Eigensolver couldn't find a solution. Pose is not updated

[omar-ogm]

Hello again, previously the DifOdometry-Datasets and DifOdometry-Camera were not starting due to #994 .

Now Ive realised that while the grountruth appears, the DifOdo pose estimation is not being done (also not updated on the visor).

On the terminal this message appears 5 times each pose estimation:

Eigensolver couldn't find a solution. Pose is not updated

This is due to the method CDifodo::filterLevelSolution() in mrpt/libs/vision/src/CDifodo.cpp.

Specifically the mrpt::math::CMatrixFloat66 est_cov when it calls the method eig_symmetric() to get the eigenvalues and vectors doesnt seem to return any value.

Ill keep trying to debug this more while a solution is provided.

Sorry to bother again.

[MarianoJT88]

I don´t remember using any function called eig_symmetric() but I might have forgotten it... check is there is an alternative to get eigenvalues and eigenvectors with Eigen?

[jlblancoc]

Fixed in 31e853f .

@MarianoJT88 if you see the commit diff, you will see what a silly error this was. It was me during a huge recent refactoring of mrpt::math classes.