视觉SLAM十四讲之安装Sophus库

1、安装Eigen库

1.查找老版本

sudo updatedb 
locate eigen3  

2.删除老版本文件

找到这些目录下的文件，全部删除

    /usr/include/eigen3
    /usr/lib/cmake/eigen3
    /usr/share/doc/libeigen3-dev
    /usr/share/pkgconfig/eigen3.pc
    /var/lib/dpkg/info/libeigen3-dev.list
    /var/lib/dpkg/info/libeigen3-dev.md5sums

2、下载Eigen3.37版本

官网地址Eigen3.37版本https://gitlab.com/libeigen/eigen/-/releases/3.3.7选择Source code(tar.bz2);

3、解压文件到/include目录下

4、编译安装Eigen

cd ~/include/eigen3
mkdir build
cd build
cmake ..
sudo make install

5、安装fmt

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

6、安装Sophus

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

至此，Sophus安装成功