Hi guys, I got crash report from user when run version on testflight with below callstack: 0 libsystem_kernel.dylib 0x00000001d206101c __pthread_kill + 8 (:-1) 1 libsystem_pthread.dylib 0x00000001f45ad680 pthread_kill + 268 (pthread.c:1681) 2 libsystem_c.dylib 0x0000000192bc1b90 abort + 180 (abort.c:118) 3 AppleCV3D 0x00000001ff37fea4 cv3d::vio::batch_least_squares_unsanitized::BAFilterFG::PrepareUpdate(cv3d::vio::batch_least_squares_unsanitized::SparseVisualInertialWindow const&, bool, cv3d::vio::batch_least_squares::LowTexture... + 39292 (SlidingWindowFilterFG.cpp:794) 4 AppleCV3D 0x00000001ff36c6ec cv3d::vio::batch_least_squares_unsanitized::BAFilterFG::UpdateAndReturnInlierTracks(cv3d::vio::batch_least_squares_unsanitized::SparseVisualInertialWindow const&, bool, cv3d::vio::batch_least_squar... + 308 (SlidingWindowFilterFG.cpp:541) 5 AppleCV3D 0x00000001febf6e34 cv3d::vio::odometry::VFusionFG::ProcessBufferedWindowImpl(cv3d::vio::batch_least_squares::LowTextureDetectionResult const&, double) + 208 (VFusionFG.cpp:295) 6 AppleCV3D 0x00000001febf0f54 cv3d::vio::odometry::VFusionBase::ProcessBufferedWindow() + 96 (VFusionBase.cpp:137) 7 AppleCV3D 0x00000001feb7b7cc cv3d::vio::odometry::FrontEndOdometryInterface::ProcessCurrentVFusionBufferedWindow() + 692 (FrontEndOdometryInterface.cpp:2854) 8 AppleCV3D 0x00000001febbb238 cv3d::vio::odometry::FrontEndOdometryInterfaceBase::ProcessBufferedWindow() + 128 (FrontEndOdometryInterfaceBase.cpp:109) 9 AppleCV3D 0x00000001fea4550c cv3d::vio::slam_engine::LocalSlamEngine::ProcessVFusionBufferedWindow() + 116 (LocalSlamEngine.cpp:987) 10 AppleCV3D 0x00000001fe7e5de8 std::__1::__function::__func<cv3d::vio::slam_engine_node_group::SlamEngineNodeWorker::operator()(cv3d::vio::cv_types::GyroMeasurement const&)::$_1, std::__1::allocator<cv3d::vio::slam_engine_node_g... + 72 (function.h:356) 11 AppleCV3D 0x00000001fe7e1c54 std::__1::optional<std::__1::shared_ptr<cv3d::vio::odometry_engine::SLAMMetadata const>> cv3d::vio::slam_engine_node_group::SlamEngineNodeWorker::SafeExecute<std::__1::optional<std::__1::shared_ptr... + 80 (SlamEngineNode.h:395) 12 AppleCV3D 0x00000001fe7e1b60 cv3d::vio::slam_engine_node_group::SlamEngineNodeWorker::operator()(cv3d::vio::cv_types::GyroMeasurement const&) + 96 (SlamEngineNode.cpp:100) 13 AppleCV3D 0x00000001fe833bfc cv3d::kit::concurrency::detail::ProcessorInputMessageHandlingStrategy<cv3d::vio::cv_types::GyroMeasurement, std::__1::shared_ptr<cv3d::vio::odometry_engine::SLAMMetadata const>, cv3d::vio::slam_eng... + 80 (ProcessorInputMessageHandlingStrategy.h:136) 14 AppleCV3D 0x00000001fe8344a8 std::__1::__function::__func<cv3d::kit::concurrency::detail::Processor<cv3d::vio::cv_types::GyroMeasurement, std::__1::shared_ptr<cv3d::vio::odometry_engine::SLAMMetadata const>, cv3d::vio::slam_en... + 76 (function.h:356) 15 AppleCV3D 0x00000001fe9a0400 void std::__1::__invoke_void_return_wrapper<void, true>::__call<std::__1::future<void> cv3d::esn::thread::IWorkQueue::DispatchAsync<void>(std::__1::function<void ()>&&)::'lambda'()&>(std::__1::futu... + 68 (invoke.h:487) 16 AppleCV3D 0x00000001ff854ef4 dispatch_async_C_CallBack + 76 (GrandCentralDispatchUtil.cpp:94) 17 libdispatch.dylib 0x0000000192b09300 _dispatch_client_callout + 20 (object.m:561) 18 libdispatch.dylib 0x0000000192b10964 _dispatch_lane_serial_drain + 956 (queue.c:3885) 19 libdispatch.dylib 0x0000000192b113f8 _dispatch_lane_invoke + 432 (queue.c:3976) 20 libdispatch.dylib 0x0000000192b126a8 _dispatch_workloop_invoke + 1756 (queue.c:4485) 21 libdispatch.dylib 0x0000000192b1c004 _dispatch_root_queue_drain_deferred_wlh + 288 (queue.c:6913) 22 libdispatch.dylib 0x0000000192b1b878 _dispatch_workloop_worker_thread + 404 (queue.c:6507) 23 libsystem_pthread.dylib 0x00000001f45a9964 _pthread_wqthread + 288 (pthread.c:2629) 24 libsystem_pthread.dylib 0x00000001f45a9a04 start_wqthread + 8 (:-1) Can't reproduce when running from Xcode. Do you have any experience with this issue, pls help me. Best regard, Ken

