Open shanmukhananda opened 6 years ago
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.
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
optimizer.verifyInformationMatrices()
Note: I have done a slight modification toEdgeSE3ProjectXYZ , EdgeSE3ProjectXYZ::write and EdgeSE3ProjectXYZ::read writes and reads the camera parameters Refer.
EdgeSE3ProjectXYZ
EdgeSE3ProjectXYZ::write
EdgeSE3ProjectXYZ::read
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.
@shanmukhananda did you manage to solve this issue? I am facing a similar issue when creating a new custom edge.
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.
Command used
G2O file
optimizer.verifyInformationMatrices()
did not throw any errorNote: I have done a slight modification to
EdgeSE3ProjectXYZ
,EdgeSE3ProjectXYZ::write
andEdgeSE3ProjectXYZ::read
writes and reads the camera parameters Refer.Last four numbers indicates camera parameters.