安装Ceres库

安装依赖项

sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev

下载源码

https://github.com/ceres-solver/ceres-solver/tags

编译及安装

mkdir build
cd build
cmake ..
make -j4
sudo make install

报错1

在这里插入图片描述

根据报错信息中找到该文件夹下

/usr/include/tbb

标题打开终端,按步骤输入以下命令

sudo touch tbb_stddef.h
sudo gedit tbb_stddef.h

标复以下信息到文件中

/*
    Copyright (c) 2005-2020 Intel Corporation

    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
    You may obtain a copy of the License at

        http://www.apache.org/licenses/LICENSE-2.0

    Unless required by applicable law or agreed to in writing, software
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.
*/

#ifndef __TBB_tbb_stddef_H
#define __TBB_tbb_stddef_H

// Marketing-driven product version
#define TBB_VERSION_MAJOR 2020
#define TBB_VERSION_MINOR 2

// Engineering-focused interface version
#define TBB_INTERFACE_VERSION 11102
#define TBB_INTERFACE_VERSION_MAJOR TBB_INTERFACE_VERSION/1000

// The oldest major interface version still supported
// To be used in SONAME, manifests, etc.
#define TBB_COMPATIBLE_INTERFACE_VERSION 2

#define __TBB_STRING_AUX(x) #x
#define __TBB_STRING(x) __TBB_STRING_AUX(x)

// We do not need defines below for resource processing on windows
#if !defined RC_INVOKED

// Define groups for Doxygen documentation
/**
 * @defgroup algorithms         Algorithms
 * @defgroup containers         Containers
 * @defgroup memory_allocation  Memory Allocation
 * @defgroup synchronization    Synchronization
 * @defgroup timing             Timing
 * @defgroup task_scheduling    Task Scheduling
 */

// Simple text that is displayed on the main page of Doxygen documentation.
/**
 * \mainpage Main Page
 *
 * Click the tabs above for information about the
 * - <a href="./modules.html">Modules</a> (groups of functionality) implemented by the library
 * - <a href="./annotated.html">Classes</a> provided by the library
 * - <a href="./files.html">Files</a> constituting the library.
 * .
 * Please note that significant part of TBB functionality is implemented in the form of
 * template functions, descriptions of which are not accessible on the <a href="./annotated.html">Classes</a>
 * tab. Use <a href="./modules.html">Modules</a> or <a href="./namespacemembers.html">Namespace/Namespace Members</a>
 * tabs to find them.
 *
 * Additional pieces of information can be found here
 * - \subpage concepts
 * .
 */

/** \page concepts TBB concepts

    A concept is a set of requirements to a type, which are necessary and sufficient
    for the type to model a particular behavior or a set of behaviors. Some concepts
    are specific to a particular algorithm (e.g. algorithm body), while other ones
    are common to several algorithms (e.g. range concept).

    All TBB algorithms make use of different classes implementing various concepts.
    Implementation classes are supplied by the user as type arguments of template
    parameters and/or as objects passed as function call arguments. The library
    provides predefined  implementations of some concepts (e.g. several kinds of
    \ref range_req "ranges"), while other ones must always be implemented by the user.

    TBB defines a set of minimal requirements each concept must conform to. Here is
    the list of different concepts hyperlinked to the corresponding requirements specifications:
    - \subpage range_req
    - \subpage parallel_do_body_req
    - \subpage parallel_for_body_req
    - \subpage parallel_reduce_body_req
    - \subpage parallel_scan_body_req
    - \subpage parallel_sort_iter_req
**/

// tbb_config.h should be included the first since it contains macro definitions used in other headers
#include "tbb_config.h"

#if _MSC_VER >=1400
    #define __TBB_EXPORTED_FUNC   __cdecl
    #define __TBB_EXPORTED_METHOD __thiscall
#else
    #define __TBB_EXPORTED_FUNC
    #define __TBB_EXPORTED_METHOD
#endif

#if __INTEL_COMPILER || _MSC_VER
#define __TBB_NOINLINE(decl) __declspec(noinline) decl
#elif __GNUC__
#define __TBB_NOINLINE(decl) decl __attribute__ ((noinline))
#else
#define __TBB_NOINLINE(decl) decl
#endif

#if __TBB_NOEXCEPT_PRESENT
#define __TBB_NOEXCEPT(expression) noexcept(expression)
#else
#define __TBB_NOEXCEPT(expression)
#endif