I got crash but don't know how to fix. Only happen sometime in some devices (iphone SE 3rd). Can anyone have any clue to fix: 0 libsystem_kernel.dylib 0x00000001f6f91fbc __pthread_kill + 8 (:-1) 1 libsystem_pthread.dylib 0x0000000219843680 pthread_kill + 268 (pthread.c:1681) 2 libsystem_c.dylib 0x00000001b7901b90 abort + 180 (abort.c:118) 3 AppleCV3D 0x0000000224615ea4 cv3d::vio::batch_least_squares_unsanitized::BAFilterFG::PrepareUpdate(cv3d::vio::batch_least_squares_unsanitized::SparseVisualInertialWindow const&, bool, cv3d::vio::batch_least_squares::LowTexture... + 39292 (SlidingWindowFilterFG.cpp:794) 4 AppleCV3D 0x00000002246026ec cv3d::vio::batch_least_squares_unsanitized::BAFilterFG::UpdateAndReturnInlierTracks(cv3d::vio::batch_least_squares_unsanitized::SparseVisualInertialWindow const&, bool, cv3d::vio::batch_least_squar... + 308 (SlidingWindowFilterFG.cpp:541) 5 AppleCV3D 0x0000000223e8ce34 cv3d::vio::odometry::VFusionFG::ProcessBufferedWindowImpl(cv3d::vio::batch_least_squares::LowTextureDetectionResult const&, double) + 208 (VFusionFG.cpp:295) 6 AppleCV3D 0x0000000223e86f54 cv3d::vio::odometry::VFusionBase::ProcessBufferedWindow() + 96 (VFusionBase.cpp:137) 7 AppleCV3D 0x0000000223e117cc cv3d::vio::odometry::FrontEndOdometryInterface::ProcessCurrentVFusionBufferedWindow() + 692 (FrontEndOdometryInterface.cpp:2854) 8 AppleCV3D 0x0000000223e51238 cv3d::vio::odometry::FrontEndOdometryInterfaceBase::ProcessBufferedWindow() + 128 (FrontEndOdometryInterfaceBase.cpp:109) 9 AppleCV3D 0x0000000223cdb50c cv3d::vio::slam_engine::LocalSlamEngine::ProcessVFusionBufferedWindow() + 116 (LocalSlamEngine.cpp:987) 10 AppleCV3D 0x0000000223a7bde8 std::__1::__function::__func<cv3d::vio::slam_engine_node_group::SlamEngineNodeWorker::operator()(cv3d::vio::cv_types::GyroMeasurement const&)::$_1, std::__1::allocator<cv3d::vio::slam_engine_node_g... + 72 (function.h:356) 11 AppleCV3D 0x0000000223a77c54 std::__1::optional<std::__1::shared_ptr<cv3d::vio::odometry_engine::SLAMMetadata const>> cv3d::vio::slam_engine_node_group::SlamEngineNodeWorker::SafeExecute<std::__1::optional<std::__1::shared_ptr... + 80 (SlamEngineNode.h:395) 12 AppleCV3D 0x0000000223a77b60 cv3d::vio::slam_engine_node_group::SlamEngineNodeWorker::operator()(cv3d::vio::cv_types::GyroMeasurement const&) + 96 (SlamEngineNode.cpp:100) 13 AppleCV3D 0x0000000223ac9bfc cv3d::kit::concurrency::detail::ProcessorInputMessageHandlingStrategy<cv3d::vio::cv_types::GyroMeasurement, std::__1::shared_ptr<cv3d::vio::odometry_engine::SLAMMetadata const>, cv3d::vio::slam_eng... + 80 (ProcessorInputMessageHandlingStrategy.h:136) 14 AppleCV3D 0x0000000223aca4a8 std::__1::__function::__func<cv3d::kit::concurrency::detail::Processor<cv3d::vio::cv_types::GyroMeasurement, std::__1::shared_ptr<cv3d::vio::odometry_engine::SLAMMetadata const>, cv3d::vio::slam_en... + 76 (function.h:356) 15 AppleCV3D 0x0000000223c36400 void std::__1::__invoke_void_return_wrapper<void, true>::__call<std::__1::future<void> cv3d::esn::thread::IWorkQueue::DispatchAsync<void>(std::__1::function<void ()>&&)::'lambda'()&>(std::__1::futu... + 68 (invoke.h:487) 16 AppleCV3D 0x0000000224aeaef4 dispatch_async_C_CallBack + 76 (GrandCentralDispatchUtil.cpp:94) 17 libdispatch.dylib 0x00000001b7849300 _dispatch_client_callout + 20 (object.m:561) 18 libdispatch.dylib 0x00000001b7850964 _dispatch_lane_serial_drain + 956 (queue.c:3885) 19 libdispatch.dylib 0x00000001b78513f8 _dispatch_lane_invoke + 432 (queue.c:3976) 20 libdispatch.dylib 0x00000001b78526a8 _dispatch_workloop_invoke + 1756 (queue.c:4485) 21 libdispatch.dylib 0x00000001b785c004 _dispatch_root_queue_drain_deferred_wlh + 288 (queue.c:6913) 22 libdispatch.dylib 0x00000001b785b878 _dispatch_workloop_worker_thread + 404 (queue.c:6507) 23 libsystem_pthread.dylib 0x000000021983f964 _pthread_wqthread + 288 (pthread.c:2629) 24 libsystem_pthread.dylib 0x000000021983fa04 start_wqthread + 8 (:-1)