Occasional assert in run_pair_measurement
bl4ckb0ne opened this issue · 1 comments
bl4ckb0ne commented
Describe the bug
Assertion failed: isfinite(jout[j]) (/home/simon/src/libsurvive/src/survive_optimizer.c: run_pair_measurement: 247)
Havent found a way to reproduce it deterministically, it just crashes Monado in the background.
Data
Log from the Monado run, the warning appears a lot.
Warning: Invalid sensor 255 detected hit (11)
Info: Assuming 0 with 14/13 meas from device T20 as given
Info: Attempting to solve for 1 with 6/6 meas from device T20
Info: Assuming object position of +8.211757e-01 +1.168311e+00 -7.769229e-01 +1.158311e-01 +7.206002e-01 +1.332061e-01 -6.705
033e-01
Info: Using LH 0 (d6ab3660) as reference lighthouse
ERROR [_process_event] Event for unknown object not handled
ERROR [_process_event] Event for unknown object not handled
Warning: Invalid sensor 255 detected hit (11)
Warning: Invalid sensor 255 detected hit (11)
Assertion failed: isfinite(jout[j]) (/home/simon/src/libsurvive/src/survive_optimizer.c: run_pair_measurement: 247)
Aborted
Desktop (please complete the following information):
- OS: Linux (Alpinelinux 5.15.7-0-lts)
- libsurvive compiled locally from
3bef4df1e0856dd157edd3002b72a6dede576458
jdavidberger commented
I've removed all asserts around finite checks and instead have it replace it out with quasi-reasonable values.