#include <cstddef>      /* Need size_t and ptrdiff_t */

#if _MSC_VER
    #define __TBB_tbb_windef_H
    #include "internal/_tbb_windef.h"
    #undef __TBB_tbb_windef_H
#endif
#if !defined(_MSC_VER) || _MSC_VER>=1600
    #include <stdint.h>
#endif

//! Type for an assertion handler
typedef void(*assertion_handler_type)( const char* filename, int line, const char* expression, const char * comment );

#if __TBBMALLOC_BUILD
namespace rml { namespace internal {
 #define __TBB_ASSERT_RELEASE(predicate,message) ((predicate)?((void)0) : rml::internal::assertion_failure(__FILE__,__LINE__,#predicate,message))
#else
namespace tbb {
 #define __TBB_ASSERT_RELEASE(predicate,message) ((predicate)?((void)0) : tbb::assertion_failure(__FILE__,__LINE__,#predicate,message))
#endif

    //! Set assertion handler and return previous value of it.
    assertion_handler_type __TBB_EXPORTED_FUNC set_assertion_handler( assertion_handler_type new_handler );

    //! Process an assertion failure.
    /** Normally called from __TBB_ASSERT macro.
        If assertion handler is null, print message for assertion failure and abort.
        Otherwise call the assertion handler. */
    void __TBB_EXPORTED_FUNC assertion_failure( const char* filename, int line, const char* expression, const char* comment );

#if __TBBMALLOC_BUILD
}}  // namespace rml::internal
#else
} // namespace tbb
#endif

#if TBB_USE_ASSERT

    //! Assert that predicate is true.
    /** If predicate is false, print assertion failure message.
        If the comment argument is not NULL, it is printed as part of the failure message.
        The comment argument has no other effect. */
    #define __TBB_ASSERT(predicate,message) __TBB_ASSERT_RELEASE(predicate,message)

    #define __TBB_ASSERT_EX __TBB_ASSERT

#else /* !TBB_USE_ASSERT */

    //! No-op version of __TBB_ASSERT.
    #define __TBB_ASSERT(predicate,comment) ((void)0)
    //! "Extended" version is useful to suppress warnings if a variable is only used with an assert
    #define __TBB_ASSERT_EX(predicate,comment) ((void)(1 && (predicate)))

#endif /* !TBB_USE_ASSERT */

//! The namespace tbb contains all components of the library.
namespace tbb {

    namespace internal {
#if _MSC_VER && _MSC_VER<1600
        typedef __int8 int8_t;
        typedef __int16 int16_t;
        typedef __int32 int32_t;
        typedef __int64 int64_t;
        typedef unsigned __int8 uint8_t;
        typedef unsigned __int16 uint16_t;
        typedef unsigned __int32 uint32_t;
        typedef unsigned __int64 uint64_t;
#else /* Posix */
        using ::int8_t;
        using ::int16_t;
        using ::int32_t;
        using ::int64_t;
        using ::uint8_t;
        using ::uint16_t;
        using ::uint32_t;
        using ::uint64_t;
#endif /* Posix */
    } // namespace internal

    using std::size_t;
    using std::ptrdiff_t;

//! The function returns the interface version of the TBB shared library being used.
/**
 * The version it returns is determined at runtime, not at compile/link time.
 * So it can be different than the value of TBB_INTERFACE_VERSION obtained at compile time.
 */
extern "C" int __TBB_EXPORTED_FUNC TBB_runtime_interface_version();

/**
 * @cond INTERNAL
 * @brief Identifiers declared inside namespace internal should never be used directly by client code.
 */
namespace internal {

//! Compile-time constant that is upper bound on cache line/sector size.
/** It should be used only in situations where having a compile-time upper
    bound is more useful than a run-time exact answer.
    @ingroup memory_allocation */
const size_t NFS_MaxLineSize = 128;

/** Label for data that may be accessed from different threads, and that may eventually become wrapped
    in a formal atomic type.

    Note that no problems have yet been observed relating to the definition currently being empty,
    even if at least "volatile" would seem to be in order to avoid data sometimes temporarily hiding
    in a register (although "volatile" as a "poor man's atomic" lacks several other features of a proper
    atomic, some of which are now provided instead through specialized functions).

    Note that usage is intentionally compatible with a definition as qualifier "volatile",
    both as a way to have the compiler help enforce use of the label and to quickly rule out
    one potential issue.

