《视觉SLAM十四讲》ch13从安装Ubuntu20到最终实现（记录rosdep/Stopus/Eigen几个大坑）

Alex_zt

已于 2022-06-26 21:39:33 修改

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文章标签： ubuntu 计算机视觉自动驾驶视觉检测

于 2022-06-26 16:37:19 首次发布

本文链接：https://blog.csdn.net/zt7758258/article/details/125468520

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文章目录

前言
一、安装Ubuntu20.04
二、安装ROS-noetic
- 1.安装方法
- 2. rosdep初始化和更新问题解决
三、安装《视觉SLAM十四讲》中的第三方库
最终结果

前言

最近在编译《视觉SLAM十四讲》ch13章节的代码。由于原来笔记本T430安装的Ubuntu16系统。这次从安装Ubuntu20到最终实现教材中的例子，跑通KITTI的数据集，耗时3天，中间也出现过很多踩坑的环节，也多亏csdn上很多无私的博主分享的内容，最后还是完成了编译实现。所以，拒绝白嫖，从现在做起。后面应该还有想做的小伙伴，趁着还熟悉，花时间记录一下踩过的坑，希望能帮助到有需要的人。
提前透露一下，这次主要费时的工作是三个：1、ros-noetic的rosdep update和sudo rosdep init；2、Sophus的报错与更新；3、Egien库的安装、删除与解决undefined reference to错误。
先插入最后的成功界面，大家耐心点，都能实现。
编译make成功的界面

一、安装Ubuntu20.04

这里没有太大的难度。官网或者其他博客也都说的很清楚。不过需要注意的是很多人都是用虚拟机或者双系统的安装，我担心有库不兼容。反正t430配置也低了，win10也带不起来，直接把原来的Ubuntu16全盘格式化以后，安装的单机版的Ubuntu20.04。
有需要的小伙伴可以从这里下载20.04或者更高的版本[https://releases.ubuntu.com/20.04.4/ubuntu-20.04.4-desktop-amd64.iso]；
然后使用UltralSO工具制作U盘启动，(https://www.ultraiso.com/)官网可以下载，制作过程和方法可以参考[https://product.pconline.com.cn/itbk/software/dnwt/1512/7331473.html]，图文说明。
制作好U盘启动盘，插上U盘，在你的电脑上按下对应的BIOS键（t430开机F12，可以进入到U盘启动）。
Ubuntu 20.04安装过程可以参考网址https://blog.csdn.net/baidu_35805755/article/details/121324169
最好安装成全英文版，分区的话我也没设置，双系统或者虚拟机应该需要设置。

二、安装ROS-noetic

1.安装方法

官网有比较详细的安装方法：链接是这个[https://wiki.ros.org/noetic/Installation/Ubuntu]，也可以参考知乎或者其它的安装讲解。
如果做计算机视觉的时候，不需要ROS，这一段可以跳过，直接到（三）。
在此之前，请打开软件更新，选择国内的下载服务器。Software&Updates–Setting—Ubuntu Software—Download from—点击右侧下拉△——Other—选择国内的mirror.tinghua.com/ubuntu或者mirr.aliyun.com/ubuntu，这是选择下载源，保证在线下载能够顺利完成，huawei的应该也可以。
打开终端，依次执行以下操作,更改下载源：

## （1）添加sources.list
> sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
## （2）添加 keys
> sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
##（3）确保Debian软件包索引是当前最新的
> sudo apt update
## （4）安装完全版的ros-noetic
> sudo apt install ros-noetic-desktop-full
## （5）安装必要的package包
> sudo apt install ros-noetic-PACKAGE
## （6）设置环境变量，在每一个bash终端添加source
> source /opt/ros/noetic/setup.bash
## （7）安装building packages的依赖
> sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
## （8）安装rosdep
> sudo apt install python3-rosdep
## （9）rosdep初始化你的ROS
> sudo rosdep init
> rosdep update

2. rosdep初始化和更新问题解决

在安装ros的过程中，前面（1）-（8）安装应该都没有什么问题，但是（9）初始化rosdep的过程，由于raw.githubusercontent.com域名禁止访问，导致无法更新链接。大家可以在网上查找资料，大部分都是在文件中添加中转网址，方法是是终端操作：

> sudo gedit /etc/hosts

151.101.84.133 raw.githubusercontent.com
185.199.108.133 raw.githubusercontent.com
185.199.109.133 raw.githubusercontent.com
185.199.110.133 raw.githubusercontent.com
185.199.111.133 raw.githubusercontent.com等等。在hosts文件的最后加上这些，目的就是能够通过中转，链接到对应网址。还有的是通过学校内网，在半夜用网非高峰时期操作（捂眼），应该可以用，但是我始终没有操作成功。
不过在强大的csdn上，还是发现了大神，链接是这个：[https://blog.csdn.net/weixin_53660567/article/details/120607176#comments_18709733]。

> sudo pip install rosdepc
## 如果显示没有pip可以试试
> sudo pip3 install rosdepc
## 如果pip3还没有：
> sudo apt-get install python3-pip 
> sudo pip install rosdepc
## 安装（最后居然还显示了博主的flag）
> sudo rosdepc init
> rosdepc update
## 成功 测试方法,终端打开
> roscore
## 新的终端打开，调出小海龟
> rosrun turtlesim turtlesim_node
## 第三个终端打开。操作键盘时把鼠标指针放到第三个终端上，小乌龟可以运动。
> rosrun turtlesim turtle_teleop_key
## 如果小海龟可以运动，说明安装成功了。

三、安装《视觉SLAM十四讲》中的第三方库

大家如果没有接触过本教材，可以先从基础知识开始，花点时间积累积累。我这里就先从后面实践开始，原网址https://github.com/gaoxiang12/slambook2可以下载所有的代码和第三方库。
我在csdn上找到三个网址，别的博主已经实现的过程，非常具有借鉴意义，在此先放一下链接：
（1）视觉SLAM十四讲–第13讲实践：设计SLAM系统（最详细的代码调试运行步骤）：https://blog.csdn.net/jiachang98/article/details/121700288；
（2）视觉slam十四讲中ch13设计slam系统的编译运行：https://blog.csdn.net/ldk3679/article/details/105816907；
（3）视觉SLAM十四讲slambook2示例代码所有依赖库的编译安装教程（VTK、OpenCV3、ceres、Sophus、g2o、Eigen、Pangolin、googletest等）：https://blog.csdn.net/weixin_44120025/article/details/122244849

