- make install
# Cmake
```sh
cmake_minimum_required( VERSION 3.0 )
project( SophusExample )
find_package( Sophus REQUIRED )
include_directories( ${Sophus_INCLUDE_DIRS} )
add_executable( useSophus useSophus.cpp )
target_link_libraries( useSophus ${Sophus_LIBRARIES} )
```
Note: please set
``Sophus_DIR=[install path]``
Please manualy set Sophus_INCLUDE_DIRS and Sophus_LIBRARIES variable if not found.
For example:
```sh
set(Sophus_INCLUDE_DIRS ...)
set(Sophus_LIBRARIES ...)
```
# Example
- Refer: https://github.com/gaoxiang12/slambook/blob/master/ch4/useSophus/useSophus.cpp
# Sophus with ROS
- http://wiki.ros.org/sophus
```sh
sudo apt-get install ros-kinetic-sophus
```
# Possible Errors
```sh
so2.cpp:33:26:error: lvalue required as left operand of assignment
unit_complex_.real() = 1.;
```
Solution:
Modify so2.cpp:
Change from
```cpp
SO2::SO2()
{
unit_complex_.real() = 1.;
unit_complex_.imag() = 0.;
}
```
to
```cpp
SO2::SO2()
{
unit_complex_.real(1.);
unit_complex_.imag(0.);
}
```
Sophus: 非模板版本安装 Sophus Installation for old version
# Overview
- API: https://strasdat.github.io/Sophus/index.html
- Github: https://github.com/strasdat/Sophus
- [stevenlovegrove/Sophus](https://github.com/stevenlovegrove/Sophus)
- Sophus with ROS: http://wiki.ros.org/sophus
# Installation
```sh
git clone https://github.com/strasdat/Sophus.git
git checkout a621ff
```
Note:
> In order to go back to the non-templated/double-only version "git checkout a621ff
a621ff: non template version
or
```sh
git clone https://github.com/yubaoliu/Sophus.git
git checkout non-template
```
non-template** branch is I created where some building errors are fixed.
- Build and Install
```sh
mkdir build
cd build
cmake .. or cmake-gui ..
make
```
- cmake-gui ..
- make install
# Cmake
```sh
cmake_minimum_required( VERSION 3.0 )
project( SophusExample )
find_package( Sophus REQUIRED )
include_directories( ${Sophus_INCLUDE_DIRS} )
add_executable( useSophus useSophus.cpp )
target_link_libraries( useSophus ${Sophus_LIBRARIES} )
```
Note: please set
``Sophus_DIR=[install path]``
Please manualy set Sophus_INCLUDE_DIRS and Sophus_LIBRARIES variable if not found.
For example:
```sh
set(Sophus_INCLUDE_DIRS ...)
set(Sophus_LIBRARIES ...)
```
# Example
- Refer: https://github.com/gaoxiang12/slambook/blob/master/ch4/useSophus/useSophus.cpp
# Sophus with ROS
- http://wiki.ros.org/sophus
```sh
sudo apt-get install ros-kinetic-sophus
```
# Possible Errors
```sh
so2.cpp:33:26:error: lvalue required as left operand of assignment
unit_complex_.real() = 1.;
```
Solution:
Modify so2.cpp:
Change from
```cpp
SO2::SO2()
{
unit_complex_.real() = 1.;
unit_complex_.imag() = 0.;
}
```
to
```cpp
SO2::SO2()
{
unit_complex_.real(1.);
unit_complex_.imag(0.);
}
```
- make install
# Cmake
```sh
cmake_minimum_required( VERSION 3.0 )
project( SophusExample )
find_package( Sophus REQUIRED )
include_directories( ${Sophus_INCLUDE_DIRS} )
add_executable( useSophus useSophus.cpp )
target_link_libraries( useSophus ${Sophus_LIBRARIES} )
```
Note: please set
``Sophus_DIR=[install path]``
Please manualy set Sophus_INCLUDE_DIRS and Sophus_LIBRARIES variable if not found.
For example:
```sh
set(Sophus_INCLUDE_DIRS ...)
set(Sophus_LIBRARIES ...)
```
# Example
- Refer: https://github.com/gaoxiang12/slambook/blob/master/ch4/useSophus/useSophus.cpp
# Sophus with ROS
- http://wiki.ros.org/sophus
```sh
sudo apt-get install ros-kinetic-sophus
```
# Possible Errors
```sh
so2.cpp:33:26:error: lvalue required as left operand of assignment
unit_complex_.real() = 1.;
```
Solution:
Modify so2.cpp:
Change from
```cpp
SO2::SO2()
{
unit_complex_.real() = 1.;
unit_complex_.imag() = 0.;
}
```
to
```cpp
SO2::SO2()
{
unit_complex_.real(1.);
unit_complex_.imag(0.);
}
```
No comments