    Note however that, with some architecture/compiler combinations, e.g. on IA-64 architecture, "volatile"
    also has non-portable memory semantics that are needlessly expensive for "relaxed" operations.

    Note that this must only be applied to data that will not change bit patterns when cast to/from
    an integral type of the same length; tbb::atomic must be used instead for, e.g., floating-point types.

    TODO: apply wherever relevant **/
#define __TBB_atomic // intentionally empty, see above

#if __TBB_OVERRIDE_PRESENT
#define __TBB_override override
#else
#define __TBB_override // formal comment only
#endif

#if __TBB_CPP17_FALLTHROUGH_PRESENT
#define __TBB_fallthrough [[fallthrough]]
#elif __TBB_FALLTHROUGH_PRESENT
#define __TBB_fallthrough __attribute__ ((fallthrough))
#else
#define __TBB_fallthrough
#endif

template<class T, size_t S, size_t R>
struct padded_base : T {
    char pad[S - R];
};
template<class T, size_t S> struct padded_base<T, S, 0> : T {};

//! Pads type T to fill out to a multiple of cache line size.
template<class T, size_t S = NFS_MaxLineSize>
struct padded : padded_base<T, S, sizeof(T) % S> {};

//! Extended variant of the standard offsetof macro
/** The standard offsetof macro is not sufficient for TBB as it can be used for
    POD-types only. The constant 0x1000 (not NULL) is necessary to appease GCC. **/
#define __TBB_offsetof(class_name, member_name) \
    ((ptrdiff_t)&(reinterpret_cast<class_name*>(0x1000)->member_name) - 0x1000)

//! Returns address of the object containing a member with the given name and address
#define __TBB_get_object_ref(class_name, member_name, member_addr) \
    (*reinterpret_cast<class_name*>((char*)member_addr - __TBB_offsetof(class_name, member_name)))

//! Throws std::runtime_error with what() returning error_code description prefixed with aux_info
void __TBB_EXPORTED_FUNC handle_perror( int error_code, const char* aux_info );

#if TBB_USE_EXCEPTIONS
    #define __TBB_TRY try
    #define __TBB_CATCH(e) catch(e)
    #define __TBB_THROW(e) throw e
    #define __TBB_RETHROW() throw
#else /* !TBB_USE_EXCEPTIONS */
    inline bool __TBB_false() { return false; }
    #define __TBB_TRY
    #define __TBB_CATCH(e) if ( tbb::internal::__TBB_false() )
    #define __TBB_THROW(e) tbb::internal::suppress_unused_warning(e)
    #define __TBB_RETHROW() ((void)0)
#endif /* !TBB_USE_EXCEPTIONS */

//! Report a runtime warning.
void __TBB_EXPORTED_FUNC runtime_warning( const char* format, ... );

#if TBB_USE_ASSERT
static void* const poisoned_ptr = reinterpret_cast<void*>(-1);

//! Set p to invalid pointer value.
//  Also works for regular (non-__TBB_atomic) pointers.
template<typename T>
inline void poison_pointer( T* __TBB_atomic & p ) { p = reinterpret_cast<T*>(poisoned_ptr); }

/** Expected to be used in assertions only, thus no empty form is defined. **/
template<typename T>
inline bool is_poisoned( T* p ) { return p == reinterpret_cast<T*>(poisoned_ptr); }
#else
template<typename T>
inline void poison_pointer( T* __TBB_atomic & ) {/*do nothing*/}
#endif /* !TBB_USE_ASSERT */

//! Cast between unrelated pointer types.
/** This method should be used sparingly as a last resort for dealing with
    situations that inherently break strict ISO C++ aliasing rules. */
// T is a pointer type because it will be explicitly provided by the programmer as a template argument;
// U is a referent type to enable the compiler to check that "ptr" is a pointer, deducing U in the process.
template<typename T, typename U>
inline T punned_cast( U* ptr ) {
    uintptr_t x = reinterpret_cast<uintptr_t>(ptr);
    return reinterpret_cast<T>(x);
}

#if __TBB_DEFAULTED_AND_DELETED_FUNC_PRESENT

//! Base class for types that should not be assigned.
class no_assign {
public:
    void operator=( const no_assign& ) = delete;
    no_assign( const no_assign& ) = default;
    no_assign() = default;
};

//! Base class for types that should not be copied or assigned.
class no_copy: no_assign {
public:
    no_copy( const no_copy& ) = delete;
    no_copy() = default;
};

