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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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15 changes: 15 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 +187,21 @@ 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. */
if (!isfinite(a[axis])) {
static int warned = 0;
if (!warned) {
fprintf(stderr, "[libsurvive WARN] poser_mpfit: NaN optical angle sensor %d lh %d axis %d; suppressing further\n",
(int)sensor, (int)lh, (int)axis);
warned = 1;
}
continue;
}

survive_optimizer_measurement *meas =
survive_optimizer_emplace_meas(mpfitctx, survive_optimizer_measurement_type_light);

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