diff --git a/src/calibration/cam_imu_calib.cpp b/src/calibration/cam_imu_calib.cpp
index cd35822..f1f5fb9 100644
--- a/src/calibration/cam_imu_calib.cpp
+++ b/src/calibration/cam_imu_calib.cpp
@@ -491,6 +491,11 @@ void CamImuCalib::initMocap() {
     return;
   }
 
+  if (vio_dataset->get_gt_timestamps().empty()) {
+    std::cerr << "The dataset contains no Mocap data!" << std::endl;
+    return;
+  }
+
   {
     std::vector<int64_t> timestamps_cam;
     Eigen::aligned_vector<Eigen::Vector3d> rot_vel_mocap;
diff --git a/thirdparty/CLI11 b/thirdparty/CLI11
index 8ecce8f..418b717 160000
--- a/thirdparty/CLI11
+++ b/thirdparty/CLI11
@@ -1 +1 @@
-Subproject commit 8ecce8fd2c49f64c80e5757cb12d2fd1fa62f242
+Subproject commit 418b7175f5223aa28ab65744c76132fd05fd8f39
diff --git a/thirdparty/Pangolin b/thirdparty/Pangolin
index d33757d..b6cecf4 160000
--- a/thirdparty/Pangolin
+++ b/thirdparty/Pangolin
@@ -1 +1 @@
-Subproject commit d33757da4be5eddbdf1b434b9251477051578fc5
+Subproject commit b6cecf4e5faaa9cf6039f98c8d263cbc169f0b5d
diff --git a/thirdparty/basalt-headers b/thirdparty/basalt-headers
index d49c3e3..f2d9e04 160000
--- a/thirdparty/basalt-headers
+++ b/thirdparty/basalt-headers
@@ -1 +1 @@
-Subproject commit d49c3e3b07145980ffcad5179bdc8f77f06a3862
+Subproject commit f2d9e04e4227e5b4bce1d291cf8ee4432d742794