為什麼選擇非模版類

因為模版類安裝報錯。。 找不到解決辦法。。你們是怎麼安裝那麼順利的。。

Sophus安裝

git clone https://github.com/strasdat/Sophus.git
cd Sophus/
git checkout a621ff
mkdir build
cd build
cmake ..
make
sudo make install

外部專案CMakeLists編寫

-workspace
	-CMakeLists.txt
	-bin
	-build
	-include
	-src
		main.cpp

CMakeLists.txt檔案編寫

cmake_minimum_required(VERSION 3.0)
project(workspace)

set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_BUILD_TYPE Debug)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(Sophus_DIR "/home/usrname/Sophus/build")
find_package(Sophus REQUIRED)

AUX_SOURCE_DIRECTORY(src DIR_SRCS)

set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(TEST_VIO ${DIR_SRCS})
set(Sophus_LIBRARIES "/usr/local/lib/libSophus.so")
include_directories(${workspace_vioslam}/include)
include_directories(${Sophus_INCLUDE_DIRS})
include_directories("/usr/include/eigen3")
add_executable(run ${TEST_VIO})

target_link_libraries(run ${Sophus_LIBRARIES})
 

編好CMakeLists.txt之後
編譯：

//從workspace根目錄下
cd build
cmake ..
make

執行：

//從workspace根目錄下
cd bin
./run