ubuntu安装Sophus小坑

Sophus库是一个李群李代数库

正常安装是

mkdir bulid
cd bulid
cmake ..
make

但是报错如下

f assignment
   32 |   unit_complex_.real() = 1.;
      |                          ^~
/home/liwete/gaoxiang12-slambook/3rdparty/Sophus/sophus/so2.cpp:33:26: error: lvalue required as left operand of assignment
   33 |   unit_complex_.imag() = 0.;
      |                          ^~

所以进入该文件Sophus/sophus/so2.cpp:32:26
修改为

unit_complex_.real(1.);
unit_complex_.imag(0.);

而后注意我们的cmakelist，一定要加上set(CMAKE_BUILD_TYPE "Release")

cmake_minimum_required( VERSION 2.8 )
project( useSophus )
set(CMAKE_BUILD_TYPE "Release")
# 为使用 sophus，您需要使用find_package命令找到它
find_package( Sophus REQUIRED )
include_directories( ${Sophus_INCLUDE_DIRS} )

add_executable( useSophus useSophus.cpp )
target_link_libraries( useSophus ${Sophus_LIBRARIES} )