Sophus安装问题及解决方法（slam14讲）

1.安装方法

进入终端后：

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

2.遇到问题

当进行到cmake ..时，会显示以下问题：

  CMake Error at CMakeLists.txt:42 (find_package):
  By not providing "Findfmt.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "fmt", but
  CMake did not find one.

  Could not find a package configuration file provided by "fmt" with any of
  the following names:

    fmtConfig.cmake
    fmt-config.cmake

  Add the installation prefix of "fmt" to CMAKE_PREFIX_PATH or set "fmt_DIR"
  to a directory containing one of the above files.  If "fmt" provides a
  separate development package or SDK, be sure it has been installed.

-- Configuring incomplete, errors occurred!

说的大约就是不能找到fmt这个东西。

3.解决办法

通过阅读sophus里的readme，最后有这么一句“However, it should work (with no to minor modification) on many other modern configurations as long they support c++14, CMake, Eigen 3.3.X and (optionally) fmt. The fmt dependency can be eliminated by passing "-DUSE_BASIC_LOGGING=ON" to cmake when configuring Sophus.”它说明了

安装sophus的一些依赖库，并标明fmt为可选项。

到此可以确定我的问题是缺少fmt，可以通过-DUSE_BASIC_LOGGING=ON来解除对于fmt的依赖，由于本人刚接触cmake，不明白这是什么意思，所以就用了最笨的方法安装一个fmt，以下是fmt的安装方法：

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

安装完之后就可以顺利安装sophus了。