Method callbackKeyframeRateVioOutput

src/base-data-source.cpp:806–812

VIO output callback at keyframe rate

// VIO output callback at keyframe rate
void RosBaseDataProvider::callbackKeyframeRateVioOutput(
    const SpinOutputPacket& vio_output) {
  // The code here should be lighting fast or we will be blocking the backend
  // thread in the VIO. This is actually running in the backend thread, as
  // such do not modify things other than thread-safe stuff.
  vio_output_queue_.push(vio_output);
}

}  // namespace VIO