1.安装Ceres Solver
先安装依赖:
sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.2 libgflags-dev
sudo apt-get install libgoogle-glog-dev libgtest-dev
如果遇到报错如果安装时找不到 cxsparse 或者其他的lib,需要添加下面的源:
//第一步,打开sources.list
sudo gedit /etc/apt/sources.list
//第二步,将下面的源粘贴到最上方sources.list
deb http://cz.archive.ubuntu.com/ubuntu trusty main universe
//第三步,更新源
sudo apt-get update
//第四步,重新输入依赖项安装命令安装依赖项
sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.2 libgflags-dev libgoogle-glog-dev libgtest-dev
接下来编译安装
mkdir build
cd build
cmake ..
make
sudo make install
安装成功。
安装位置:
头文件的默认位置在/usr/local/include/ceres,库文件的默认位置在/usr/local/lib下。
2.安装g2o
git clone https://github.com/RainerKuemmerle/g2o.git
cd [path-to-g2o]
# dependencies
sudo apt install cmake libeigen3-dev
sudo apt install libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev
sudo apt-get install libcholmod2.1.2
# building and installing
mkdir build
cd build
cmake ..
make -j2
sudo make install
安装成功。
安装位置:
头文件的默认位置在/usr/local/include/g2o,库文件的默认位置在/usr/local/lib。