Error with using inverse() on a poseSE3 MAC OS

[tohsin]

Error with using pose SE3 inverse MAC OS
[I am honestly not sure what the problem is but it seems calling the inverse function on a pose is causing it to break]

the error message is

/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ -DGFLAGS_IS_A_DLL=0 -DHAVE_EIGEN -DHAVE_GLEW -DHAVE_PYTHON -DPANGO_DEFAULT_WIN_URI=\"cocoa\" -D_OSX_ -Dmyslam_EXPORTS -I/usr/include/eigen3 -I/Users/emma/dev/visual-slam/stereo_slam/include -isystem /usr/local/Cellar/opencv/4.6.0/include/opencv4 -iframework /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/System/Library/Frameworks -isystem /usr/local/include -isystem /Users/emma/dev/Pangolin/components/pango_core/include -isystem /Users/emma/dev/Pangolin/components/pango_display/include -isystem /Users/emma/dev/Pangolin/components/pango_opengl/include -isystem /Users/emma/dev/Pangolin/components/pango_image/include -isystem /usr/local/include/eigen3 -isystem /Users/emma/dev/Pangolin/components/pango_windowing/include -isystem /Users/emma/dev/Pangolin/build/include -isystem /Users/emma/dev/Pangolin/components/pango_vars/include -isystem /Users/emma/dev/Pangolin/components/pango_geometry/include -isystem /Users/emma/dev/Pangolin/components/tinyobj/include -isystem /Users/emma/dev/Pangolin/components/pango_glgeometry/include -isystem /Users/emma/dev/Pangolin/components/pango_packetstream/include -isystem /Users/emma/dev/Pangolin/components/pango_plot/include -isystem /Users/emma/dev/Pangolin/components/pango_python/include -isystem /Users/emma/dev/Pangolin/components/pango_video/include -isystem /Users/emma/dev/Pangolin/components/pango_scene/include -isystem /Users/emma/dev/Pangolin/components/pango_tools/include -g -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk -fPIC -std=gnu++14 -MD -MT src/CMakeFiles/myslam.dir/viewer.cpp.o -MF src/CMakeFiles/myslam.dir/viewer.cpp.o.d -o src/CMakeFiles/myslam.dir/viewer.cpp.o -c /Users/emma/dev/visual-slam/stereo_slam/src/viewer.cpp
In file included from /Users/emma/dev/visual-slam/stereo_slam/src/viewer.cpp:4:
In file included from /Users/emma/dev/visual-slam/stereo_slam/include/stereo_slam/viewer.h:11:
In file included from /Users/emma/dev/visual-slam/stereo_slam/include/stereo_slam/common_include.h:102:
In file included from /usr/local/include/sophus/se3.hpp:6:
In file included from /usr/local/include/sophus/so3.hpp:6:
In file included from /usr/local/include/sophus/rotation_matrix.hpp:9:
In file included from /usr/local/include/sophus/types.hpp:7:
In file included from /usr/local/include/sophus/common.hpp:35:
In file included from /usr/local/include/fmt/format.h:48:
/usr/local/include/fmt/core.h:1756:3: error: static_assert failed due to requirement 'formattable' "Cannot format an argument. To make type T formattable provide a formatter<T> specialization: https://fmt.dev/latest/api.html#udt"
  static_assert(
  ^
/usr/local/include/fmt/core.h:1777:10: note: in instantiation of function template specialization 'fmt::detail::make_value<fmt::basic_format_context<fmt::appender, char>, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0>> &>' requested here
  return make_value<Context>(val);
         ^
/usr/local/include/fmt/core.h:1899:23: note: in instantiation of function template specialization 'fmt::detail::make_arg<true, fmt::basic_format_context<fmt::appender, char>, fmt::detail::type::custom_type, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0>> &, 0>' requested here
        data_{detail::make_arg<
                      ^
/usr/local/include/fmt/core.h:1918:10: note: in instantiation of function template specialization 'fmt::format_arg_store<fmt::basic_format_context<fmt::appender, char>, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0>>>::format_arg_store<Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0>> &>' requested here
  return {FMT_FORWARD(args)...};
         ^
/usr/local/include/fmt/core.h:3291:28: note: in instantiation of function template specialization 'fmt::make_format_args<fmt::basic_format_context<fmt::appender, char>, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0>> &>' requested here
  const auto& vargs = fmt::make_format_args(args...);
                           ^
/usr/local/include/sophus/so3.hpp:303:5: note: in instantiation of function template specialization 'fmt::print<Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0>>>' requested here
    SOPHUS_ENSURE(length >= Constants<Scalar>::epsilon(),
    ^
/usr/local/include/sophus/common.hpp:139:7: note: expanded from macro 'SOPHUS_ENSURE'
      SOPHUS_DEDAULT_ENSURE_FAILURE_IMPL(SOPHUS_FUNCTION, __FILE__, __LINE__, \
      ^
/usr/local/include/sophus/common.hpp:119:5: note: expanded from macro 'SOPHUS_DEDAULT_ENSURE_FAILURE_IMPL'
    SOPHUS_FMT_PRINT(description, ##__VA_ARGS__);                             \
    ^
/usr/local/include/sophus/common.hpp:60:8: note: expanded from macro 'SOPHUS_FMT_PRINT'
  fmt::print(SOPHUS_FMT_STRING(description), ##__VA_ARGS__); \
       ^
/usr/local/include/sophus/so3.hpp:515:11: note: in instantiation of member function 'Sophus::SO3Base<Sophus::SO3<double, 0>>::normalize' requested here
    Base::normalize();
          ^
/usr/local/include/sophus/so3.hpp:230:12: note: in instantiation of function template specialization 'Sophus::SO3<double, 0>::SO3<Eigen::Quaternion<double, 0>>' requested here
    return SO3<Scalar>(unit_quaternion().conjugate());
           ^
/usr/local/include/sophus/se3.hpp:209:30: note: in instantiation of member function 'Sophus::SO3Base<Sophus::SO3<double, 0>>::inverse' requested here
    SO3<Scalar> invR = so3().inverse();
                             ^
/Users/emma/dev/visual-slam/stereo_slam/include/stereo_slam/camera.h:26:27: note: in instantiation of member function 'Sophus::SE3Base<Sophus::SE3<double, 0>>::inverse' requested here
        pose_inv_ = pose_.inverse();
                          ^
1 error generated.

