pose graph optimization testing failed!

[mshong0320]

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]

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]

Got it thank you!