1.Eigen和Sophus安装方法

**（1）Eigen 安装方法
Eigen 开源的C++线性代数库,提供几何模块。在视觉SLAM教材中，有直接的安装方法，不过对于前面几个章节可能是没问题的，ch13章节的依赖很多，低版本的eigen会出现问题。所以借鉴博主：Sophus库安装踩坑（SLAM十四讲）：https://blog.csdn.net/weixin_44684139/article/details/104803225有比较详细的安装方法。建议：直接用高版本的3.3.8版本安装。
正确方法：
（1）在官网（http://eigen.tuxfamily.org/index.php?title=Main_Page）下载安装包：eigen-3.3.8.tar.bz2 ，然后提取到此处
（2）进入文件夹eigen-3.3.8，右键在终端打开。

mkdir build
cd build
cmake ..
sudo make install
## 注意，千万不要使用 sudo apt-get install libeigen3-dev 因为这个命令下载的是3.2版本的eigen，从而无法与模板类的sophus相匹配

**（2）Sophus安装方法
Sophus，提供对于李代数的支持，是Strasdat维护的SO(3)和SE(3),直接基于Eigen基础上开发的。可以直接从GitHub上下载，只需编译，无须安装。（方法：新建build文件夹，在当前文件夹中，先cmake …，再make)。
借鉴博主：Sophus库安装踩坑（SLAM十四讲）：https://blog.csdn.net/weixin_44684139/article/details/104803225有比较详细的安装方法。
① sophus需要依赖fmt库，因此优先安装fmt：

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

② 安装Sophus
直接把文件下载到/Downloads下，解压，新建build文件夹，cmake … 和make 编译，最后安装sudo make install.

git clone https://github.com/strasdat/Sophus.git
cd Sophus/

mkdir build
cd build
cmake ..
make
sudo make install

1.1 Eigen安装目录映射问题

比较典型的时Eigen3没有安装到/usr/include中，而是安到/usr/local/include/Eigen3中，这时候需要进行映射，将安装目录中的文件映射到编译的地址中/usr/include：
命令如下：

> sudo ln -s /usr/local/include/eigen3/Eigen /usr/include/Eigen
##（安装目录 映射目录）

1.2 eigen_assert_exception’ is not a member of ‘Eigen’问题解决方法

Eigen问题解决:eigen_assert_exception’ is not a member of ‘Eigen’具体可以参考下面的网址：修改代码。
参考方法和网址：Eigen问题解决:eigen_assert_exception’ is not a member of ‘Eigen’ https://blog.csdn.net/qq_25458977/article/details/115319819

1.3 Sophus安装时遇到问题解决方法

安装会出现的问题，主要还是参考网上的解决方法：
（1）正确安装sophus,需要首先安装高版本的Eigen,这里可以下载3.8.8版本以上，参考下列网址：
https://blog.csdn.net/weixin_44684139/article/details/104803225https://blog.csdn.net/weixin_44684139/article/details/104803225
（2）其次安装fmt8.1.1版本，低版本的安装后，会导致Sophus在make编译时报错；下载最新版本网址为：https://fmt.dev/8.1.1/ 安装方法同样参考上述网址；
（3）下载sophus，从https://github.com/strasdat/Sophus.githttps://github.com/strasdat/Sophus.git网址，安装方法新建build文件夹，之后在build中cmake …，然后编译make，最后安装sudo make install；安装方法同样参考上述网址；https://blog.csdn.net/weixin_44684139/article/details/104803225。

1.4 undefined reference to"viable for fmt::V8::format_error’ detail::assert_fail(char const int char const)'解决方法

原因：没有链接fmt库。
解决方法：在/ch13/test/文件夹中的CmakeList.txt中，增加fmt，如下所示：

SET(TEST_SOURCES test_triangulation)

FOREACH (test_src ${TEST_SOURCES})
    ADD_EXECUTABLE(${test_src} ${test_src}.cpp)
    # TARGET_LINK_LIBRARIES(${test_src} ${THIRD_PARTY_LIBS} myslam)
    #----在上面这一行中，最后加入fmt-----
    TARGET_LINK_LIBRARIES(${test_src} ${THIRD_PARTY_LIBS} myslam fmt)
    #-----链接到fmt库----
    ADD_TEST(${test_src} ${test_src})
ENDFOREACH (test_src)

2.安装OpenGV

安装OpenCV，OpenCV提供了大量的开源图像优化算法，是计算机视觉中用途非常广泛的图像算法处理数据库。在Ubuntu中，一般情况下利用源代码安装或者只安装库文件。我在调试的过程中，这个没有报错，所以就按照以下这个进行了安装：

安装Opencv 3.4.15 ubuntu20.04环境下安装opencv教程及测试： https://blog.csdn.net/pink_lemon/article/details/120632557
对于SLAM来说的依赖
原来的依赖：

sudo apt-get install build-essential libgtk2.0-dev libvtk5-dev lijpeg-dev libtiff4-dev libjasper-dev libopenexr-dev libtbb-dev

针对ubuntu20 更新后的依赖：

sudo apt-get install build-essential libgtk2.0-dev libvtk7-dev libjpeg-dev libtiff5-dev libjasper-dev libopenexr-dev libtbb-dev

如果上述依赖安装失败，请参考https://blog.csdn.net/weixin_44120025/article/details/122244849

该参考网址有环境变量的配置操作过程 https://blog.csdn.net/weixin_44120025/article/details/122244849

3.安装googletest/gflags/glog等

安装方法可以参考视觉SLAM十四讲–第13讲实践：设计SLAM系统（最详细的代码调试运行步骤）https://blog.csdn.net/jiachang98/article/details/121700288，这个图也是引用的博客里面的图，在此特别说明。侵删。
在这里插入图片描述
比如gtest的安装方法，在googletest目录下，打开一个终端，依次执行：

mkdir build          # 创建build目录
cd build             # 进入build目录
cmake ..             # 生成makefile
make -j8             # 进行编译
sudo make install    # 安装

