Added assert

2021-12-06 21:57:17 +01:00 · 2021-12-06 21:57:17 +01:00 · 6df075a1f7
commit 6df075a1f7
parent 6c51d03537
1 changed files with 1 additions and 0 deletions
--- a/src/vi_estimator/sqrt_keypoint_vio.cpp
+++ b/src/vi_estimator/sqrt_keypoint_vio.cpp
@ -308,6 +308,7 @@ bool SqrtKeypointVioEstimator<Scalar_>::measure(
                  meas->get_start_t_ns());
    BASALT_ASSERT(opt_flow_meas->t_ns ==
                  meas->get_dt_ns() + meas->get_start_t_ns());
+    BASALT_ASSERT(meas->get_dt_ns() > 0);

    PoseVelBiasState<Scalar> next_state =
        frame_states.at(last_state_t_ns).getState();