编译运行OB_GINS

一、环境配置

安装必要环境

1 # gcc-8

安装命令 sudo apt install gcc-8 g++-8

2 #Ceres

Installation — Ceres Solverhttp://ceres-solver.org/installation.html 下载Ceres2.1.0后拖到Ubuntu中，解压

安装Ceres前安装必要的依赖源

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# Use ATLAS for BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse (optional)
sudo apt-get install libsuitesparse-dev

安装Ceres:

tar