eigen冲突 sophus 安装_ceres报错：Eigen3版本和ceres版本冲突问题

视觉slam十四讲第六章中，按照上安装的ceres库版本，以及网上大多数教程安装的版本都会和eigen3（3.3.7）有冲突，编译时会报如下错误：

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:70:16: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:70:51: error: wrong number of template arguments (4, should be 1)
 struct SumImpl<std::integer_sequence<T, N1, N2, Ns...>> {
                                                  ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’
 struct SumImpl;

/usr/local/include/ceres/internal/variadic_evaluate.h:74:52: error: ‘ParameterBlockIndices’ was not declared in this scope
                               ParameterBlockIndices());

这里换成1.14.0版本的ceres问题得以解决;

先删除之前的：
sudo rm -r /usr/local/lib/cmake/Ceres
sudo rm -rf /usr/local/include/ceres /usr/local/lib/libceres.a
sudo rm -r /usr/local/share/Ceres

下载
wget ceres-solver.org/ceres-solver-1.14.0.tar.gz
解压
tar xvf ceres-solver-1.14.0.tar.gz

cd ceres-solver-1.14.0
创建编译目录

mkdir build

 切换到编译目录

cd build

生成Makefile

cmake ..

编译

make -j4
make test
 安装

sudo make install

安装完成后可以测试一下：
在build下：

bin/simple_bundle_adjuster ../data/problem-16-22106-pre.txt 

出现如下所示，则安装成功

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    7.66e-02    2.30e-01
   1  1.062590e+05    4.08e+06    8.99e+06   5.36e+02   9.82e-01  3.00e+04        1    1.79e-01    4.09e-01
   2  4.992817e+04    5.63e+04    8.32e+06   3.19e+02   6.52e-01  3.09e+04        1    1.70e-01    5.78e-01
   3  1.899774e+04    3.09e+04    1.60e+06   1.24e+02   9.77e-01  9.26e+04        1    1.62e-01    7.40e-01
   4  1.808729e+04    9.10e+02    3.97e+05   6.39e+01   9.51e-01  2.78e+05        1    1.64e-01    9.04e-01
   5  1.803399e+04    5.33e+01    1.48e+04   1.23e+01   9.99e-01  8.33e+05        1    1.64e-01    1.07e+00
   6  1.803390e+04    9.02e-02    6.35e+01   8.00e-01   1.00e+00  2.50e+06        1    1.60e-01    1.23e+00

Solver Summary (v 1.14.0-eigen-(3.3.7)-lapack-suitesparse-(4.4.6)-cxsparse-(3.1.4)-eigensparse-openmp-no_tbb)

                                     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                         0.152995

  Residual only evaluation           0.097879 (7)
  Jacobian & residual evaluation     0.441241 (7)
  Linear solver                      0.524864 (7)
Minimizer                            1.169322

Postprocessor                        0.005134
Total                                1.327451

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