Fixed the issue that fitting the spline doesn't work correctly. It will cause Signal: SIGABRT (Aborted).

[Lurvelly]

1. Fixed the issue that fitting the spline doesn't work correctly. It will cause Signal: SIGABRT (Aborted).
2. Simplied CMakeLists.txt about compiling converters.

[brytsknguyen]

Hi Louis, Thanks a lot for the pr. The fitspline function was an experimental function meant for initializing the new bspline control points, which I forgot to remove. I will take a look on the pr on CMakeList.txt, thanks a lot! Regards, Thien-Minh

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_____________________________________ *Thien-Minh Nguyen, PhD* *Researcher (Robotics, Autonomous Systems, **Computer Science**)* *Alternative Contacts: ***@***.*** ***@***.***>, +84(0)765 206 416* *Website: brytsknguyen.github.io <http://brytsknguyen.github.io>*

On Mon, Sep 30, 2024 at 12:25 PM Louis Li ***@***.***> wrote: 1. Fixed the issue that fitting the spline doesn't work correctly. It will cause Signal: SIGABRT (Aborted). 2. Simplied CMakeLists.txt about compiling converters. ------------------------------ You can view, comment on, or merge this pull request online at: #25 Commit Summary - ec19382 <ec19382> Simply CMakeLists.txt about compiling converters. - 94cd8c7 <94cd8c7> Fixed the issue that fitting the spline doesn't work correctly. It will cause Signal: SIGABRT (Aborted). File Changes (2 files <https://github.com/brytsknguyen/slict/pull/25/files>) - *M* CMakeLists.txt <https://github.com/brytsknguyen/slict/pull/25/files#diff-1e7de1ae2d059d21e1dd75d5812d5a34b0222cef273b7c3a2af62eb747f9d20a> (63) - *M* src/Estimator.cpp <https://github.com/brytsknguyen/slict/pull/25/files#diff-eccde2c9d525c3afe0636389312b7e59bf2a2de1443afde4cf5d3d276a3a4dad> (4) Patch Links: - https://github.com/brytsknguyen/slict/pull/25.patch - https://github.com/brytsknguyen/slict/pull/25.diff — Reply to this email directly, view it on GitHub <#25>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ADHBDB4D73MBA5ZDXLXXWHTZZDHCRAVCNFSM6AAAAABPCNE7SKVHI2DSMVQWIX3LMV43ASLTON2WKOZSGU2TKNJQGE2TQNY> . You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[brytsknguyen]

Hi Louis,

The fitspline function was an experimental function meant for initializing the new bspline control points. Later on I found the imu propagation initialization is enough and I forgot to remove fitspline.

I will take a look on the pr on CMakeList.txt, thanks a lot!

Regards,
Thien-Minh

[Lurvelly]

Hi Louis,

The fitspline function was an experimental function meant for initializing the new bspline control points. Later on I found the imu propagation initialization is enough and I forgot to remove fitspline.↳

I will take a look on the pr on CMakeList.txt, thanks a lot!

Regards, Thien-Minh

Hi Thien-Minh,

Thanks for your explaining about the fitspline function.

I found these lidar converters file named by pascal rule, but it's node named by underscore rule. And all "dependencies", "compile options" and "link libraries" are same. I think we can use a foreach loop in the CMakeLists, so I submit this pr.

Only the "Reverse Velodyn" node name is pascal rule, but I found there is no launch file use this node, so change it to the underscore rule as other converter node will be better.

slict/CMakeLists.txt

Lines 143 to 147 in a733e7f

	# Reverse Velodyne
	add_executable(${PROJECT_NAME}_OusterToVelodyne src/lidar_converters/OusterToVelodyne.cpp)
	add_dependencies(${PROJECT_NAME}_OusterToVelodyne ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
	target_compile_options(${PROJECT_NAME}_OusterToVelodyne PRIVATE ${OpenMP_CXX_FLAGS})
	target_link_libraries(${PROJECT_NAME}_OusterToVelodyne ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} UFO::Map Sophus::Sophus)

Best Regards,
Louis Li

[Lurvelly]

Hi Thien-Minh,

I have resolved a few small code imperfections in recent commits, please check.

Best Regards,
Louis Li