Ubuntu16.04-Clion-Eigen3-Pangolin

1.首先安装Clion：

1）解压
2）进入bin文件./clion.sh
3）使用Activation code激活

2. 安装Eigen3

1）查看Eigen的包$ apt-cache search eigen3

2）下载Eigen$ sudo apt-get install libeigen3-dev

3）查看Eigen安装路进,用apt装的话就是在/usr/include的。手动编译才可能变掉。
$ whereis eigen3
eigen3: /usr/include/eigen3
或者使用：
$ sudo updatedb
$ locate eigen3

4） clion-CMakelists.txt中添加
include_directories(/usr/include/eigen3)

5）输入代码测试：

#include <iostream>
#include <Eigen/Dense>
using namespace Eigen;
using namespace std;
int main()
{
    MatrixXd m = MatrixXd::Random(3,3);
    m = (m + MatrixXd::Constant(3,3,1.2)) * 50;
    cout << "m =" << endl << m << endl;
    VectorXd v(3);
    v << 1, 2, 3;
    cout << "m * v =" << endl << m * v << endl;
}

3.安装Pangolin

1） use pangolin: slambook/3rdpart/Pangolin
or download it from github: https://github.com/stevenlovegrove/Pangolin

2）安装依赖项
install dependency for pangolin (mainly the OpenGL):
sudo apt-get install libglew-dev

3）compile and install pangolin
cd [path-to-pangolin]
mkdir build
cd build
cmake …
make
sudo make install
安装成功。

4）clion-CMakelists.txt如下：

cmake_minimum_required(VERSION 3.10)
project(visualizeGeometry)
set(CMAKE_CXX_STANDARD 11)
 添加Eigen头文件
include_directories( "/usr/include/eigen3" )
#添加Pangolin依赖
find_package( Pangolin )
include_directories( "/usr/local/include/pangolin" )
add_executable(visualizeGeometry main.cpp)
target_link_libraries( visualizeGeometry ${Pangolin_LIBRARIES} )

4.安装Sophus

git clone http://github.com/strasdat/Sophus.git
cd sophus
git checkout a621ff
mkdir build
cd build
cmake ..
make

---

原文：https://blog.csdn.net/renhaofan/article/details/80960694