Ceres库安装

一、安装依赖

zhangman@zhangman-G3-3579:~$ sudo apt-get install  liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev

二、下载Ceres包

https://github.com/ceres-solver/ceres-solver/tree/e51e9b46f6ca88ab8b2266d0e362771db6d98067

三、编译安装

解压后进入ceres目录下，打开终端：

zhangman@zhangman-G3-3579:~/ceres$ mkdir build
zhangman@zhangman-G3-3579:~/ceres$ cd build
zhangman@zhangman-G3-3579:~/ceres/build$ cmake ..
zhangman@zhangman-G3-3579:~/ceres/build$ make
zhangman@zhangman-G3-3579:~/ceres/build$ sudo make install

G2O库安装

一、安装依赖

zhangman@zhangman-G3-3579:~$ sudo apt-get install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3

二、下载G2O包

https://github.com/RainerKuemmerle/g2o/tree/9b41a4ea5ade8e1250b9c1b279f3a9c098811b5a

三、编译安装

解压后进入g2o目录下，打开终端：

zhangman@zhangman-G3-3579:~/ceres$ mkdir build
zhangman@zhangman-G3-3579:~/ceres$ cd build
zhangman@zhangman-G3-3579:~/ceres/build$ cmake ..
zhangman@zhangman-G3-3579:~/ceres/build$ make
zhangman@zhangman-G3-3579:~/ceres/build$ sudo make install

四、指定系统G2O库

如果系统里面已经安装了ROS，ROS会自带一个G2O库，为了使用自己安装的G2O库。需要在工程目录下添加一个cmake文件夹，文件夹中存放FindG2O.cmake文件。
FindG2O.cmake文件如下：

FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h${G2O_ROOT}/include$ENV{G2O_ROOT}/include$ENV{G2O_ROOT}/usr/local/include/usr/include/opt/local/include/sw/local/include/sw/includeNO_DEFAULT_PATH)# Macro to unify finding both the debug and release versions of the
# libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY
# macro.MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)FIND_LIBRARY("${MYLIBRARY}_DEBUG"NAMES "g2o_${MYLIBRARYNAME}_d"PATHS${G2O_ROOT}/lib/Debug${G2O_ROOT}/lib$ENV{G2O_ROOT}/lib/Debug$ENV{G2O_ROOT}/libNO_DEFAULT_PATH)FIND_LIBRARY("${MYLIBRARY}_DEBUG"NAMES "g2o_${MYLIBRARYNAME}_d"PATHS~/Library/Frameworks/Library/Frameworks/usr/local/lib/usr/local/lib64/usr/lib/usr/lib64/opt/local/lib/sw/local/lib/sw/libNO_DEFAULT_PATH)FIND_LIBRARY(${MYLIBRARY}NAMES "g2o_${MYLIBRARYNAME}"PATHS${G2O_ROOT}/lib/Release${G2O_ROOT}/lib$ENV{G2O_ROOT}/lib/Release$ENV{G2O_ROOT}/libNO_DEFAULT_PATH)FIND_LIBRARY(${MYLIBRARY}NAMES "g2o_${MYLIBRARYNAME}"PATHS~/Library/Frameworks/Library/Frameworks/usr/local/lib/usr/local/lib64/usr/lib/usr/lib64/opt/local/lib/sw/local/lib/sw/libNO_DEFAULT_PATH)IF(NOT ${MYLIBRARY}_DEBUG)IF(MYLIBRARY)SET(${MYLIBRARY}_DEBUG ${MYLIBRARY})ENDIF(MYLIBRARY)ENDIF( NOT ${MYLIBRARY}_DEBUG)ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME)# Find the core elements
FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff)
FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core)# Find the CLI library
FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli)# Find the pluggable solvers
FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod)
FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse)
FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension)
FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense)
FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg)
FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear)
FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only)
FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen)# Find the predefined types
FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data)
FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp)
FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba)
FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d)
FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3)
FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d)
FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d)# G2O solvers declared found if we found at least one solver
SET(G2O_SOLVERS_FOUND "NO")
IF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)SET(G2O_SOLVERS_FOUND "YES")
ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)# G2O itself declared found if we found the core libraries and at least one solver
SET(G2O_FOUND "NO")
IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)SET(G2O_FOUND "YES")
ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)

然后在使用时，需要在CMakeLists文件中添加：

list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)

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Ubuntu18.04安装Ceres库和G20库

Ceres库安装

一、安装依赖

二、下载Ceres包

三、编译安装

G2O库安装

一、安装依赖

二、下载G2O包

三、编译安装

四、指定系统G2O库

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