#else /*__TBB_DEFAULTED_AND_DELETED_FUNC_PRESENT*/

//! Base class for types that should not be assigned.
class no_assign {
    // Deny assignment
    void operator=( const no_assign& );
public:
#if __GNUC__
    //! Explicitly define default construction, because otherwise gcc issues gratuitous warning.
    no_assign() {}
#endif /* __GNUC__ */
};

//! Base class for types that should not be copied or assigned.
class no_copy: no_assign {
    //! Deny copy construction
    no_copy( const no_copy& );
public:
    //! Allow default construction
    no_copy() {}
};

#endif /*__TBB_DEFAULTED_AND_DELETED_FUNC_PRESENT*/

#if TBB_DEPRECATED_MUTEX_COPYING
class mutex_copy_deprecated_and_disabled {};
#else
// By default various implementations of mutexes are not copy constructible
// and not copy assignable.
class mutex_copy_deprecated_and_disabled : no_copy {};
#endif

//! A function to check if passed in pointer is aligned on a specific border
template<typename T>
inline bool is_aligned(T* pointer, uintptr_t alignment) {
    return 0==((uintptr_t)pointer & (alignment-1));
}

//! A function to check if passed integer is a power of 2
template<typename integer_type>
inline bool is_power_of_two(integer_type arg) {
    return arg && (0 == (arg & (arg - 1)));
}

//! A function to compute arg modulo divisor where divisor is a power of 2.
template<typename argument_integer_type, typename divisor_integer_type>
inline argument_integer_type modulo_power_of_two(argument_integer_type arg, divisor_integer_type divisor) {
    __TBB_ASSERT( is_power_of_two(divisor), "Divisor should be a power of two" );
    return (arg & (divisor - 1));
}


//! A function to determine if arg is a power of 2 at least as big as another power of 2.
// i.e. for strictly positive i and j, with j being a power of 2,
// determines whether i==j<<k for some nonnegative k (so i==j yields true).
template<typename argument_integer_type, typename power2_integer_type>
inline bool is_power_of_two_at_least(argument_integer_type arg, power2_integer_type power2) {
    __TBB_ASSERT( is_power_of_two(power2), "Divisor should be a power of two" );
    return 0 == (arg & (arg - power2));
}

//! Utility template function to prevent "unused" warnings by various compilers.
template<typename T1> void suppress_unused_warning( const T1& ) {}
template<typename T1, typename T2> void suppress_unused_warning( const T1&, const T2& ) {}
template<typename T1, typename T2, typename T3> void suppress_unused_warning( const T1&, const T2&, const T3& ) {}

// Struct to be used as a version tag for inline functions.
/** Version tag can be necessary to prevent loader on Linux from using the wrong
    symbol in debug builds (when inline functions are compiled as out-of-line). **/
struct version_tag_v3 {};

typedef version_tag_v3 version_tag;

} // internal

//! Dummy type that distinguishes splitting constructor from copy constructor.
/**
 * See description of parallel_for and parallel_reduce for example usages.
 * @ingroup algorithms
 */
class split {
};

//! Type enables transmission of splitting proportion from partitioners to range objects
/**
 * In order to make use of such facility Range objects must implement
 * splitting constructor with this type passed and initialize static
 * constant boolean field 'is_splittable_in_proportion' with the value
 * of 'true'
 */
class proportional_split: internal::no_assign {
public:
    proportional_split(size_t _left = 1, size_t _right = 1) : my_left(_left), my_right(_right) { }

    size_t left() const { return my_left; }
    size_t right() const { return my_right; }

    // used when range does not support proportional split
    operator split() const { return split(); }

#if __TBB_ENABLE_RANGE_FEEDBACK
    void set_proportion(size_t _left, size_t _right) {
        my_left = _left;
        my_right = _right;
    }
#endif
private:
    size_t my_left, my_right;
};

} // tbb

// Following is a set of classes and functions typically used in compile-time "metaprogramming".
// TODO: move all that to a separate header

#if __TBB_CPP11_SMART_POINTERS_PRESENT
#include <memory> // for unique_ptr
#endif

