CHOLMOD warning: matrix not positive definite. file: ../Supernodal/t_cholmod_super_numeric.c line: 911

[virajawate]

This issue occurs when the sensor data coming from the IMU is not matching with the camera sensor's data because of various reasons . Check the data of IMU adn correlate it with Camera image behaviour like when the checkboard is tilting is the yaw pitch roll changing or not, and then understand the error in the dataset and make changes in the data collection code.