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AprilRobotics / apriltag

AprilTag is a visual fiducial system popular for robotics research.
https://april.eecs.umich.edu/software/apriltag
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NaN in homography_compute2 #154

Closed TaoYibo1866 closed 2 years ago

TaoYibo1866 commented 3 years ago

https://github.com/AprilRobotics/apriltag/blob/b54fae744bdbddad62c4e0a0d39d8ba8c48a1d4c/apriltag.c#L476 During my stress test, process crashed and Visual Studio showed "stack around A crashed". I looked into the crash and found A[6] A[7] A[8], A[15] A[16] A[17], A[24] A[25] A[26], A[33] A[34] A[35], A[42] A[43] A[44], A[51] A[52] A[53], A[62], A[70], A[71] all equal -nan(id). Guess this is a bug? image

TaoYibo1866 commented 3 years ago

The strange thing is this only occurs about 22min after the process started.

micology-code commented 2 years ago

Same problem happened to me, some times it crash within 1 minute, some times it crash after half an hour

christian-rauch commented 2 years ago

Is the input to this function (double c[4][4]) correct (finite values)? From the screenshot of the issue, it is hard to see what is going on and what all the values are.

Is there any chance this is reproducible? Can you share the input data and a script that reads the data and that eventually creates these conditions? Alternatively, can you share a gdb core dump for a known version of the library?

christian-rauch commented 2 years ago

This is related to #72.

@TaoYibo1866 Does #213 solve your issue? Can you reproduce this with the example image linked in the PR?

TaoYibo1866 commented 2 years ago

Sorry, i am not able to reproduce this at present since the original project has been closed for a year. I am glad that there is PR to fix this. Thank you for your work.