4.安装Pangolin

安装Pangolin,支持3D绘图的程序库，支持3D绘图；SLAM 教材；
https://github.com/stevenlovegrove/Pangolin/

mkdir build          # 创建build目录
cd build             # 进入build目录
cmake ..             # 生成makefile
make -j8             # 进行编译
sudo make install    # 安装

5.安装G2O

G2O，SLAM研究领域使用的优化库，是一个基础图优化的库，将非线性优化与图论结合的理论，General Graphic Optimization G2O。可以使用官网的g2o，也可以使用高翔代码中的源文件。

cd g2o
mkdir build
cd build
cmake..
make
sudo make install

5.1 g2o库出现undefined reference to错误解决方法

G2O报错是我这次调试编译最耗时的地方，在CSDN上搜索了很久，修改后，总感觉自己要解决问题了，但是还是出现报错，真的快崩溃了。最后在谷歌上找到了解决方法，虽然答案比较简单，但是过程还是很难受的。
这个问题的最终解决方法是在这个网址找到的：Programming VIP,不仅介绍了什么是G2O，而且还详细给出了调试和使用G2O库的算例方法。www.programming.vip/docs/621909291ab8f.html

error: undefined reference to `g2o::OptimizableGraph::addVertex(g2o::OptimizableGraph::Vertex:clone() const*)’
error: undefined reference to `g2o::OptimizableGraph::Edge(g2o::OptimizableGraph::Edge:clone() const*)’

解决方法：在/slambook2/ch13/app中的CMakeList.txt文件中，修改代码如下：

add_executable(run_kitti_stereo run_kitti_stereo.cpp)
target_link_libraries(run_kitti_stereo myslam ${OpenCV_LIBS})
###-------原来的链接库的代码----------#
#target_link_libraries(run_kitti_stereo myslam)
#----------------------------------#

#--------新修改的的，把g2o的库和子类都添加进去，很多g2o的错误大都由这种引起的，其他问
#题，#大家可以对比解决-------------------------------#
target_link_libraries(run_kitti_stereo myslam g2o_core g2o_types_slam3d g2o_solver_csparse g2o_stuff g2o_csparse_extension)
#------------------------------------------------#

target_link_libraries(run_kitti_stereo myslam ${THIRD_PARTY_LIBS})

网上也有博主总结的g2o的大坑，主要有以下几个（作为大自然的搬运工，侵删）
① g2o 编译问题 https://blog.csdn.net/yangziluomu/article/details/72622225?utm_medium=distribute.pc_relevant.none-task-blog-2_defaultbaidujs_title~default-1-72622225-blog-88698502.pc_relevant_blogantidownloadv1&spm=1001.2101.3001.4242.2&utm_relevant_index=4
② g2o库出现undefined reference to错误 https://blog.csdn.net/weixin_44678052/article/details/104579595
③ 视觉SLAM 调试记录 https://wenku.baidu.com/view/f2f4dbb5d9ef5ef7ba0d4a7302768e9951e76e7c.html

6.安装Ceres

该库与g2o同属于C++的优化库，是一个广泛使用的最小二乘问题求解库。在Ceres中，我们只需要按照一定的步骤定义待解的优化问题。然后交给求解器就可以了。
在Ceres目录下打开终端。官网下载https://github.com/ceres-solver/ceres-solver
具体安装过程可以参考 ubuntu 20.04 安装 ceres库： https://blog.csdn.net/qq_39607707/article/details/123736439
① 首先安装依赖：

sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev`

② 然后依次执行如下命令进行编译安装：

git clone https://github.com/ceres-solver/ceres-solver
mkdir build          # 创建build目录
cd build             # 进入build目录
cmake ..             # 生成makefile
make -j8             # 进行编译
sudo make install  安装

注意：
安装过程中有可能cmake的时候会报错，这时候需要安装gtest,gflag,glog等库，可以使用命令行安装，也可以使用源码编译安装。参考3.安装googletest/gflags/glog等方法。

