ubuntu18 安装ceres solver

官方教程链接
http://www.ceres-solver.org/installation.html#linux

1、安装ceres依赖

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
# - If you want to build Ceres as a *static* library (the default)
#   you can use the SuiteSparse package in the main Ubuntu package
#   repository:
sudo apt-get install libsuitesparse-dev
# - However, if you want to build Ceres as a *shared* library, you must
#   add the following PPA:
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update
sudo apt-get install libsuitesparse-dev

2、下载安装包

安装包官方网址
https://github.com/ceres-solver/ceres-solver

解压，进入解压的文件夹内

3、安装

在终端中输入

mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-master   #这里文件夹名字要根据实际的文件夹名字更改
make -j3
make test
sudo make install

4、测试

在终端输入

bin/simple_bundle_adjuster ../ceres-solver-master/data/problem-16-22106-pre.txt

如果安装成功将会出现如下结果

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.185660e+06    0.00e+00    1.09e+08   0.00e+00   0.00e+00  1.00e+04        0    3.03e-01    8.87e-01
   1  1.062590e+05    4.08e+06    8.99e+06   5.36e+02   9.82e-01  3.00e+04        1    6.70e-01    1.56e+00
   2  4.992817e+04    5.63e+04    8.32e+06   3.19e+02   6.52e-01  3.09e+04        1    6.47e-01    2.20e+00
   3  1.899774e+04    3.09e+04    1.60e+06   1.24e+02   9.77e-01  9.26e+04        1    6.47e-01    2.85e+00
   4  1.808729e+04    9.10e+02    3.97e+05   6.39e+01   9.51e-01  2.78e+05        1    6.47e-01    3.50e+00
   5  1.803399e+04    5.33e+01    1.48e+04   1.23e+01   9.99e-01  8.33e+05        1    6.47e-01    4.15e+00
   6  1.803390e+04    9.02e-02    6.35e+01   8.00e-01   1.00e+00  2.50e+06        1    6.47e-01    4.79e+00

Solver Summary (v 2.0.0-eigen-(3.3.4)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-eigensparse-no_openmp)

                                     Original                  Reduced
Parameter blocks                        22122                    22122
Parameters                              66462                    66462
Residual blocks                         83718                    83718
Residuals                              167436                   167436

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver ordering              AUTOMATIC                 22106,16
Schur structure                         2,3,9                    2,3,9

Cost:
Initial                          4.185660e+06
Final                            1.803390e+04
Change                           4.167626e+06

Minimizer iterations                        7
Successful steps                            7
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                         0.583811

  Residual only evaluation           0.480404 (7)
  Jacobian & residual evaluation     1.817008 (7)
  Linear solver                      1.930402 (7)
Minimizer                            4.585502

Postprocessor                        0.033484
Total                                5.202797

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769761e-09 <= 1.000000e-06)