updating kimera_vio sha, starting to work on kimera script

WORKSPACE

@@ -530,7 +530,7 @@ http_archive(
   urls = ["https://github.com/ewfuentes/Kimera-VIO/archive/master.zip"],
   strip_prefix = "Kimera-VIO-master",
   build_file = "//third_party:BUILD.kimera_vio",
-  integrity = "sha256-+hQBAPv4bDRbYnH1iXeuHTNsWnfXgqZ0FoUTv6usQ/k=",
+  integrity = "sha256-dWzux1ioSB8LfovhQFAcbmlotNo19x++7ptw9S64UGM=",
 )
 
 http_archive(

experimental/overhead_matching/BUILD

@@ -73,3 +73,14 @@ cc_test(
         "//common/video:image_compare",
     ]
 )
+
+cc_test(
+    name = "kimera_vio_pipeline_test",
+    srcs = ["kimera_vio_pipeline_test.cc"],
+    copts = ["-Wno-sign-compare", "-Wno-vla"],
+    deps = [
+        ":kimera_spectacular_data_provider",
+        "@com_google_googletest//:gtest_main",
+        "@fmt",
+    ]
+)

experimental/overhead_matching/kimera_vio_pipeline_test.cc

@@ -31,6 +31,9 @@ int main(int argc, char* argv[]) {
     // Build dataset parser.
     VIO::DataProviderInterface::Ptr dataset_parser =
         std::make_unique<robot::experimental::overhead_matching::SpectacularDataProviderInterface>(
+            FLAGS_dataset_path,
+            0,
+            std::numeric_limits<int>::max(),
             vio_params);
 
     CHECK(dataset_parser);
@@ -42,18 +45,22 @@ int main(int argc, char* argv[]) {
     // Register callback to shutdown data provider in case VIO pipeline
     // shutsdown.
     vio_pipeline->registerShutdownCallback(
-        std::bind(&VIO::DataProviderModule::shutdown, dataset_parser));
+        [&dataset_parser](){ dataset_parser->shutdown();});
 
     // Register callback to vio pipeline.
     dataset_parser->registerImuSingleCallback(
-        std::bind(&VIO::Pipeline::fillSingleImuQueue, vio_pipeline, std::placeholders::_1));
+        [&vio_pipeline](const auto& arg){ vio_pipeline->fillSingleImuQueue(arg); });
     // We use blocking variants to avoid overgrowing the input queues (use
     // the non-blocking versions with real sensor streams)
     dataset_parser->registerLeftFrameCallback(
-        std::bind(&VIO::Pipeline::fillLeftFrameQueue, vio_pipeline, std::placeholders::_1));
+        [&vio_pipeline](auto arg){ vio_pipeline->fillLeftFrameQueue(std::move(arg)); });
 
     dataset_parser->registerDepthFrameCallback(
-        std::bind(&VIO::RgbdImuPipeline::fillDepthFrameQueue, vio_pipeline, std::placeholders::_1));
+        [&vio_pipeline](auto arg){ 
+            auto rgbd_pipeline = std::dynamic_pointer_cast<VIO::RgbdImuPipeline>(vio_pipeline);
+            ROBOT_CHECK(rgbd_pipeline);
+            rgbd_pipeline->fillDepthFrameQueue(std::move(arg)); 
+        });
 
     // Spin dataset.
     auto tic = VIO::utils::Timer::tic();