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Support void runs

This commit is contained in:
Mateo de Mayo 2022-05-06 16:05:11 -03:00
parent 4b4bacb951
commit b90e7e87fc
1 changed files with 6 additions and 4 deletions
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6
src/vi_estimator/sqrt_keypoint_vio.cpp
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@ -159,12 +159,14 @@ void SqrtKeypointVioEstimator<Scalar_>::initialize(const Eigen::Vector3d& bg_,
const Vec3 gyro_cov = calib.dicrete_time_gyro_noise_std().array().square(); const Vec3 gyro_cov = calib.dicrete_time_gyro_noise_std().array().square();
typename ImuData<Scalar>::Ptr data = popFromImuDataQueue(); typename ImuData<Scalar>::Ptr data = popFromImuDataQueue();
BASALT_ASSERT_MSG(data, "first IMU measurment is nullptr");
bool run = data != nullptr; // End VIO otherwise
if (run) {
data->accel = calib.calib_accel_bias.getCalibrated(data->accel); data->accel = calib.calib_accel_bias.getCalibrated(data->accel);
data->gyro = calib.calib_gyro_bias.getCalibrated(data->gyro); data->gyro = calib.calib_gyro_bias.getCalibrated(data->gyro);
}
while (true) { while (run) {
vision_data_queue.pop(curr_frame); vision_data_queue.pop(curr_frame);
if (config.vio_enforce_realtime) { if (config.vio_enforce_realtime) {