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poser_mpfit: skip non-finite optical angles instead of passing to solver #353

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poser_mpfit: skip non-finite optical angles instead of passing to solver #353

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a9d9441
poser_mpfit: skip non-finite optical angles instead of passing to solver
Mar 13, 2026
7f61b46
poser_mpfit: log every non-finite optical angle instead of suppressin…
Jul 26, 2026
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11 changes: 11 additions & 0 deletions src/poser_mpfit.c
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Original file line number Diff line number Diff line change
Expand Up @@ -187,6 +187,17 @@ static size_t construct_input_from_scene(const MPFITData *d, survive_long_timeco
if (isReadingValue) {
const FLT *a = scene->angles[sensor][lh];

/* Guard against non-finite angles from corrupted optical data
* (bad FPGA timestamps during USB disturbances). Passing NaN
* into the MPFIT solver causes it to produce a garbage pose
* that can then assert-crash downstream. One dropped measurement
* has negligible effect on the pose solve. */
Comment on lines 189 to +194

@bl4ckb0ne bl4ckb0ne Aug 10, 2026

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Comment could be shortened, there's redundant information with the commit message.

/* Guard against non-finite angles from corrupted data. Passing NaN
 * into the MPFIT solver causes it to produce garbage post that can 
 * crash downstream.
 */

if (!isfinite(a[axis])) {
fprintf(stderr, "[libsurvive WARN] poser_mpfit: NaN optical angle sensor %d lh %d axis %d\n",
(int)sensor, (int)lh, (int)axis);
continue;
}

survive_optimizer_measurement *meas =
survive_optimizer_emplace_meas(mpfitctx, survive_optimizer_measurement_type_light);

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