ubuntu 下Eigen库安装

1安装：sudo apt-get install libeigen3-dev

2 调整，默认安装路径是：/usr/include/eigen3

3. sudo cp -r  /usr/include/eigen3 /Eigen  /usr/local/include/

4. 头文件： #include <Eigen/Dense>

例子：//将旋转矩阵转成四元数

Eigen::Matrix<double,3,3> toMatrix3d(const cv::Mat &cvMat3)
{
    Eigen::Matrix<double,3,3> M;

    M << cvMat3.at<float>(0,0), cvMat3.at<float>(0,1), cvMat3.at<float>(0,2),
         cvMat3.at<float>(1,0), cvMat3.at<float>(1,1), cvMat3.at<float>(