Sure, but you need to be root to install those, they're not portable, and there's no workspace isolation or build system consistency— yes CMake has bridge methods to work with autotools/pkg-config, but it's all pretty hacky.

For a tool that does attempt to do virtualenv-like workspaces for C++ packages, see colcon [1], but there are still a lot of rough edges there— it's an evolution of the catkin multi package build system/tool from the ROS ecosystem, and part of the promise of it is a pluggable mechanism for discovering the packages in your workspace to avoid needing to a patch in a special XML file containing dependency information.

[1]: https://colcon.readthedocs.io/