sudo apt-get install dkms #DKMS全称是Dynamic Kernel Module Support，它可以帮我们维护内核外的这些驱动程序，在内核版本变动之后可以自动重新生成新的模块。
sudo dkms install -m nvidia -v 535.54.03 #410.78是安装驱动的版本

01:00.0 VGA compatible controller: NVIDIA Corporation Device 25a2 (rev a1)
01:00.1 Audio device: NVIDIA Corporation Device 2291 (rev a1)

docker pull nvidia/cuda:12.9.0-devel-ubuntu20.04

docker run --rm -it --gpus all nvidia/cuda:12.9.0-devel-ubuntu20.04 bash

ccmake .. 
-DCMAKE_BUILD_TYPE:STRING=Release 
-DBUILD_SHARED_LIBS:BOOL=ON 
-DVTK_Group_Qt:BOOL=OFF 
-DVTK_Group_Rendering:BOOL=ON 
-DVTK_Group_StandAlone:BOOL=ON 
-DVTK_Group_Tk:BOOL=OFF 
-DCMAKE_INSTALL_PREFIX=/usr/local/vtk-8.2

make -j8
sudo make install

No SOURCES given to target: flann_cpp

touch src/cpp/empty.cpp
sed -e '/add_library(flann_cpp SHARED/ s/""/empty.cpp/' \
-e '/add_library(flann SHARED/ s/""/empty.cpp/' \
-i src/cpp/CMakeLists.txt

sudo apt-get install ros-noetic-sophus

# Clone Sophus
git clone https://github.com/strasdat/Sophus.git
cd Sophus

# (Optional) checkout a stable release
git checkout 1.22.10   # example version

# Build and install
mkdir build && cd build
cmake ..
make -j$(nproc)
sudo make install

find_package(Sophus REQUIRED)

target_link_libraries(your_target PUBLIC Sophus::Sophus)

sudo apt install wget
sudo apt install git

# SuiteSparse is a collection of sparse matrix algorithms.
sudo apt install libsuitesparse-dev

sudo apt-get install libssl-dev

sudo apt install libgoogle-glog-dev

# a C++ library developed by Google to handle command-line flags and arguments in a structured and type-safe way.
# allows you to declare and parse command-line options (flags) without manually parsing argv[].
sudo apt install libgflags-dev

sudo apt install libgtest-dev

# default version 1.71
sudo apt install libboost-all-dev

# a C++ library developed by Google that provides highly memory-efficient hash table implementations
# googlhash, used by eigen
sudo apt install libsparsehash-dev

# Automatic Differentiation by OverLoading in C++, used by eigen
sudo apt install libadolc-dev

# a high-performance numerical library for solving large, sparse, nonsymmetric systems of linear equations of the form Ax = b. used by eigen
sudo apt install libsuperlu-dev

# a helper tool used when compiling and linking programs.
sudo apt install pkg-config

# FFTW (Fastest Fourier Transform in the West) is a highly optimized C library for computing discrete Fourier transforms (DFTs) in one or more dimensions
# used by eigen
sudo apt install libfftw3-dev

# MPFR (Multiple Precision Floating-Point Reliable) is a C library for arbitrary-precision floating-point arithmetic, with correct rounding.
# used by eigen
sudo apt install libmpfr-dev

# GMP (GNU Multiple Precision Arithmetic Library) is a C library for arbitrary-precision arithmetic
sudo apt install libgmp-dev

# mpreal is a C++ wrapper for the MPFR library, designed to provide an easy and natural interface for arbitrary-precision floating-point arithmetic
# used by eigen
git clone https://github.com/advanpix/mpreal.git
cd mpreal
mkdir build && cd build
cmake ..
make
sudo make install

# METIS is a software library for partitioning graphs, computing fill-reducing orderings for sparse matrices, and related problems.
# used by ceres
sudo apt-get install libmetis-dev

# This tool is commonly used on Debian-based Linux distributions (like Ubuntu) to display Linux Standard Base (LSB) and distribution-specific information, such as the release number and codename.
sudo apt install lsb-release

# cereal： a header-only C++11 serialization library that makes it easy to serialize and deserialize data (e.g., to JSON, XML, or binary formats).
sudo apt install libcereal-dev

# protobuf: on Ubuntu 20.04, the default version of protobuf is 3.6.1 and the corresponding shared library version is libprotobuf.so.23
# check version of protobuf
protoc --version