Sophus
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strasdat
C++ implementation of Lie Groups using Eigen.
**Describe the bug** Using Sophus with fmt 9.0.0+ produces the following error: ``` In file included from /tmp/sophus-test-20220724-36730-72obh/HelloSO3.cpp:2: In file included from /opt/homebrew/include/sophus/geometry.hpp:6: In file included from /opt/homebrew/include/sophus/se2.hpp:6: In file...
**Is your feature request related to a problem? Please describe.** [A clear and concise description of what the problem is.] I was hoping we could add Sophus to conda-forge such...
Originally, the ceres test CMakeLists.txt only required Ceres 2.0.0. However, this version doesn't define ceres/manifold, and therefore when compiling against Ceres 2.0.0 the compilation fails. See #359 I don't claim...
**Describe the bug** When compiling Sophus against Ceres version 2.0.0, the compilation of the Ceres test targets fails because the header file doesn't exist. ``` Sophus/sophus/ceres_manifold.hpp:3:10: fatal error: ceres/manifold.h: No...
The eigen library [suggests](https://eigen.tuxfamily.org/dox/TopicCMakeGuide.html) importing eigen with the `NO_MODULE` argument in `find_package`, i.e., [this line](https://github.com/strasdat/Sophus/blob/a0fe89a323e20c42d3cecb590937eb7a06b8343a/CMakeLists.txt#L35) should be ```cmake find_package(Eigen3 3.3.0 REQUIRED NO_MODULE) ``` This enables consumers to choose the version...
This is a feature request. Is it possible to add a function that creates an SO3 from two unit vectors? That is, given two unit vectors x, y, this function...
Hi. Having updated from 18.04 (sophus=ef9551f) to 20.04 (sophus=master), I ran into some compilation issue with some existing code. I've created a minimal example: ```` cpp #include "sophus/se2.hpp" #include int...
Point cloud alignment is an application common enough that Eigen provides `Eigen::umeyama` to this end. Sophus can do better by exploiting a closed form solution for the optimum rotation quaternion....
`Sophus` is available as a port in [vcpkg](https://github.com/microsoft/vcpkg), a C++ library manager that simplifies installation for `Sophus` and other project dependencies. Documenting the install process here will help users get...
