Hi Team,
I am currently running the Global Localization module in playback mode with inference enabled, and after a certain amount of time, the process terminates unexpectedly with the following error:
Ingest error occurred when ingesting GNSSData: GNSS DATA COVARIANCE MUST VARY
[2025-04-15 13:26:22 UTC][ZED][WARNING] An internal error occurred while performing geotracking fusion for [GeoTracking]. Please verify your input GNSS data. Restarting GNSS and VIO calibration...
terminate called after throwing an instance of 'Bayesian_filter::Numeric_exception'
what(): Initial X not PSD
This appears to happen when the system tries to fuse GNSS data, and it fails due to invalid covariance or non-varying values. A restart of GNSS and VIO calibration is triggered, followed by a crash with the “Initial X not PSD” error.
Let me know if any logs or data samples are needed for further investigation.
Thanks in advance!