7.其它的编译问题

7.1 collect2: error: ld returned 1 exit status

/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `Sophus::SO3Base<Sophus::SO3<double, 0> >::normalize() [clone .part.0]':
test_triangulation.cpp:(.text+0x120): undefined reference to `fmt::v8::vprint(fmt::v8::basic_string_view<char>, fmt::v8::basic_format_args<fmt::v8::basic_format_context<fmt::v8::appender, char> >)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `fmt::v8::detail::dynamic_specs_handler<fmt::v8::detail::compile_parse_context<char, fmt::v8::detail::error_handler> >::make_arg_ref(fmt::v8::basic_string_view<char>) [clone .isra.0] [clone .part.0]':
test_triangulation.cpp:(.text+0x14a): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `MyslamTest_Triangulation_Test::TestBody()':
test_triangulation.cpp:(.text+0x5515): undefined reference to `fmt::v8::vprint(fmt::v8::basic_string_view<char>, fmt::v8::basic_format_args<fmt::v8::basic_format_context<fmt::v8::appender, char> >)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `void fmt::v8::detail::for_each_codepoint<fmt::v8::detail::compute_width(fmt::v8::basic_string_view<char>)::count_code_points>(fmt::v8::basic_string_view<char>, fmt::v8::detail::compute_width(fmt::v8::basic_string_view<char>)::count_code_points)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail18for_each_codepointIZNS1_13compute_widthENS0_17basic_string_viewIcEEE17count_code_pointsEEvS4_T_[_ZN3fmt2v86detail18for_each_codepointIZNS1_13compute_widthENS0_17basic_string_viewIcEEE17count_code_pointsEEvS4_T_]+0x5a4): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `char const* fmt::v8::detail::parse_align<char, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::detail::compile_parse_context<char, fmt::v8::detail::error_handler> > >&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::detail::compile_parse_context<char, fmt::v8::detail::error_handler> > >&)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x104): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x11c): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x128): undefined reference to `fmt::v8::detail::throw_format_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x140): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `int fmt::v8::detail::parse_nonnegative_int<char>(char const*&, char const*, int)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail21parse_nonnegative_intIcEEiRPKT_S5_i[_ZN3fmt2v86detail21parse_nonnegative_intIcEEiRPKT_S5_i]+0x9c): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `char const* fmt::v8::detail::do_parse_arg_id<char, fmt::v8::detail::parse_replacement_field<char, fmt::v8::detail::format_string_checker<char, fmt::v8::detail::error_handler, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > >&>(char const*, char const*, fmt::v8::detail::format_string_checker<char, fmt::v8::detail::error_handler, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > >&)::id_adapter&>(char const*, char const*, fmt::v8::detail::format_string_checker<char, fmt::v8::detail::error_handler, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > >&)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS6_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SF_SF_OT0_E10id_adapterEESF_SF_SF_SH_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS6_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SF_SF_OT0_E10id_adapterEESF_SF_SF_SH_]+0xea): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS6_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SF_SF_OT0_E10id_adapterEESF_SF_SF_SH_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS6_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SF_SF_OT0_E10id_adapterEESF_SF_SF_SH_]+0x10c): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS6_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SF_SF_OT0_E10id_adapterEESF_SF_SF_SH_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS6_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SF_SF_OT0_E10id_adapterEESF_SF_SF_SH_]+0x12c): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS6_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SF_SF_OT0_E10id_adapterEESF_SF_SF_SH_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS6_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SF_SF_OT0_E10id_adapterEESF_SF_SF_SH_]+0x138): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS6_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SF_SF_OT0_E10id_adapterEESF_SF_SF_SH_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS6_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SF_SF_OT0_E10id_adapterEESF_SF_SF_SH_]+0x144): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS6_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SF_SF_OT0_E10id_adapterEESF_SF_SF_SH_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS6_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SF_SF_OT0_E10id_adapterEESF_SF_SF_SH_]+0x15c): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS6_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SF_SF_OT0_E10id_adapterEESF_SF_SF_SH_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS6_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SF_SF_OT0_E10id_adapterEESF_SF_SF_SH_]+0x168): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `char const* fmt::v8::detail::parse_replacement_field<char, fmt::v8::detail::format_string_checker<char, fmt::v8::detail::error_handler, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > >&>(char const*, char const*, fmt::v8::detail::format_string_checker<char, fmt::v8::detail::error_handler, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > >&)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS5_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SE_SE_OT0_[_ZN3fmt2v86detail23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS5_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SE_SE_OT0_]+0xeb): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS5_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SE_SE_OT0_[_ZN3fmt2v86detail23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS5_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SE_SE_OT0_]+0x10d): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS5_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SE_SE_OT0_[_ZN3fmt2v86detail23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS5_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SE_SE_OT0_]+0x11c): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS5_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SE_SE_OT0_[_ZN3fmt2v86detail23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS5_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SE_SE_OT0_]+0x130): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o:test_triangulation.cpp:(.text._ZN3fmt2v86detail23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS5_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SE_SE_OT0_[_ZN3fmt2v86detail23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS5_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SE_SE_OT0_]+0x13f): more undefined references to `fmt::v8::detail::error_handler::on_error(char const*)' follow
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `char const* fmt::v8::detail::parse_replacement_field<char, fmt::v8::detail::format_string_checker<char, fmt::v8::detail::error_handler, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > >&>(char const*, char const*, fmt::v8::detail::format_string_checker<char, fmt::v8::detail::error_handler, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > >&)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS5_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SE_SE_OT0_[_ZN3fmt2v86detail23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS5_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SE_SE_OT0_]+0x157): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `void fmt::v8::detail::check_format_string<Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> >, Sophus::SO3Base<Sophus::SO3<double, 0> >::normalize()::{lambda()#1}::operator()() const::FMT_COMPILE_STRING, 0>(Sophus::SO3Base<Sophus::SO3<double, 0> >::normalize()::{lambda()#1}::operator()() const::FMT_COMPILE_STRING)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail19check_format_stringIJN5Eigen9TransposeINS3_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEZZN6Sophus7SO3BaseINS8_3SO3IdLi0EEEE9normalizeEvENKUlvE_clEvE18FMT_COMPILE_STRINGLi0EEEvT0_[_ZN3fmt2v86detail19check_format_stringIJN5Eigen9TransposeINS3_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEZZN6Sophus7SO3BaseINS8_3SO3IdLi0EEEE9normalizeEvENKUlvE_clEvE18FMT_COMPILE_STRINGLi0EEEvT0_]+0x12b): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `char const* fmt::v8::detail::parse_align<char, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x104): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x11c): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x128): undefined reference to `fmt::v8::detail::throw_format_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_alignIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x140): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `char const* fmt::v8::detail::do_parse_arg_id<char, fmt::v8::detail::parse_width<char, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::detail::compile_parse_context<char, fmt::v8::detail::error_handler> > >&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::detail::compile_parse_context<char, fmt::v8::detail::error_handler> > >&)::width_adapter&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::detail::compile_parse_context<char, fmt::v8::detail::error_handler> > >&)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_]+0x150): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_]+0x168): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_]+0x174): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_]+0x18c): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_]+0x19d): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `char const* fmt::v8::detail::parse_width<char, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::detail::compile_parse_context<char, fmt::v8::detail::error_handler> > >&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::detail::compile_parse_context<char, fmt::v8::detail::error_handler> > >&)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0xe4): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x137): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x147): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x156): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x165): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `char const* fmt::v8::detail::do_parse_arg_id<char, fmt::v8::detail::parse_precision<char, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::detail::compile_parse_context<char, fmt::v8::detail::error_handler> > >&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::detail::compile_parse_context<char, fmt::v8::detail::error_handler> > >&)::precision_adapter&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::detail::compile_parse_context<char, fmt::v8::detail::error_handler> > >&)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_]+0x150): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_]+0x168): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_]+0x174): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_]+0x18c): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_]+0x19d): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `char const* fmt::v8::detail::parse_precision<char, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::detail::compile_parse_context<char, fmt::v8::detail::error_handler> > >&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::detail::compile_parse_context<char, fmt::v8::detail::error_handler> > >&)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x13c): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x14c): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x161): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x170): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o:test_triangulation.cpp:(.text._ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS1_21compile_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x17f): more undefined references to `fmt::v8::detail::error_handler::on_error(char const*)' follow
