Compilation Error on Raspberry Pi 4 Buster

[swagatk]

Hi,

I am trying to compile this package on Raspberry Pi 4 with Buster OS. I follow the following instruction available on this page:

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

I get the following error:

In file included from /home/pi/Sophus/sophus/common.hpp:36,
                 from /home/pi/Sophus/sophus/types.hpp:7,
                 from /home/pi/Sophus/sophus/rotation_matrix.hpp:9,
                 from /home/pi/Sophus/sophus/so3.hpp:6,
                 from /home/pi/Sophus/sophus/rxso3.hpp:6,
                 from /home/pi/Sophus/test/core/test_rxso3.cpp:3:
/home/pi/Sophus/test/core/test_rxso3.cpp: In lambda function:
/home/pi/Sophus/sophus/common.hpp:50:30: error: declaration of ‘struct Sophus::Tests<Scalar_>::testFit()::<lambda()>::S’ shadows template parameter
 #define SOPHUS_FMT_STRING(x) FMT_STRING(x)
                              ^~~~~~~~~~
/home/pi/Sophus/sophus/common.hpp:64:15: note: in expansion of macro ‘SOPHUS_FMT_STRING’
   fmt::format(SOPHUS_FMT_STRING(description), ##__VA_ARGS__)
               ^~~~~~~~~~~~~~~~~
/home/pi/Sophus/sophus/test_macros.hpp:79:14: note: in expansion of macro ‘SOPHUS_FMT_STR’
       msg += SOPHUS_FMT_STR(descr, ##__VA_ARGS__);                             \
              ^~~~~~~~~~~~~~
/home/pi/Sophus/test/core/test_rxso3.cpp:288:9: note: in expansion of macro ‘SOPHUS_TEST’
         SOPHUS_TEST(passed, !isScaledOrthogonalAndPositive(sR_cols_swapped),
         ^~~~~~~~~~~
/home/pi/Sophus/test/core/test_rxso3.cpp:275:13: note: template parameter ‘S’ declared here
   template <class S = Scalar>
             ^~~~~
make[2]: *** [test/core/CMakeFiles/test_rxso3.dir/build.make:63: test/core/CMakeFiles/test_rxso3.dir/test_rxso3.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:206: test/core/CMakeFiles/test_rxso3.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

Machine specs are as given below:

$ uname -a
Linux raspberrypi 5.15.89-v7l+ #1621 SMP Tue Jan 24 11:10:47 GMT 2023 armv7l GNU/Linux

I also tried changing the compiler from ++11 to ++14 by using the following command:

$ sed -i 's/++11/++14/g' CMakeLists.txt

This did not help either. Is there anything else that I can try to solve this error? Thanks in advance.

Regards,
Swagat

[timecod]

At ./sophus/common.hpp:

#ifdef SOPHUS_COMPILE_TIME_FMT
// To keep compatibility with older libfmt versions,
// disable the compile time check if FMT_STRING is not available.
#ifdef FMT_STRING
// compile-time format check on x
#define SOPHUS_FMT_STRING(x) FMT_STRING(x)
#else
// identity, hence no compile-time check on x
#define SOPHUS_FMT_STRING(x) x
#endif
#else // ! SOPHUS_COMPILE_TIME_FMT
// identity, hence no compile-time check on x
#define SOPHUS_FMT_STRING(x) x
#endif // ! SOPHUS_COMPILE_TIME_FMT

Raspberry buster has libfmt-dev version 5.x

However, last commit (#376) about this file was dedicated to libfmt-dev 9.0

[swagatk]

The solution suggested by @timecod worked for me.
The problem was with the libfmt version. After installing the latest version libfmt-dev manually, the Sophus was compiled successfully without any error. I followed the following steps:

1. Uninstall the libfmt-dev package installed through apt manager

$ sudo apt-get remove --purge libfmt-dev

2. Download the libfmt-dev source package from this github repository:

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

3. Now follow the instructions for Sophus installation as explained in the first message.

I think the issue is resolved now. Hence, closing this issue.

Thanks everyone for help.

Regards,
Swagat