Implemented TCP frame sender.

src/algorithm/kalman_denoiser.cpp

@@ -88,6 +88,10 @@ namespace sophiar {
                 iter = 0;
                 in->write_to(*this);
 
+                // normalize rotation
+                auto rot = Map<Vector4d>(buffer + 3);
+                rot.normalize();
+
                 // save values
                 iter = 0;
                 auto ret = transform_obj::new_instance();

src/utility/config_utility.hpp

@@ -74,7 +74,7 @@ inline auto LOAD_VARIABLE_INDEX2_IMPL(const nlohmann::json &config,
 inline auto TRY_LOAD_BOOL_ITEM2(const nlohmann::json &config,
                                 const std::string &var_name, bool default_val) {
     if (config.contains(var_name)) {
-        assert(config[var_name].is_number());
+        assert(config[var_name].is_boolean());
         return config[var_name].get<bool>();
     } else {
         return default_val;

src/utility/debug_utility.hpp

@@ -21,7 +21,7 @@
 
 #else
 
-#include <fmt/format>
+#include <fmt/format.h>
 
 #endif