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `char const* fmt::v8::detail::do_parse_arg_id<char, fmt::v8::detail::parse_width<char, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&)::width_adapter&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_]+0x158): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_]+0x170): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E13width_adapterEESE_SE_SE_SG_]+0x181): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `char const* fmt::v8::detail::parse_width<char, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0xe4): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x131): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x141): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail11parse_widthIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x150): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `char const* fmt::v8::detail::do_parse_arg_id<char, fmt::v8::detail::parse_precision<char, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&)::precision_adapter&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_]+0x140): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_]+0x158): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_]+0x170): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_]+0x181): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `char const* fmt::v8::detail::parse_precision<char, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&>(char const*, char const*, fmt::v8::detail::specs_checker<fmt::v8::detail::dynamic_specs_handler<fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler> > >&)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x13c): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x14c): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x161): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x170): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o:test_triangulation.cpp:(.text._ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_[_ZN3fmt2v86detail15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SD_SD_OT0_]+0x180): more undefined references to `fmt::v8::detail::error_handler::on_error(char const*)' follow
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `void fmt::v8::detail::buffer<char>::append<char>(char const*, char const*)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail6bufferIcE6appendIcEEvPKT_S7_[_ZN3fmt2v86detail6bufferIcE6appendIcEEvPKT_S7_]+0x1cd): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `fmt::v8::appender fmt::v8::detail::write<char, fmt::v8::appender>(fmt::v8::appender, fmt::v8::basic_string_view<char>, fmt::v8::basic_format_specs<char> const&)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail5writeIcNS0_8appenderEEET0_S4_NS0_17basic_string_viewIT_EERKNS0_18basic_format_specsIS6_EE[_ZN3fmt2v86detail5writeIcNS0_8appenderEEET0_S4_NS0_17basic_string_viewIT_EERKNS0_18basic_format_specsIS6_EE]+0x12e): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `fmt::v8::appender fmt::v8::detail::fallback_formatter<Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> >, char, void>::format<fmt::v8::appender>(Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > const&, fmt::v8::basic_format_context<fmt::v8::appender, char>&)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail18fallback_formatterIN5Eigen9TransposeINS3_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEcvE6formatINS0_8appenderEEET_RKS7_RNS0_20basic_format_contextISB_cEE[_ZN3fmt2v86detail18fallback_formatterIN5Eigen9TransposeINS3_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEcvE6formatINS0_8appenderEEET_RKS7_RNS0_20basic_format_contextISB_cEE]+0x1b6): undefined reference to `std::locale fmt::v8::detail::locale_ref::get<std::locale>() const'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail18fallback_formatterIN5Eigen9TransposeINS3_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEcvE6formatINS0_8appenderEEET_RKS7_RNS0_20basic_format_contextISB_cEE[_ZN3fmt2v86detail18fallback_formatterIN5Eigen9TransposeINS3_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEcvE6formatINS0_8appenderEEET_RKS7_RNS0_20basic_format_contextISB_cEE]+0xa78): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail18fallback_formatterIN5Eigen9TransposeINS3_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEcvE6formatINS0_8appenderEEET_RKS7_RNS0_20basic_format_contextISB_cEE[_ZN3fmt2v86detail18fallback_formatterIN5Eigen9TransposeINS3_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEcvE6formatINS0_8appenderEEET_RKS7_RNS0_20basic_format_contextISB_cEE]+0xa90): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail18fallback_formatterIN5Eigen9TransposeINS3_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEcvE6formatINS0_8appenderEEET_RKS7_RNS0_20basic_format_contextISB_cEE[_ZN3fmt2v86detail18fallback_formatterIN5Eigen9TransposeINS3_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEcvE6formatINS0_8appenderEEET_RKS7_RNS0_20basic_format_contextISB_cEE]+0xaa3): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o: in function `void fmt::v8::detail::value<fmt::v8::basic_format_context<fmt::v8::appender, char> >::format_custom_arg<Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> >, fmt::v8::detail::fallback_formatter<Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> >, char, void> >(void*, fmt::v8::basic_format_parse_context<char, fmt::v8::detail::error_handler>&, fmt::v8::basic_format_context<fmt::v8::appender, char>&)':
test_triangulation.cpp:(.text._ZN3fmt2v86detail5valueINS0_20basic_format_contextINS0_8appenderEcEEE17format_custom_argIN5Eigen9TransposeINS8_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEENS1_18fallback_formatterISC_cvEEEEvPvRNS0_26basic_format_parse_contextIcNS1_13error_handlerEEERS5_[_ZN3fmt2v86detail5valueINS0_20basic_format_contextINS0_8appenderEcEEE17format_custom_argIN5Eigen9TransposeINS8_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEENS1_18fallback_formatterISC_cvEEEEvPvRNS0_26basic_format_parse_contextIcNS1_13error_handlerEEERS5_]+0x3b5): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail5valueINS0_20basic_format_contextINS0_8appenderEcEEE17format_custom_argIN5Eigen9TransposeINS8_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEENS1_18fallback_formatterISC_cvEEEEvPvRNS0_26basic_format_parse_contextIcNS1_13error_handlerEEERS5_[_ZN3fmt2v86detail5valueINS0_20basic_format_contextINS0_8appenderEcEEE17format_custom_argIN5Eigen9TransposeINS8_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEENS1_18fallback_formatterISC_cvEEEEvPvRNS0_26basic_format_parse_contextIcNS1_13error_handlerEEERS5_]+0x3fb): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail5valueINS0_20basic_format_contextINS0_8appenderEcEEE17format_custom_argIN5Eigen9TransposeINS8_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEENS1_18fallback_formatterISC_cvEEEEvPvRNS0_26basic_format_parse_contextIcNS1_13error_handlerEEERS5_[_ZN3fmt2v86detail5valueINS0_20basic_format_contextINS0_8appenderEcEEE17format_custom_argIN5Eigen9TransposeINS8_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEENS1_18fallback_formatterISC_cvEEEEvPvRNS0_26basic_format_parse_contextIcNS1_13error_handlerEEERS5_]+0x413): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail5valueINS0_20basic_format_contextINS0_8appenderEcEEE17format_custom_argIN5Eigen9TransposeINS8_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEENS1_18fallback_formatterISC_cvEEEEvPvRNS0_26basic_format_parse_contextIcNS1_13error_handlerEEERS5_[_ZN3fmt2v86detail5valueINS0_20basic_format_contextINS0_8appenderEcEEE17format_custom_argIN5Eigen9TransposeINS8_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEENS1_18fallback_formatterISC_cvEEEEvPvRNS0_26basic_format_parse_contextIcNS1_13error_handlerEEERS5_]+0x429): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail5valueINS0_20basic_format_contextINS0_8appenderEcEEE17format_custom_argIN5Eigen9TransposeINS8_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEENS1_18fallback_formatterISC_cvEEEEvPvRNS0_26basic_format_parse_contextIcNS1_13error_handlerEEERS5_[_ZN3fmt2v86detail5valueINS0_20basic_format_contextINS0_8appenderEcEEE17format_custom_argIN5Eigen9TransposeINS8_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEENS1_18fallback_formatterISC_cvEEEEvPvRNS0_26basic_format_parse_contextIcNS1_13error_handlerEEERS5_]+0x43a): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
/usr/bin/ld: test_triangulation.cpp:(.text._ZN3fmt2v86detail5valueINS0_20basic_format_contextINS0_8appenderEcEEE17format_custom_argIN5Eigen9TransposeINS8_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEENS1_18fallback_formatterISC_cvEEEEvPvRNS0_26basic_format_parse_contextIcNS1_13error_handlerEEERS5_[_ZN3fmt2v86detail5valueINS0_20basic_format_contextINS0_8appenderEcEEE17format_custom_argIN5Eigen9TransposeINS8_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEENS1_18fallback_formatterISC_cvEEEEvPvRNS0_26basic_format_parse_contextIcNS1_13error_handlerEEERS5_]+0x457): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'
collect2: error: ld returned 1 exit status
make[2]: *** [test/CMakeFiles/test_triangulation.dir/build.make:134: ../bin/test_triangulation] Error 1
make[1]: *** [CMakeFiles/Makefile2:163: test/CMakeFiles/test_triangulation.dir/all] Error 2
make: *** [Makefile:95: all] Error 2

