if use Sophus, you need fmt added

[rstallman]

No description provided.

[Psyduck619]

Hi！I added fmt, and re-maked Sophus. But it still has something wrong. Do you have any idea?

/usr/bin/ld: CMakeFiles/bundle_adjustment_bal.dir/bundle_adjustment_bal.cpp.o: in function Sophus::SO3Base<Sophus::SO3<double, 0> >::normalize() [clone .part.0]': bundle_adjustment_bal.cpp:(.text+0x436): undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: bundle_adjustment_bal.cpp:(.text+0x554): undefined reference to fmt::v9::vprint(fmt::v9::basic_string_view<char>, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)' /usr/bin/ld: bundle_adjustment_bal.cpp:(.text+0x573): undefined reference to fmt::v9::vprint(fmt::v9::basic_string_view, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)'
/usr/bin/ld: bundle_adjustment_bal.cpp:(.text+0x59f): undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: bundle_adjustment_bal.cpp:(.text+0x607): undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: bundle_adjustment_bal.cpp:(.text+0x613): undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: bundle_adjustment_bal.cpp:(.text+0x61f): undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: bundle_adjustment_bal.cpp:(.text+0x62b): undefined reference to fmt::v9::detail::throw_format_error(char const*)' /usr/bin/ld: CMakeFiles/bundle_adjustment_bal.dir/bundle_adjustment_bal.cpp.o:bundle_adjustment_bal.cpp:(.text+0x637): more undefined references to fmt::v9::detail::throw_format_error(char const*)' follow
/usr/bin/ld: CMakeFiles/bundle_adjustment_bal.dir/bundle_adjustment_bal.cpp.o: in function minisam::VariableType<Sophus::SE3<double, 0> >::retract(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&) const': bundle_adjustment_bal.cpp:(.text._ZNK7minisam12VariableTypeIN6Sophus3SE3IdLi0EEEE7retractERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE[_ZNK7minisam12VariableTypeIN6Sophus3SE3IdLi0EEEE7retractERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE]+0xcd5): undefined reference to fmt::v9::vprint(fmt::v9::basic_string_view, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)'
/usr/bin/ld: bundle_adjustment_bal.cpp:(.text._ZNK7minisam12VariableTypeIN6Sophus3SE3IdLi0EEEE7retractERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE[_ZNK7minisam12VariableTypeIN6Sophus3SE3IdLi0EEEE7retractERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE]+0xcfc): undefined reference to fmt::v9::vprint(fmt::v9::basic_string_view<char>, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)' /usr/bin/ld: bundle_adjustment_bal.cpp:(.text._ZNK7minisam12VariableTypeIN6Sophus3SE3IdLi0EEEE7retractERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE[_ZNK7minisam12VariableTypeIN6Sophus3SE3IdLi0EEEE7retractERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE]+0xd3b): undefined reference to fmt::v9::detail::throw_format_error(char const*)'
/usr/bin/ld: bundle_adjustment_bal.cpp:(.text._ZNK7minisam12VariableTypeIN6Sophus3SE3IdLi0EEEE7retractERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE[_ZNK7minisam12VariableTypeIN6Sophus3SE3IdLi0EEEE7retractERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE]+0xd6a): undefined reference to `fmt::v9::detail::throw_format_error(char const*)'

[rstallman]

Hi, It is really tricky to build minisam, Consider use GTSAM python bindings instead. It has almost similar interface.

[Psyduck619]

@rstallman Thank you for sharing.