Package Summary

C++ implementation of Lie Groups using Eigen.

Maintainer status: maintained
Maintainer: Daniel Stonier <d.stonier AT gmail DOT com>
Author: Hauke Strasdat
License: MIT
Bug / feature tracker: https://github.com/strasdat/sophus/issues
Source: git https://github.com/stonier/sophus.git (branch: release/1.1.x)

About

This is a ros 3rd party package that provides Hauke Strasdat's sophus library.

Installation From Deb

$ sudo apt-get install ros-kinetic-sophus

To use it from your own catkin package you need to make sure you get the dependency syntax right. The cmake commands in particular are subtly different from depending on a catkin package. An example:

CMakeLists.txt

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   1 find_package(catkin REQUIRED COMPONENTS                                   
   2                  ecl_linear_algebra
   3                  ecl_time 
   4                  dslam_common
   5                  )
   6 find_package(sophus REQUIRED)
   7 
   8 catkin_package(
   9     INCLUDE_DIRS include 
  10     LIBRARIES ${PROJECT_NAME}
  11     DEPENDS                
  12         sophus
  13     CATKIN_DEPENDS                
  14         ecl_linear_algebra
  15         ecl_time
  16         dslam_common
  17     )

package.xml

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   1   <build_depend>ecl_linear_algebra</build_depend>
   2   <build_depend>ecl_time</build_depend>
   3   <build_depend>sophus</build_depend>
   4   <build_depend>dslam_common</build_depend>
   5 
   6 
   7   <run_depend>ecl_linear_algebra</run_depend>
   8   <run_depend>ecl_time</run_depend>
   9   <run_depend>sophus</run_depend>
  10   <run_depend>dslam_common</run_depend>

Installation from Source

See the README.