安装依赖
sudo apt-get install libopenblas-dev sudo apt-get install --no-install-recommends libboost1.58-all-dev sudo apt-get install libx11-dev sudo apt-get install libgl1-mesa-dev sudo apt-get install libglu1-mesa-dev sudo apt-get install freeglut3-dev sudo apt-get install doxygen sudo apt-get install cmake sudo wget https://nchc.dl.sourceforge.net/project/glew/glew/2.1.0/glew-2.1.0.tgz --no-check-certificate sudo tar -xzvf glew-2.1.0.tgz cd glew-2.1.0/ sudo make sudo make install sudo ldconfig -v
安装Eigen3.3.5
sudo wget https://github.com/eigenteam/eigen-git-mirror/archive/3.3.5.tar.gz sudo tar -xzvf 3.3.5.tar.gz sudo mv eigen-git-mirror-3.3.5/ eigen-3.3.5/ cd eigen-3.3.5/ sudo mkdir build sudo cmake .. sudo make sudo make install sudo ldconfig -v
测试
#CMakeLists.txt cmake_minimum_required( VERSION 2.8 ) project(useEigen) set( CMAKE_BUILD_TYPE "Release" ) set( CMAKE_CXX_FLAGS "-O3" ) set( CMAKE_CXX_FLAGS "-std=c++11") # 添加Eigen头文件 include_directories( "/usr/local/include/eigen3" ) add_executable(useEigen main.cpp) find_package(Eigen3 REQUIRED) target_link_libraries(${PROJECT_NAME} ${EIGEN3_LIBS})
//main.cpp #include <iostream> #include <fstream> #include <vector> #include <Eigen/Core> #include <Eigen/Dense> #include <Eigen/Geometry> #include <Eigen/StdVector> using namespace std; int main() { //1.rotation vector to rotation matrix Eigen::AngleAxisd rotationVector(M_PI/4,Eigen::Vector3d(0,0,1)); Eigen::Matrix3d rotationMatrix=Eigen::Matrix3d::Identity(); rotationMatrix=rotationVector.toRotationMatrix(); cout<<"rotationMatrix "<<rotationMatrix<<endl; //2.rotation vector to quaterniond Eigen::Quaterniond q=Eigen::Quaterniond( rotationVector ); cout<<"rotation quaternion "<<q.coeffs()<<endl; //3.rotaion vector to eulerAngles Eigen::Vector3d eulerAngle=rotationVector.matrix().eulerAngles(0,1,2); cout<<"eulerAngle roll pitch yaw "<<180*eulerAngle/M_PI<<endl; return 0; }
CMakeLists.txt
和main.cpp
放到同一个目录,执行:
sudo cmake .
sudo make
./useEigen
如果能输出:
rotationMatrix 0.707107 -0.707107 0 0.707107 0.707107 0 0 0 1 rotation quaternion 0 0 0.382683 0.92388 eulerAngle roll pitch yaw -0 0 45
证明Eigen 3.3.5
安装成功并且可以被cmake
查找引用到.