ubuntu16.04安装ceres库

àì夳堔傛蜴生んèń 2023-02-25 08:49 26阅读 0赞

1.ceres是google库，首先安装相关依赖

sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.4 libgflags-dev libeigen3-dev
    
    
    sudo apt-get install libgoogle-glog-dev libgtest-dev

2.如果安装时找不到 cxsparse 或者其他的lib，需要添加下面的源

sudo gedit /etc/apt/sources.list

把下面的源粘贴到source.list的最上方

> deb [http://cz.archive.ubuntu.com/ubuntu][http_cz.archive.ubuntu.com_ubuntu] trusty main universe

更新一下

sudo apt-get update

然后再进行第一步的安装。

3.Ceres库是来自谷歌的非线性优化库，可以在这里下载[https://github.com/ceres-solver/ceres-solver][https_github.com_ceres-solver_ceres-solver]

下载最新版的Ceres：**（注意这个最新版，安装时需要engine3.3，所以必须安装了engine3.3及以上）**

**安装engine3.3.7 参考：**[https://blog.csdn.net/zhuiqiuzhuoyue583/article/details/107302389][https_blog.csdn.net_zhuiqiuzhuoyue583_article_details_107302389]

**这里下载zip格式，否则编译时出现问题。**

下载地址：[https://github.com/ceres-solver/ceres-solver/archive/master.zip][https_github.com_ceres-solver_ceres-solver_archive_master.zip]

不要使用命令行下载，编译时会出现问题：

不要使用命令行下载，编译时会出现问题
    git clone https://github.com/ceres-solver/ceres-solver.git

按如下步骤输入命令编译和安装安装：

cd ceres-solver
    
    sudo mkdir build
    
    cd build
    
    sudo cmake ..
    
    sudo make -j8
    
    sudo make install -j8

4.安装完成。

**查看Ceres版本号：**[https://blog.csdn.net/zhuiqiuzhuoyue583/article/details/107279686][https_blog.csdn.net_zhuiqiuzhuoyue583_article_details_107279686]  其中写了查看Ceres的版本号

ceres官方文档：http://www.ceres-solver.org/

学习ceres指南：http://www.ceres-solver.org/tutorial.html

参考：[https://blog.csdn.net/weixin\_39373577/article/details/81285420][https_blog.csdn.net_weixin_39373577_article_details_81285420]

[http_cz.archive.ubuntu.com_ubuntu]: http://cz.archive.ubuntu.com/ubuntu
[https_github.com_ceres-solver_ceres-solver]: https://github.com/ceres-solver/ceres-solver
[https_blog.csdn.net_zhuiqiuzhuoyue583_article_details_107302389]: https://blog.csdn.net/zhuiqiuzhuoyue583/article/details/107302389
[https_github.com_ceres-solver_ceres-solver_archive_master.zip]: https://github.com/ceres-solver/ceres-solver/archive/master.zip
[https_blog.csdn.net_zhuiqiuzhuoyue583_article_details_107279686]: https://blog.csdn.net/zhuiqiuzhuoyue583/article/details/107279686
[https_blog.csdn.net_weixin_39373577_article_details_81285420]: https://blog.csdn.net/weixin_39373577/article/details/81285420