Add check for piecewise preintegration

UTS-RI · Nov 2, 2021 · a2502b0 · a2502b0
1 parent fb39692
commit a2502b0
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/src/library/src/imu_preintegration/preintegration.cpp b/src/library/src/imu_preintegration/preintegration.cpp
@@ -184,6 +184,7 @@ namespace celib
 
 
             int nb_chuncks = (int) std::ceil((last_t - start_t)/opt.quantum);
+            if(nb_chuncks == 0) nb_chuncks = 1;
 
             // Create pointers for the inference times
             std::vector<int> pointers(infer_t.size(),0);