解决方法：
报错的文件对应的程序源文件时test_triangulation.cpp，这个文件在test文件夹中，参考网址https://wenku.baidu.com/view/f2f4dbb5d9ef5ef7ba0d4a7302768e9951e76e7c.html
给出的解决方法，问题时程序没有执行链接到fmt的动态链接文件，方法时将test文件夹下Cmakelist.txt编译文件下的
TARGET_LINK_LIBRARIES(${test_src} ${THIRD_PARTY_LIBS} myslam)，修改为
ARGET_LINK_LIBRARIES(${test_src} ${THIRD_PARTY_LIBS} myslam fmt),增加fmt。
这样make编译以后，错误解决。

7.2 collect2: error: ld returned 1 exit status

In file included from /usr/local/include/g2o/core/base_unary_edge.h:30,
                 from /home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp:8:
/usr/local/include/g2o/core/base_fixed_sized_edge.h:179:32: error: ‘index_sequence’ is not a member of ‘std’
  179 |   struct HessianTupleType<std::index_sequence<Ints...>> {
      |                                ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:179:32: error: ‘index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.h:179:51: error: expected parameter pack before ‘...’
  179 |   struct HessianTupleType<std::index_sequence<Ints...>> {
      |                                                   ^~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:179:51: error: template argument 1 is invalid
/usr/local/include/g2o/core/base_fixed_sized_edge.h:179:54: error: expected unqualified-id before ‘>’ token
  179 |   struct HessianTupleType<std::index_sequence<Ints...>> {
      |                                                      ^~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:186:38: error: ‘make_index_sequence’ is not a member of ‘std’
  186 |       typename HessianTupleType<std::make_index_sequence<_nr_of_vertex_pairs>>::type;
      |                                      ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:186:38: error: ‘make_index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.h:186:58: error: template argument 1 is invalid
  186 |       typename HessianTupleType<std::make_index_sequence<_nr_of_vertex_pairs>>::type;
      |                                                          ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:186:16: error: expected nested-name-specifier
  186 |       typename HessianTupleType<std::make_index_sequence<_nr_of_vertex_pairs>>::type;
      |                ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:188:38: error: ‘make_index_sequence’ is not a member of ‘std’
  188 |       typename HessianTupleType<std::make_index_sequence<_nr_of_vertex_pairs>>::typeTransposed;
      |                                      ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:188:38: error: ‘make_index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.h:188:58: error: template argument 1 is invalid
  188 |       typename HessianTupleType<std::make_index_sequence<_nr_of_vertex_pairs>>::typeTransposed;
      |                                                          ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:188:16: error: expected nested-name-specifier
  188 |       typename HessianTupleType<std::make_index_sequence<_nr_of_vertex_pairs>>::typeTransposed;
      |                ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:208:32: error: ‘std::index_sequence’ has not been declared
  208 |   bool allVerticesFixedNs(std::index_sequence<Ints...>) const;
      |                                ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:208:46: error: expected ‘,’ or ‘...’ before ‘<’ token
  208 |   bool allVerticesFixedNs(std::index_sequence<Ints...>) const;
      |                                              ^
/usr/local/include/g2o/core/base_fixed_sized_edge.h:213:75: error: ‘std::index_sequence’ has not been declared
  213 | izeOplus_allocate(JacobianWorkspace& jacobianWorkspace, std::index_sequence<Ints...>);
      |                                                              ^~~~~~~~~~~~~~
 
/usr/local/include/g2o/core/base_fixed_sized_edge.h:213:89: error: expected ‘,’ or ‘...’ before ‘<’ token
  213 | s_allocate(JacobianWorkspace& jacobianWorkspace, std::index_sequence<Ints...>);
      |                                                                     ^
 
/usr/local/include/g2o/core/base_fixed_sized_edge.h:221:30: error: ‘std::index_sequence’ has not been declared
  221 |   void linearizeOplusNs(std::index_sequence<Ints...>);
      |                              ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:221:44: error: expected ‘,’ or ‘...’ before ‘<’ token
  221 |   void linearizeOplusNs(std::index_sequence<Ints...>);
      |                                            ^
/usr/local/include/g2o/core/base_fixed_sized_edge.h:245:38: error: ‘std::index_sequence’ has not been declared
  245 |                                 std::index_sequence<Ints...>);
      |                                      ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:245:52: error: expected ‘,’ or ‘...’ before ‘<’ token
  245 |                                 std::index_sequence<Ints...>);
      |                                                    ^
/usr/local/include/g2o/core/base_fixed_sized_edge.h:250:65: error: ‘std::index_sequence’ has not been declared
  250 | oid constructOffDiagonalQuadraticFormMs(const AtOType&, std::index_sequence<>);
      |                                                              ^~~~~~~~~~~~~~
 
