ubuntu18.04下配置opencv、eigen3、sophus等

方便以后复现环境，记录如下：

$:sudo apt-get install cmake

$:cmake -version

>>3.10.2

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$:sudo make update

$:make -v

>>GUN make 4.1

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$:sudo apt-get install g++

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$:sudo apt-get install vim

{进入目录>vim>i>输入内容>Esc>:>w [文件名]>enter>:>wq>enter>ls查看(流程助记）}

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$:sudo apt-get install kdevelop

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opencv3.4.4

$:sudo apt-get install build-essential

$:sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev

$:sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev

libjasper-dev依赖项需要单独附加

$:sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"

$:sudo apt update

$: sudo apt install libjasper1 libjasper-dev#其中libjasper1是libjasper-dev的依赖包

$:git clone https://github.com/opencv/opencv.git

（太慢,容易下载失败,可以选择去github下载sourse,用unzip解压:unzip opencv-3.4.4.zip）

$:cd opencv-3.4.4

$:mkdir build

$:cd build

$:cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..

$:sudo make

$:sudo make install

参见https://docs.opencv.org/master/d7/d9f/tutorial_linux_install.html

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$:sudo apt-get install libeigrn3-dev

$:cd /usr/include/eigen3

$:sudo cp Eigen -r /usr/include

eigen3 ubuntu18.04中默认3.3

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$:git clone https://github.com/strasdat/Sophus.git

$:cd Sophus

$:git checkout a621ff

$:mkdir build

$:cd build

$:cmake .. (警告，影响不大）

$:make(会报错，函数赋值有误，用vim修改sophus/so2.cpp ：将A.()=1.相应改写为A.(1.),安装成功!）

(eigen3和sophus都需要复制文件到/usr/include目录下)

$:cd

$:cd Sophus

$:sudo cp sophus -r /usr/include

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