Install sophus (template class) on ubuntu18.04

1. Problem description

When I followed the fourth lecture of the second edition of "Visual slam 14 Lectures" to learn to use the sophus library, I always reported fatal error and failed to compile when making, so I recorded this installation process.
insert image description here

2. Installation steps

1. Install the eigen library

The use of sophus must rely on the eigen library, so download eigen first, but if you have a version of eigen below 3.3, please uninstall it first.

1.1 Judging that there is an old version

sudo updatedb  
locate eigen3

1.2 Check the installed eigen version

 pkg-config --modversion eigen3

1.3 Uninstall the old version of eigen

 sudo rm -rf /usr/include/eigen3 /usr/lib/cmake/eigen3 /usr/share/doc/libeigen3-dev /usr/share/pkgconfig/eigen3.pc /var/lib/dpkg/info/libeigen3-dev.list /var/lib/dpkg/info/libeigen3-dev.md5sums

1.4 eigen 3.3.7 version installation

(1 ) Download the installation package from the official website: eigen-3.3.7.tar.bz2, and then extract it here
(2) Enter the folder eigen-3.3.7, right-click to open it in the terminal.
(3) Install

mkdir build
cd build
cmake ..
sudo make install

PS: sudo apt-get install libeigen3-dev This command may install and download the 3.2 version of eigen, which cannot match the sophus of the template class, so this method is not recommended for installation.

2. Install the fmt library

Currently, sophus needs to rely on the fmt library, so fmt should be installed first:

git clone  https://github.com/fmtlib/fmt.git
cd fmt
mkdir build
cd build
cmake ..
make
sudo make install

PS: download link

Baidu network disk link Extraction code: aw6g
CSDN resource download

3. Install the Sophus library

3.1 Installation

git clone https://github.com/strasdat/Sophus.git
cd Sophus/
mkdir build
cd build
cmake ..
make
sudo make install

PS:

Many tutorials on the Internet have rollbacks, that is git checkout a621ff, this will pretend to be the old version of non-template sophus, while the new version of sophus uses template classes;
sudo make installMust have.

3.2 Testing

Re-make, successfully compiled:
insert image description here
the following figure is a screenshot of the successful operation.

4. slam_14 talks about error

4.1 error description

An error occurred when ch4/example/trajectoryErrorevaluating : "undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)’", compilation failed.
insert image description here

4.2 Problem Solving

Modify the two files CMakeLists.txt and trajectoryError.cpp . The specific modifications are as follows:

ch4/example/CMakeLists.txtAdd the following to the text :

find_package(Sophus REQUIRED)
target_link_libraries(trajectoryError Sophus::Sophus)

Modify the text as ch4/example/trajectoryError.cppfollows:

// string groundtruth_file = "./groundtruth.txt";
// string estimated_file = "./estimated.txt";
string groundtruth_file = "../groundtruth.txt";
string estimated_file = "../estimated.txt";

insert image description here

4.3 Test results

Recompile make and run successfully:
insert image description here