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Added assert

This commit is contained in:
Vladyslav Usenko 2021-12-06 21:57:17 +01:00
parent 6c51d03537
commit 6df075a1f7
1 changed files with 1 additions and 0 deletions
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src/vi_estimator/sqrt_keypoint_vio.cpp
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@ -308,6 +308,7 @@ bool SqrtKeypointVioEstimator<Scalar_>::measure(
meas->get_start_t_ns()); meas->get_start_t_ns());
BASALT_ASSERT(opt_flow_meas->t_ns == BASALT_ASSERT(opt_flow_meas->t_ns ==
meas->get_dt_ns() + meas->get_start_t_ns()); meas->get_dt_ns() + meas->get_start_t_ns());
BASALT_ASSERT(meas->get_dt_ns() > 0);
PoseVelBiasState<Scalar> next_state = PoseVelBiasState<Scalar> next_state =
frame_states.at(last_state_t_ns).getState(); frame_states.at(last_state_t_ns).getState();