安装Ceres

sudo apt-get install -y google-mock libboost-all-dev  libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev  libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx  ros-kinetic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

 sudo apt-get install liblua5.2-dev

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# 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

git clone https://gitee.com/kay2020/ceres-solver-1.11.0.git

cd ceres-solves
mkdir build
cd build
cmake ..
make
sudo make install

参考

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

https://www.bilibili.com/read/cv3103182/