v1_1ceres优化安装

 官网

http://ceres-solver.org/

1.ceres是google库，首先安装相关依赖

sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.2 libgflags-dev 
sudo apt-get install libgoogle-glog-dev libgtest-dev

 官网安装

# 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 and CXSparse (optional)
sudo apt-get install libsuitesparse-dev

2.如果安装时找不到 cxsparse 或者其他的lib，需要添加下面的源

sudo gedit /etc/apt/sources.list

　　把下面的源粘贴到source.list的最上方

deb http://cz.archive.ubuntu.com/ubuntu trusty main universe

deb http://mirrors.aliyun.com/ubuntu trusty main universe

　　更新一下

sudo apt-get update

然后再进行第一步的安装。

3.Ceres库是来自谷歌的非线性优化库，可以在这里下载https://github.com/ceres-solver/ceres-solver
目录转到下载好的ceres
解压

mkdir build
cd build
cmake ..
make -j4
make test

　　4.编译完成后安装。

sudo make install

测试

http://ceres-solver.org/installation.htmlS

bin/simple_bundle_adjuster ../ceres-solver-2.1.0/data/problem-16-22106-pre.txt