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                                            Louis Li

kimera_vio_ros_node crashes with ROS Noetic

Hi, I am facing the same issue. GTSAM with commit ee069286b447ff58b809423cc77c777a02abdfe5 OpenCV with version 3.4.9 OpenGV wit commit 91f4b19c73450833a40e463ad3648aae80b3a7f3 **process[rosout-1]: started with pid [77486] started core service [/rosout] process[kimera_vio_ros/kimera_vio_ros_node-2]: started...

Confused about the "increOdomAffine" in mapOptmization.cpp

@JaySlamer Dear Jay, Thanks for your reply. Yes, you are right. That's my mistake, I haven't noticed that pose graph optimization would change the transformTobeMapped, so I was simple enough...

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

> 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...

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

Hi Thien-Minh, I have resolved a few small code imperfections in recent commits, please check. Best Regards, Louis Li