/usr/local/include/g2o/core/base_fixed_sized_edge.h:250:79: error: expected ‘,’ or ‘...’ before ‘<’ token
  250 | ffDiagonalQuadraticFormMs(const AtOType&, std::index_sequence<>);
      |                                                              ^
 
/usr/local/include/g2o/core/base_fixed_sized_edge.h:253:69: error: ‘std::index_sequence’ has not been declared
  253 | constructOffDiagonalQuadraticFormMs(const AtOType& AtO, std::index_sequence<Ints...>);
      |                                                              ^~~~~~~~~~~~~~
 
/usr/local/include/g2o/core/base_fixed_sized_edge.h:253:83: error: expected ‘,’ or ‘...’ before ‘<’ token
  253 | ctOffDiagonalQuadraticFormMs(const AtOType& AtO, std::index_sequence<Ints...>);
      |                                                                     ^
 
/usr/local/include/g2o/core/base_fixed_sized_edge.h:270:3: error: ‘HessianTuple’ does not name a type; did you mean ‘HessianTupleType’?
  270 |   HessianTuple _hessianTuple;
      |   ^~~~~~~~~~~~
      |   HessianTupleType
/usr/local/include/g2o/core/base_fixed_sized_edge.h:271:3: error: ‘HessianTupleTransposed’ does not name a type; did you mean ‘HessianTupleType’?
  271 |   HessianTupleTransposed _hessianTupleTransposed;
      |   ^~~~~~~~~~~~~~~~~~~~~~
      |   HessianTupleType
/usr/local/include/g2o/core/base_fixed_sized_edge.h: In constructor ‘g2o::BaseFixedSizedEdge<D, E, VertexTypes>::BaseFixedSizedEdge()’:
/usr/local/include/g2o/core/base_fixed_sized_edge.h:193:9: error: class ‘g2o::BaseFixedSizedEdge<D, E, VertexTypes>’ does not have any field named ‘_hessianTuple’
  193 |         _hessianTuple(internal::createHessianMaps(_hessianTuple)),
      |         ^~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:193:51: error: ‘_hessianTuple’ was not declared in this scope; did you mean ‘HessianTupleType’?
  193 |         _hessianTuple(internal::createHessianMaps(_hessianTuple)),
      |                                                   ^~~~~~~~~~~~~
      |                                                   HessianTupleType
/usr/local/include/g2o/core/base_fixed_sized_edge.h:194:9: error: class ‘g2o::BaseFixedSizedEdge<D, E, VertexTypes>’ does not have any field named ‘_hessianTupleTransposed’
  194 |         _hessianTupleTransposed(internal::createHessianMaps(_hessianTupleTransposed)),
      |         ^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:194:61: error: ‘_hessianTupleTransposed’ was not declared in this scope
  194 |         _hessianTupleTransposed(internal::createHessianMaps(_hessianTupleTransposed)),
      |                                                             ^~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/local/include/g2o/core/base_fixed_sized_edge.h:278,
                 from /usr/local/include/g2o/core/base_unary_edge.h:30,
                 from /home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp:8:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: At global scope:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:35:6: error: ‘bool g2o::BaseFixedSizedEdge<D, E, VertexTypes>::allVerticesFixedNs’ is not a static data member of ‘class g2o::BaseFixedSizedEdge<D, E, VertexTypes>’
   35 | bool BaseFixedSizedEdge<D, E, VertexTypes...>::allVerticesFixedNs(
      |      ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:36:10: error: template definition of non-template ‘bool g2o::BaseFixedSizedEdge<D, E, VertexTypes>::allVerticesFixedNs’
   36 |     std::index_sequence<Ints...>) const {
      |          ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:36:10: error: ‘index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In member function ‘virtual bool g2o::BaseFixedSizedEdge<D, E, VertexTypes>::allVerticesFixed() const’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:43:34: error: ‘make_index_sequence’ is not a member of ‘std’
   43 |   return allVerticesFixedNs(std::make_index_sequence<_nr_of_vertices>());
      |                                  ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:43:71: error: expected primary-expression before ‘)’ token
   43 |   return allVerticesFixedNs(std::make_index_sequence<_nr_of_vertices>());
      |                                                                       ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In member function ‘virtual void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::constructQuadraticForm()’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:55:35: error: ‘make_index_sequence’ is not a member of ‘std’
   55 |                              std::make_index_sequence<_nr_of_vertices>());
      |                                   ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:55:72: error: expected primary-expression before ‘)’ token
   55 |                              std::make_index_sequence<_nr_of_vertices>());
      |                                                                        ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:58:35: error: ‘make_index_sequence’ is not a member of ‘std’
   58 |                              std::make_index_sequence<_nr_of_vertices>());
      |                                   ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:58:72: error: expected primary-expression before ‘)’ token
   58 |                              std::make_index_sequence<_nr_of_vertices>());
      |                                                                        ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: At global scope:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:65:74: error: ‘std::index_sequence’ has not been declared
   65 | formationType& omega, const ErrorVector& weightedError, std::index_sequence<Ints...>) {
      |                                                              ^~~~~~~~~~~~~~
 
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:65:88: error: expected ‘,’ or ‘...’ before ‘<’ token
   65 | nType& omega, const ErrorVector& weightedError, std::index_sequence<Ints...>) {
      |                                                                    ^
 
