从github上面的vcpkg下载完之后(不论是zip下载还是git下载都可以),进入到vcpkg目录下打开powershell，依次输入以下命令即可安装

编译vcpkg
bootstrap-vcpkg.bat
集成到全局
vcpkg integrate install
安装各种库
.\vcpkg.exe install sophus:x64-windows
.\vcpkg.exe install g2o:x64-windows --x-use-aria2
.\vcpkg.exe install opencv4:x64-windows

cmake

cmake_minimum_required(VERSION 3.5)

set(-DCMAKE_TOOLCHAIN_FILE=C:/dev/vcpkg/scripts/buildsystems/vcpkg.cmake)#指定工具路径
set(CMAKE_TOOLCHAIN_FILE ${VCPKG_ROOT})

project(slam0d2)

# Eigen
find_package (Eigen3 CONFIG REQUIRED)
message ( STATUS "EIGEN3_INCLUDE_DIR    = ${EIGEN3_INCLUDE_DIR}" )
# Sophus
find_package(Sophus CONFIG REQUIRED)#指定包名
target_link_libraries(main PRIVATE Sophus::Sophus) # 链接第三方库 main改为可执行文件名即可
# OpenCV
set(OpenCV_DIR "${VCPKG_INSTALLED_DIR}/x64-windows/share/opencv4")
find_package(OpenCV CONFIG REQUIRED)
target_link_libraries(main PRIVATE ${OpenCV_LIBS}) # main改为可执行文件名即可
# G2O
find_package(g2o CONFIG REQUIRED) # this is heuristically generated, and may not be correct
# note: 17 additional targets are not displayed.
target_link_libraries(main PRIVATE g2o::core g2o::stuff g2o::types_icp g2o::types_sba) # main改为可执行文件名即可