1安装sophus2使用代码2-1R,t矩阵q四元数转换so3和se3 CMakeLists.txtcmake_minimum_required(VERSION3.0)project(useSophus)#为使用sophus，需要使用find_package命令找到它find_package(SophusREQUIRED)#Eigeninclude_directories("/usr/include/eigen3"