#if __TBB_CPP11_RVALUE_REF_PRESENT || __TBB_CPP11_DECLTYPE_PRESENT || _LIBCPP_VERSION
#include <utility> // for std::move, std::forward, std::declval
#endif

namespace tbb {
namespace internal {

#if __TBB_CPP11_SMART_POINTERS_PRESENT && __TBB_CPP11_RVALUE_REF_PRESENT && __TBB_CPP11_VARIADIC_TEMPLATES_PRESENT
    template<typename T, typename... Args>
    std::unique_ptr<T> make_unique(Args&&... args) {
        return std::unique_ptr<T>(new T(std::forward<Args>(args)...));
    }
#endif

//! Class for determining type of std::allocator<T>::value_type.
template<typename T>
struct allocator_type {
    typedef T value_type;
};

#if _MSC_VER
//! Microsoft std::allocator has non-standard extension that strips const from a type.
template<typename T>
struct allocator_type<const T> {
    typedef T value_type;
};
#endif

// Ad-hoc implementation of true_type & false_type
// Intended strictly for internal use! For public APIs (traits etc), use C++11 analogues.
template <bool v>
struct bool_constant {
    static /*constexpr*/ const bool value = v;
};
typedef bool_constant<true> true_type;
typedef bool_constant<false> false_type;

//! A template to select either 32-bit or 64-bit constant as compile time, depending on machine word size.
template <unsigned u, unsigned long long ull >
struct select_size_t_constant {
    //Explicit cast is needed to avoid compiler warnings about possible truncation.
    //The value of the right size,   which is selected by ?:, is anyway not truncated or promoted.
    static const size_t value = (size_t)((sizeof(size_t)==sizeof(u)) ? u : ull);
};

#if __TBB_CPP11_RVALUE_REF_PRESENT
using std::move;
using std::forward;
#elif defined(_LIBCPP_NAMESPACE)
// libc++ defines "pre-C++11 move and forward" similarly to ours; use it to avoid name conflicts in some cases.
using std::_LIBCPP_NAMESPACE::move;
using std::_LIBCPP_NAMESPACE::forward;
#else
// It is assumed that cv qualifiers, if any, are part of the deduced type.
template <typename T>
T& move( T& x ) { return x; }
template <typename T>
T& forward( T& x ) { return x; }
#endif /* __TBB_CPP11_RVALUE_REF_PRESENT */

// Helper macros to simplify writing templates working with both C++03 and C++11.
#if __TBB_CPP11_RVALUE_REF_PRESENT
#define  __TBB_FORWARDING_REF(A) A&&
#else
// It is assumed that cv qualifiers, if any, are part of a deduced type.
// Thus this macro should not be used in public interfaces.
#define  __TBB_FORWARDING_REF(A) A&
#endif
#if __TBB_CPP11_VARIADIC_TEMPLATES_PRESENT
#define __TBB_PARAMETER_PACK ...
#define __TBB_PACK_EXPANSION(A) A...
#else
#define __TBB_PARAMETER_PACK
#define __TBB_PACK_EXPANSION(A) A
#endif /* __TBB_CPP11_VARIADIC_TEMPLATES_PRESENT */

#if __TBB_CPP11_DECLTYPE_PRESENT
#if __TBB_CPP11_DECLVAL_BROKEN
// Ad-hoc implementation of std::declval
template <class T> __TBB_FORWARDING_REF(T) declval() /*noexcept*/;
#else
using std::declval;
#endif
#endif

template <bool condition>
struct STATIC_ASSERTION_FAILED;

template <>
struct STATIC_ASSERTION_FAILED<false> { enum {value=1};};

template<>
struct STATIC_ASSERTION_FAILED<true>; //intentionally left undefined to cause compile time error

//! @endcond
}} // namespace tbb::internal

#if __TBB_STATIC_ASSERT_PRESENT
#define __TBB_STATIC_ASSERT(condition,msg) static_assert(condition,msg)
#else
//please note condition is intentionally inverted to get a bit more understandable error msg
#define __TBB_STATIC_ASSERT_IMPL1(condition,msg,line)       \
    enum {static_assert_on_line_##line = tbb::internal::STATIC_ASSERTION_FAILED<!(condition)>::value}

#define __TBB_STATIC_ASSERT_IMPL(condition,msg,line) __TBB_STATIC_ASSERT_IMPL1(condition,msg,line)
//! Verify condition, at compile time
#define __TBB_STATIC_ASSERT(condition,msg) __TBB_STATIC_ASSERT_IMPL(condition,msg,__LINE__)
#endif

#endif /* RC_INVOKED */
#endif /* __TBB_tbb_stddef_H */

重新编译安装

cmake  ..
make -j4
sudo make install
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