Hauke Strasdat

This won't be fixed unfortunately, since it is too much of a maintenance burden. Please refer to the in code comments as a documentation. all docs links / folders will...

@rosrookie, @fwcore you can just call ``` Sophus::SO3d::fitToSO3(R); ``` instead of ``` Sophus::SO3d(R); ```

This should be fixed by #538, since it removes BASIC_LOGGING and the fmt dependency and includes corresponding CI coverage.

Closing, see #436 - also windows is not officially supported until somebody donates a PR with windows CI coverage.

#538 updates to c++17 among other changes. Please re-open if more changes to the cmake file is needed.

#538 removes velocities. If the other failures can be eliminated by slightly tweaking the floating point thresholds in the tests, I will accept a corresponding PR.

Okay, thanks, that is news to me. With all OpenGL versions I worked with so far, points were supported, but this clearly explains why my first attempts failed. Can you...

It seems to be the wrong ceres version (or missing ceres install and a bug in the cmake script). The one which works for sure is: ``` git clone https://ceres-solver.googlesource.com/ceres-solver...