Ubuntu20.04 安装 Ceres Solver 方法

官网的安装教程有一点小迷惑http://ceres-solver.org/installation.html，所以自己写一篇

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Getting Source Code

git clone https://ceres-solver.googlesource.com/ceres-solver

Dependencies

# 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

Install

教程原文：

tar zxf ceres-solver-2.1.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-2.1.0
make -j3
make test
# Optionally install Ceres, it can also be exported using CMake which
# allows Ceres to be used without requiring installation, see the documentation
# for the EXPORT_BUILD_DIR option for more information.
make install

会报很多错。第一行删去，第二三四五行更改为如下：

cd ceres-solver/
mkdir build && cd build
cmake ..

若 cmake .. 出现报错：

首先检查是否安装cuda；

其次设置cuda环境变量（该设置关闭shell即失效）：

export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH
export PATH=/usr/local/cuda/bin:$PATH

验证设置是否成功：

echo $PATH
echo $LD_LIBRARY_PATH    

接下来：

make -j8
make test
# Optionally install Ceres, it can also be exported using CMake which
# allows Ceres to be used without requiring installation, see the documentation
# for the EXPORT_BUILD_DIR option for more information.
sudo make install

若使用 make install 会报错权限不足，应加上 sudo 权限。 

就这样了（摊）有问题了再更新