安装Sophus的步骤如下：
首先确保你的计算机已经安装了CMake，你可以在命令行中输入以下命令检查是否安装：
cmake –version
如果你已经安装了CMake，则会输出CMake的版本号。如果提示未找到命令，说明你还没有安装CMake，你可以在官网上下载并安装。
下载Sophus的源代码，你可以从官方网站上进行下载，或者使用以下命令从GitHub上进行下载：
git clone https://github.com/strasdat/Sophus.git
进入Sophus的源代码目录，创建一个build目录。在命令行中输入以下命令：
cd Sophus
mkdir build
cd build
现在使用CMake生成Makefile。在命令行中输入以下命令：
cmake …
在命令行中输入以下命令编译Sophus库：
make
在命令行中输入以下命令安装Sophus库：
sudo make install
这样Sophus库就已经成功安装了。你现在可以使用该库开发自己的程序。
song@ubuntu:~/work/Yabloc/ex/src/Sophus/build$ sudo make install
[sudo] password for song:
[ 7%] Built target test_common
[ 14%] Built target test_cartesian2
[ 21%] Built target test_so2
[ 28%] Built target test_rxso2
[ 35%] Built target test_geometry
[ 42%] Built target test_cartesian3
[ 50%] Built target test_se2
[ 57%] Built target test_velocities
[ 64%] Built target test_sim2
[ 71%] Built target test_sim3
[ 78%] Built target test_so3
[ 85%] Built target test_se3
[ 92%] Built target test_rxso3
[100%] Built target HelloSO3
Install the project…
– Install configuration: “Release”
– Installing: /usr/local/share/sophus/cmake/SophusTargets.cmake
– Installing: /usr/local/share/sophus/cmake/SophusConfig.cmake
– Installing: /usr/local/share/sophus/cmake/SophusConfigVersion.cmake
– Installing: /usr/local/include/sophus/average.hpp
– Installing: /usr/local/include/sophus/cartesian.hpp
– Installing: /usr/local/include/sophus/ceres_local_parameterization.hpp
– Installing: /usr/local/include/sophus/ceres_manifold.hpp
– Installing: /usr/local/include/sophus/ceres_typetraits.hpp
– Installing: /usr/local/include/sophus/common.hpp
– Installing: /usr/local/include/sophus/geometry.hpp
– Installing: /usr/local/include/sophus/interpolate.hpp
– Installing: /usr/local/include/sophus/interpolate_details.hpp
– Installing: /usr/local/include/sophus/num_diff.hpp
– Installing: /usr/local/include/sophus/rotation_matrix.hpp
– Installing: /usr/local/include/sophus/rxso2.hpp
– Installing: /usr/local/include/sophus/rxso3.hpp
– Installing: /usr/local/include/sophus/se2.hpp
– Installing: /usr/local/include/sophus/se3.hpp
– Installing: /usr/local/include/sophus/sim2.hpp
– Installing: /usr/local/include/sophus/sim3.hpp
– Installing: /usr/local/include/sophus/sim_details.hpp
– Installing: /usr/local/include/sophus/so2.hpp
– Installing: /usr/local/include/sophus/so3.hpp
– Installing: /usr/local/include/sophus/spline.hpp
– Installing: /usr/local/include/sophus/types.hpp
– Installing: /usr/local/include/sophus/velocities.hpp