not sure if its useful but my cmakelist file is

cmake_minimum_required(VERSION 3.22)
project(stereo_slam)

set(CMAKE_CXX_STANDARD 14)

#add_executable(stereo_slam main.cpp)

list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

############### dependencies ######################
# Eigen
include_directories("/usr/include/eigen3")

# OpenCV
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})

# pangolin
find_package(Pangolin REQUIRED)
include_directories(${Pangolin_INCLUDE_DIRS})

find_package(OpenGL REQUIRED QUIET)
include_directories(${OPENGL_INCLUDE_DIR})

# Sophus
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})

# G2O
find_package(G2O REQUIRED)
include_directories(${G2O_INCLUDE_DIRS})

# glog
find_package(Glog REQUIRED)
include_directories(${GLOG_INCLUDE_DIRS})

# gtest
find_package(GTest REQUIRED)
include_directories(${GTEST_INCLUDE_DIRS})

# gflags
find_package(GFlags REQUIRED)
include_directories(${GFLAGS_INCLUDE_DIRS})

# csparse
find_package(CSPARSE REQUIRED)
include_directories(${CSPARSE_INCLUDE_DIR})

set(THIRD_PARTY_LIBS
        ${OpenCV_LIBS}
        ${Sophus_LIBRARIES}
        ${OPENGL_LIBRARIES}
        ${Pangolin_LIBRARIES}
        ${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY}
        ${G20_TYPES_LIBRARY}
        ${G2O_SOLVER_CSPARSE_LIBRARY}
        ${G2O_CSPARSE_EXTENSION}
        ${GTEST_BOTH_LIBRARIES}
        ${GLOG_LIBRARIES}
        ${GFLAGS_LIBRARIES}
        pthread
        ${CSPARSE_LIBRARY}
        Sophus::Sophus
        fmt
        )

enable_testing()

############### source and test ######################
include_directories(${PROJECT_SOURCE_DIR}/include)
add_subdirectory(src)
add_subdirectory(test)
add_subdirectory(app)

[NikolausDemmel]

Looks like a duplicate of #366

[tohsin]

Oh ok thanks, it says i should try to install a lower version of fmt?

[tohsin]

If i just download 8.1.1 v of FMT and install that will it naturally override the old one?

[tohsin]

It works thanks