM
BSD 3-Clause "New" or "Revised" License
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pose graph optimization testing failed! #73

Open mshong0320 opened 2 years ago

mshong0320 commented 2 years ago

This is what I get from running badslam_test:

18:39:34.511 pose_graph_optimizer.cc:127 INFO| - Performing pose graph optimization ... int g2o::csparse_extension::cs_cholsolsymb(const cs_di, number_t, const cs_dis, number_t, int*): cholesky failed! Cholesky failure, writing debug.txt (Hessian loadable by Octave)

any idea what's wrong and how to fix it?

puzzlepaint commented 2 years ago

I think that this happens if g2o and badslam are compiled with different, incompatible compiler options. Quoting from the Readme:

If the Optimization.PoseGraphOptimizer test crashes, for example with an error message like "Cholesky failure", then please verify that your build of g2o has the BUILD_WITH_MARCH_NATIVE CMake option set to ON, and that BAD SLAM actually uses this install of g2o.

mshong0320 commented 2 years ago

Got it thank you!