ubuntu安装ceres-solver-1.14.0

一、安装Eigen3.2.5

之前我安装的Eigen的版本是3.4.0的，然后要安装1.14.0版本的ceres-solver是编译一直出现问题：

/home/zll/library/ceres-solver-1.14.0/internal/ceres/gtest/gtest.h:10445:35: error: variable or field ‘it’ declared void
10445 |   for (typename C::const_iterator it = container.begin();
      |                                   ^~
make[2]: *** [internal/ceres/CMakeFiles/residual_block_test.dir/build.make:63：internal/ceres/CMakeFiles/residual_block_test.dir/residual_block_test.cc.o] 错误 1

然后发现是Eigen版本的问题，需要安装Eigen3.2.5版本，但是我其他库依赖3.4版本的Eigen所以不打算卸载，而是重新在/urs目录下安装3.2版本的Eigen

现在/usr目录下建立eigen3目录

sudo mkdir eigen3

下载3.2.5版本的eigen并解压

https://gitlab.com/libeigen/eigen/-/releases

cd eigen
mkdir build 
cd build
cmake-gui

在可视化cmake修改安装路径

修改完后

sudo make install

二、安装ceres-solver-1.14.0

修改/ceres-solver/cmake/FindEigen.cmake文件

# Ceres Solver - A fast non-linear least squares minimizer
# Copyright 2015 Google Inc. All rights reserved.
# http://ceres-solver.org/
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright notice,
#   this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright notice,
#   this list of conditions and the following disclaimer in the documentation
#   and/or other materials provided with the distribution.
# * Neither the name of Google Inc. nor the names of its contributors may be
#   used to endorse or promote products derived from this software without
#   specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Author: alexs.mac@gmail.com (Alex Stewart)
#
# FindEigen.cmake - Find Eigen library, version >= 3.
#
# This module defines the following variables:
#
# EIGEN_FOUND: TRUE iff Eigen is found.
# EIGEN_INCLUDE_DIRS: Include directories for Eigen.
#
# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h
# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0
# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0
# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0
#
# The following variables control the behaviour of this module:
#
# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to
#                          search for eigen includes, e.g: /timbuktu/eigen3.
#
# The following variables are also defined by this module, but in line with
# CMake recommended FindPackage() module style should NOT be referenced directly
# by callers (use the plural variables detailed above instead).  These variables
# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
# are NOT re-called (i.e. search for library is not repeated) if these variables
# are set with valid values _in the CMake cache_. This means that if these
# variables are set directly in the cache, either by the user in the CMake GUI,
# or by the user passing -DVAR=VALUE directives to CMake when called (which
# explicitly defines a cache variable), then they will be used verbatim,
# bypassing the HINTS variables and other hard-coded search locations.
#
# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the
#                    include directory of any dependencies.
 
# Called if we failed to find Eigen or any of it's required dependencies,
# unsets all public (designed to be used externally) variables and reports
# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
macro(EIGEN_REPORT_NOT_FOUND REASON_MSG)
  unset(EIGEN_FOUND)
  unset(EIGEN_INCLUDE_DIRS)
  # Make results of search visible in the CMake GUI if Eigen has not
  # been found so that user does not have to toggle to advanced view.
  mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR)
  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
  # use the camelcase library name, not uppercase.
  if (Eigen_FIND_QUIETLY)
    message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN})
  elseif (Eigen_FIND_REQUIRED)
    message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN})
  else()
    # Neither QUIETLY nor REQUIRED, use no priority which emits a message
    # but continues configuration and allows generation.
    message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN})
  endif ()
  return()
endmacro(EIGEN_REPORT_NOT_FOUND)
 
# Search user-installed locations first, so that we prefer user installs
# to system installs where both exist.
#
# TODO: Add standard Windows search locations for Eigen.
list(APPEND EIGEN_CHECK_INCLUDE_DIRS
  /usr/eigen3/include/eigen3)
# Additional suffixes to try appending to each search path.
list(APPEND EIGEN_CHECK_PATH_SUFFIXES
  eigen3 # Default root directory for Eigen.
  Eigen/include/eigen3 ) # Windows (for C:/Program Files prefix).
 
# Search supplied hint directories first if supplied.
 
# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets
# if called.
set(EIGEN_FOUND TRUE)
set(EIGEN_INCLUDE_DIR,/usr/eigen3/include/eigen3)
 
 
# This is on a single line s/t CMake does not interpret it as a list of
# elements and insert ';' separators which would result in 3.;2.;0 nonsense.
set(EIGEN_VERSION "3.2.5")
 
 
# Set standard CMake FindPackage variables if found.
if (EIGEN_FOUND)
  set(EIGEN_INCLUDE_DIRS /usr/eigen3/include/eigen3)
endif (EIGEN_FOUND)
 
# Handle REQUIRED / QUIET optional arguments and version.
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(Eigen
  REQUIRED_VARS EIGEN_INCLUDE_DIRS
  VERSION_VAR EIGEN_VERSION)
 
# Only mark internal variables as advanced if we found Eigen, otherwise
# leave it visible in the standard GUI for the user to set manually.
if (EIGEN_FOUND)
  mark_as_advanced(FORCE EIGEN_INCLUDE_DIR)
endif (EIGEN_FOUND)

可直接粘贴覆盖

之后

wget ceres-solver.org/ceres-solver-1.14.0.tar.gz
tar xvf ceres-solver-1.14.0.tar.gz
cd ceres-solver-1.14.0
mkdir build

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

结果：

 参考博客：https://blog.csdn.net/weixin_42098782/article/details/89811180?utm_medium=distribute.pc_relevant.none-task-blog-2defaultbaidujs_title~default-0.pc_relevant_antiscanv2&spm=1001.2101.3001.4242.1&utm_relevant_index=3