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:75:26: error: ‘std::index_sequence’ has not been declared
   75 |     const AtOType&, std::index_sequence<>) {}
      |                          ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:75:40: error: expected ‘,’ or ‘...’ before ‘<’ token
   75 |     const AtOType&, std::index_sequence<>) {}
      |                                        ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:80:30: error: ‘std::index_sequence’ has not been declared
   80 |     const AtOType& AtO, std::index_sequence<Ints...>) {
      |                              ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:80:44: error: expected ‘,’ or ‘...’ before ‘<’ token
   80 |     const AtOType& AtO, std::index_sequence<Ints...>) {
      |                                            ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In member function ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::constructOffDiagonalQuadraticFormM(const AtOType&)’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:98:45: error: ‘_hessianTupleTransposed’ was not declared in this scope; did you mean ‘hessianTransposed’?
   98 |       auto& hessianTransposed = std::get<K>(_hessianTupleTransposed);
      |                                             ^~~~~~~~~~~~~~~~~~~~~~~
      |                                             hessianTransposed
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:101:35: error: ‘_hessianTuple’ was not declared in this scope; did you mean ‘HessianTupleType’?
  101 |       auto& hessian = std::get<K>(_hessianTuple);
      |                                   ^~~~~~~~~~~~~
      |                                   HessianTupleType
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In member function ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::constructQuadraticFormN(const InformationType&, const ErrorVector&)’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:122:54: error: ‘make_index_sequence’ is not a member of ‘std’
  122 |     constructOffDiagonalQuadraticFormMs<N>(AtO, std::make_index_sequence<_nr_of_vertices - N - 1>());
      |                                                      ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:122:99: error: expected primary-expression before ‘)’ token
  122 | Ms<N>(AtO, std::make_index_sequence<_nr_of_vertices - N - 1>());
      |                                                              ^
 
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In member function ‘virtual void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus(g2o::JacobianWorkspace&)’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:129:51: error: ‘make_index_sequence’ is not a member of ‘std’
  129 |   linearizeOplus_allocate(jacobianWorkspace, std::make_index_sequence<_nr_of_vertices>());
      |                                                   ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:129:88: error: expected primary-expression before ‘)’ token
  129 | jacobianWorkspace, std::make_index_sequence<_nr_of_vertices>());
      |                                                              ^
 
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: At global scope:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:136:48: error: ‘std::index_sequence’ has not been declared
  136 |     JacobianWorkspace& jacobianWorkspace, std::index_sequence<Ints...>) {
      |                                                ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:136:62: error: expected ‘,’ or ‘...’ before ‘<’ token
  136 |     JacobianWorkspace& jacobianWorkspace, std::index_sequence<Ints...>) {
      |                                                              ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:190:70: error: variable or field ‘linearizeOplusNs’ declared void
  190 | eFixedSizedEdge<D, E, VertexTypes...>::linearizeOplusNs(std::index_sequence<Ints...>) {
      |                                                              ^~~~~~~~~~~~~~
 
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:190:70: error: ‘index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In member function ‘virtual void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus()’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:199:25: error: ‘make_index_sequence’ is not a member of ‘std’
  199 |   linearizeOplusNs(std::make_index_sequence<_nr_of_vertices>());
      |                         ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:199:62: error: expected primary-expression before ‘)’ token
  199 |   linearizeOplusNs(std::make_index_sequence<_nr_of_vertices>());
      |                                                              ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In member function ‘virtual void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::mapHessianMemory(number_t*, int, int, bool)’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:225:57: error: ‘_hessianTupleTransposed’ was not declared in this scope
  225 |     tuple_apply_i(MapHessianMemoryK{d, vj_dim, vi_dim}, _hessianTupleTransposed,
      |                                                         ^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:228:57: error: ‘_hessianTuple’ was not declared in this scope; did you mean ‘HessianTupleType’?
  228 |     tuple_apply_i(MapHessianMemoryK{d, vi_dim, vj_dim}, _hessianTuple,
      |                                                         ^~~~~~~~~~~~~
      |                                                         HessianTupleType
/home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp: In member function ‘virtual bool VertexPose::read(std::istream&)’:
/home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp:262:44: warning: no return statement in function returning non-void [-Wreturn-type]
  262 |   virtual bool read(istream &in) override {}
      |                                            ^
/home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp: In member function ‘virtual bool VertexPose::write(std::ostream&) const’:
/home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp:264:52: warning: no return statement in function returning non-void [-Wreturn-type]
  264 |   virtual bool write(ostream &out) const override {}
      |                                                    ^
/home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp: In member function ‘virtual bool EdgeProjection::read(std::istream&)’:
/home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp:298:44: warning: no return statement in function returning non-void [-Wreturn-type]
  298 |   virtual bool read(istream &in) override {}
      |                                            ^
/home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp: In member function ‘virtual bool EdgeProjection::write(std::ostream&) const’:
/home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp:300:52: warning: no return statement in function returning non-void [-Wreturn-type]
  300 |   virtual bool write(ostream &out) const override {}
      |                                                    ^
make[2]: *** [CMakeFiles/pose_estimation_3d2d.dir/build.make:63: CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:86: CMakeFiles/pose_estimation_3d2d.dir/all] Error 2
make: *** [Makefile:84: all] Error 2

解决办法：
参考博主的文章Ubuntu20.04编译编译视觉SLAM十四讲slambook2/ch7：https://blog.csdn.net/weixin_53660567/article/details/120330485
将在/slambook2/ch13/中的CMakeList.txt文件中，原来的代码如下：

set(CMAKE_CXX_FLAGS "-std=c++11 -Wall")
set(CMAKE_CXX_FLAGS_RELEASE  "-std=c++11 -O3 -fopenmp -pthread")

新的代码修改为：

set(CMAKE_CXX_FLAGS "-std=c++14 -Wall")
set(CMAKE_CXX_FLAGS_RELEASE  "-std=c++14 -O3 -fopenmp -pthread")

因为Ubuntu20.04默认安装的是c++14！！！！

7.3 运行目录直接切到了bin下边，执行./run_kitti_stereo，会出现WARNING: Logging before InitGoogleLogging() is written to STDERR E20211204 11:31:53.583640 10794 config.cpp:9] parameter file ./config/default.yaml does not exist. I20211204 11:31:53.583715 10794 visual_odometry.cpp:44] VO is running 段错误 (核心已转储)的错误

解决方法：不要在/slambook2/ch13/bin中执行。按照slambook2书中的指示，在命令行中运行 /slambook2/ch13/的终端中执行

./bin/run_kitti_stereo

最终结果

由于ch13是整本书的综合实践，需要全面利用基础知识、图像处理、特征提取等知识，所以这里只是完成了编译，后续大家有兴趣可以对理论基础进行讨论。
利用KITTI数据集进行编译后执行的动画效果：

视觉SLAM ch13实践章节编译并跑通KITTI数据集

Alex_zt

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《视觉SLAM十四讲》ch13从安装Ubuntu20到最终实现（记录rosdep/Stopus/Eigen几个大坑）

对高翔视觉slam教材中ch13章节中的内容，从Ubuntu20系统安装，到程序编译，到debug，给出了比较详细的编译实现过程。
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