From 6df075a1f755b8683861b7a5e9df28e46b40f020 Mon Sep 17 00:00:00 2001
From: Vladyslav Usenko <usenko.vladyslav@gmail.com>
Date: Mon, 6 Dec 2021 21:57:17 +0100
Subject: [PATCH] Added assert

---
 src/vi_estimator/sqrt_keypoint_vio.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/vi_estimator/sqrt_keypoint_vio.cpp b/src/vi_estimator/sqrt_keypoint_vio.cpp
index be37dd6..71aff49 100644
--- 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();