安装支持eigen线性迭代的ceres_solver

Ceres可以求解以下形式的有界约束非线性最小二乘问题:

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。

最近在做sfm方面的重建问题,需要对得到的相机位姿和3维点做BA优化,ceres-solver和g2o都能做ba

ceres-solver是有依赖项eigen的,而且Ceres can also use Eigen as a sparse linear algebra library.

但是EIGENSPARSE 在camke的时候是默认关闭的,所以当我在程序中调用

ceres_config_options.sparse_linear_algebra_library_type = ceres::EIGEN_SPARSE;

编译无错,能编译成功,但是调用的时候,会报错

E0606 14:09:29.387037  9074 solver.cc:487] Terminating: Can't use SPARSE_SCHUR with EIGEN_SPARSE because Eigen's sparse linear algebra was not enabled when Ceres was built.
Bundle Adjustment failed.

所以解决方案只能把ceres-solver重新装一遍


 

1.卸载

进入ceres-solver的编译文件夹,执行卸载命令

cd ceres-solver/build
sudo make uninstall

执行命令之后就可以完全卸载成功了。

2.安装ceres-solver

安装之前请确保你已经安装了ceres-solver的依赖项,因为我装过,所以不用再装依赖项了,你可以安装以下命令安装,

可以参考官方文档:http://www.ceres-solver.org/installation.html

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
# - If you want to build Ceres as a *static* library (the default)
#   you can use the SuiteSparse package in the main Ubuntu package
#   repository:
sudo apt-get install libsuitesparse-dev
# - However, if you want to build Ceres as a *shared* library, you must
#   add the following PPA:
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update
sudo apt-get install libsuitesparse-dev

3.编译安装

以上步骤都完成后就可以编译安装ceres-solver了,cmake的时候要把 EIGENSPARSE 设置为 ON,进入到编译目录,执行命令

cd ceres-solver/build 
cmake -D EIGENSPARSE=ON ..
make
sudo make install

这样就可以编译成功了

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

 

转载于:https://www.cnblogs.com/feifanrensheng/p/9145069.html

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