ubuntu16.04 under Compile Ceres-solver

I. Compilation environment

ubuntu16.04

Two. Preparation of the necessary libraries for the installation of the work

2.1 Installing CMake

sudo apt-get install CMake

2.2 Installing Google-glog + gflags

sudo apt-get install Libgoogle-glog-dev

2.3 Installing BLAS & LAPACK

sudo apt-get install Libatlas-base-dev

2.4 Installing Eigen3

sudo apt-get install Libeigen3-dev

2.5 Installing suitesparse and Cxsparse

sudo apt-get install Libsuitesparse-dev (this default causes Ceres-solver to be compiled into a static library, but so far to compile ceres-solver into a dynamic library, you need to add a repository to the current source, But the software warehouse to 2018/2/5 has not provided 16.04 of the corresponding version, so 16.04 can not be compiled into a dynamic library, but there are ways to patch themselves, compiled suitesparse this library)

The preparation is complete and the next step is to compile Ceres-solver

Three. Compiling ceres-solver Static Library

3.1 Get the source code

wget ceres-solver.org/ceres-solver-1.13.0.tar.gz

3.2 Decompression

Tar xvf ceres-solver-1.13.0.tar.gz

3.3 Switch to the source directory

CD ceres-solver-1.13.0

3.4 Creating a compiled directory

mkdir Build

3.5 Switch to the compiled directory

CD Build

3.6 Generating Makefile

CMake. /.. /ceres-solver-21.13.0

3.7 Compiling

Make-j4

3.8 Installation

Make install

Four. If you want to compile your own written test program needs to specify the following parameters to compile

For example, the test program is Test.cpp

g++-fopenmp Test.cpp-o Test-rdynamic/usr/local/lib/libceres.a-lcholmod-llapack-lf77blas-lcxsparse-lglog- I/usr/loca/include-isystem/usr/include/eigen3-i/usr/include/suitesparse

ubuntu16.04 under Compile Ceres-solver