安装Ceres (一款非线性优化问题的数值求解器)

Ceres可以求解有界约束非线性最小二乘问题：

 支持eigen线性迭代

这种形式的问题来源于科学工程的多个领域，从统计学的曲线拟合到计算机视觉中从图像中构建三维模型。

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-noetic-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/