Basalt core dumped
When i check send to basalt slam. monado-service crash with this error.
Setting up filter: t_ns 39645986652796
T_w_i
0.998141 -0.0423707 0.0438201 0
-0.0423707 0.0345201 0.998505 0
-0.0438201 -0.998505 0.0326606 0
0 0 0 1
vel_w_i 0 0 0
***** Assertion (ba_diff.template segment<3>(3).isApproxToConstant(0)) failed in basalt::IntegratedImuMeasurement<Scalar_>::VecN basalt::IntegratedImuMeasurement<Scalar_>::residual(const basalt::PoseVelState<Scalar_>&, const Vec3&, const basalt::PoseVelState<Scalar_>&, const Vec3&, const Vec3&, basalt::IntegratedImuMeasurement<Scalar_>::MatNN*, basalt::IntegratedImuMeasurement<Scalar_>::MatNN*, basalt::IntegratedImuMeasurement<Scalar_>::MatN3*, basalt::IntegratedImuMeasurement<Scalar_>::MatN3*) const [with Scalar_ = float; basalt::IntegratedImuMeasurement<Scalar_>::VecN = Eigen::Matrix<float, 9, 1, 0, 9, 1>; basalt::IntegratedImuMeasurement<Scalar_>::Vec3 = Eigen::Matrix<float, 3, 1>; basalt::IntegratedImuMeasurement<Scalar_>::MatNN = Eigen::Matrix<float, 9, 9, 0, 9, 9>; basalt::IntegratedImuMeasurement<Scalar_>::MatN3 = Eigen::Matrix<float, 9, 3, 0, 9, 3>]:
/tmp/pamac-build-florian/basalt-monado-git/src/basalt/thirdparty/basalt-headers/include/basalt/imu/preintegration.h:234:
zsh: IOT instruction (core dumped) monado-service
and with BASALT_DISABLE_ASSERTS
T_w_i
0.998361 -0.0397558 0.0411671 0
-0.0397558 0.0356598 0.998573 0
-0.0411671 -0.998573 0.0340208 0
0 0 0 1
vel_w_i 0 0 0
Sophus ensure failed in function 'static Sophus::SO3<Scalar_> Sophus::SO3<Scalar_, Options>::expAndTheta(const Tangent&, Sophus::SO3<Scalar_, Options>::Scalar*) [with Scalar_ = float; int Options = 0; Sophus::SO3<Scalar_, Options>::Tangent = Eigen::Matrix<float, 3, 1>; Sophus::SO3<Scalar_, Options>::Scalar = float]', file '/home/florian/Téléchargements/basalt-monado-git/src/basalt/thirdparty/basalt-headers/thirdparty/Sophus/sophus/so3.hpp', line 701.
SO3::exp failed! omega: nan nan nan, real: nan, img: nan
zsh: IOT instruction (core dumped) monado-service
Env:
# Monado
export bsltinstall=/usr
export bsltdeps=/usr/etc
export oxrinstall=/usr
export PATH=$bsltinstall/bin:$PATH
export PKG_CONFIG_PATH=$bsltinstall/lib/pkgconfig:$PKG_CONFIG_PATH # for compile time pkg-config
export LD_LIBRARY_PATH=$bsltinstall/lib/:$LD_LIBRARY_PATH # for runtime ld
export LIBRARY_PATH=$bsltinstall/lib/:$LIBRARY_PATH # for compile time gcc
export PROBER_LOG=debug
export OXR_DEBUG_GUI=1
export XR_RUNTIME_JSON=$oxrinstall/share/openxr/1/openxr_monado.json
export WMR_LOG=debug
export SLAM_LOG=debug
export SLAM_SUBMIT_FROM_START=false
export SLAM_CONFIG=$bsltdeps/basalt/monado/odysseyplus_kb4.toml
# FORCE TO ENABLE RENDERING IN HMD | AllowHMD Nvidia | Gnome can disable all screen because it not a desktop mode
export XRT_COMPOSITOR_FORCE_XCB=1