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Stop VIO waiting on the LiDAR buffer in LIVO mode #455

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Stop VIO waiting on the LiDAR buffer in LIVO mode #455

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3 changes: 2 additions & 1 deletion src/LIVMapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -883,14 +883,14 @@ void LIVMapper::img_cbk(const sensor_msgs::ImageConstPtr &msg_in)

bool LIVMapper::sync_packages(LidarMeasureGroup &meas)
{
if (lid_raw_data_buffer.empty() && lidar_en) return false;
if (img_buffer.empty() && img_en) return false;
if (imu_buffer.empty() && imu_en) return false;

switch (slam_mode_)
{
case ONLY_LIO:
{
if (lid_raw_data_buffer.empty() && lidar_en) return false;
if (meas.last_lio_update_time < 0.0) meas.last_lio_update_time = lid_header_time_buffer.front();
if (!lidar_pushed)
{
Expand Down Expand Up @@ -949,6 +949,7 @@ bool LIVMapper::sync_packages(LidarMeasureGroup &meas)
case WAIT:
case VIO:
{
if (lid_raw_data_buffer.empty() && lidar_en) return false;
// printf("!!! meas.lio_vio_flg: %d \n", meas.lio_vio_flg);
double img_capture_time = img_time_buffer.front() + exposure_time_init;
/*** has img topic, but img topic timestamp larger than lidar end time,
Expand Down