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If you build from source code, it is your responsibility to install any packages that the code relies on. Sometimes they are ros packages, and sometimes they are "system" packages. I see that apt search has this:

$ apt search sophus
ros-noetic-sophus/focal 1.2.1-1focal.20200728.135441 amd64
  C++ implementation of Lie Groups using Eigen.

There is also a ros tool named rosdep that can help you install dependencies, but it is not always 100% successfull. Do a search on this site for how to use rosdep.

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