CMakeLists.txtproject(test)find_package(PangolinREQUIRED)include_directories(${Pangolin_INCLUDE_DIRS})find_package(fmtREQUIRED)set(FMT_LIBRARIESfmt::fmt)#set(v1_node_filemain.cpp)add_executable(v1_nodemain.cpp)

 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"

      增量方程   #include<iostream>#include<Eigen/Core>#include<Eigen/Dense>#include<Eigen/Geometry>#include"sophus/se3.hpp"#include"sophus/so3.hpp"intmain(void){//优化变量为李代数se(3)的平移向