slam第六讲
znkz@znkz:~/下载/ceres-solver-master/build$ cmake ..
CMake Error at CMakeLists.txt:32 (cmake_minimum_required):
CMake 3.5 or higher is required. You are running version 2.8.12.2
sudo apt-get install software-properties-common
sudo add-apt-repository ppa:george-edison55/cmake-3.x
sudo apt-get update错误：
正在读取软件包列表... 完成
W: GPG 错误：http://dl.google.com stable Release: 由于没有公钥，无法验证下列签名： NO_PUBKEY 6494C6D6997C215E
W: 校验签名出错。此仓库未被更新，仍然使用以前的索引文件。GPG 错误：http://dl.google.com stable Release: 由于没有公钥，无法验证下列签名： NO_PUBKEY 6494C6D6997C215E
W: 无法下载 http://dl.google.com/linux/deb/dists/stable/Release
由第三方提供的软件源可在软件更新——其它软件中查看,可删除不能用的软件源
sudo apt-get upgradeznkz@znkz:~/下载$ cmake --version
CMake Error: Could not find CMAKE_ROOT !!!
CMake has most likely not been installed correctly.
Modules directory not found in
/usr/bin
段错误 (核心已转储)
再执行一步：
sudo apt-get install cmake
znkz@znkz:~/下载$ cmake --version
cmake version 3.2.2
CMake suite maintained and supported by Kitware (kitware.com/cmake).
https://blog.csdn.net/lixiaogang_theanswer/article/details/73693004#commentBox
https://blog.csdn.net/love1055259415/article/details/79875113#commentBox
失败尝试：
znkz@znkz:~/下载$ cmake --version
cmake version 2.8.12.2
znkz@znkz:~/下载$ sudo apt-get autoremove cmake
会卸载原来的软件包
下列软件包将被【卸载】：
account-plugin-windows-live cmake collada-dom-dev collada-dom2.4-dp-base
collada-dom2.4-dp-dev dkms empathy-common evemu-tools evtest festival
festlex-cmu festlex-poslex festvox-kallpc16k fltk1.3-doc fluid folks-common
gazebo2 gstreamer0.10-nice gstreamer0.10-plugins-good gstreamer0.10-x
gstreamer1.0-nice hddtemp joystick liballegro4.4 liballegro4.4-plugin-alsa
libandroid-properties1 libapr1-dev libaprutil1-dev libasound2-dev
libassimp-dev libassimp3 libavahi-client-dev libavahi-common-dev
libavahi-core-dev libavahi-gobject0 libbz2-dev libcaca-dev
libcegui-mk2-0.7.6 libcegui-mk2-dev libcppunit-1.13-0 libcppunit-dev
libcurl4-openssl-dev libcwiid1 libdbus-1-dev libdevil-dev libdevil1c2
libestools2.1 libevemu1 libfarstream-0.1-0 libfarstream-0.2-2
libfltk-cairo1.3 libfltk-forms1.3 libfltk-gl1.3 libfltk-images1.3 libfltk1.1
libfltk1.3 libfltk1.3-dev libfolks-eds25 libfolks25 libfreeimage-dev
libfreeimage3 libgcrypt11-dev libgeos-3.4.2 libgeos-c1 libgnomecanvas2-0
libgnomecanvas2-common libgnutls-dev libgnutlsxx27 libgoogle-perftools4
libgpg-error-dev libgsl0-dev libgsl0ldbl libgupnp-igd-1.0-4 libidn11-dev
libjemalloc1 libkrb5-dev liblcms1 liblcms1-dev liblcms2-dev libldap2-dev
liblodo3.0 liblog4cxx10 liblog4cxx10-dev liblua5.1-0 liblua5.1-0-dev
liblz4-1 liblz4-dev libmeanwhile1 libmng-dev libmng2 libnice10 libodbc1
libogre-1.8-dev libogre-1.8.0 libois-1.3.0 libopenni2-0 libopenni2-dev
liboxideqt-qmlplugin liboxideqtcore0 liboxideqtquick0 libp11-kit-dev
libplayerc++3.0 libplayerc3.0 libplayercommon3.0 libplayercore3.0
libplayerdrivers3.0 libplayerinterface3.0 libplayerjpeg3.0 libplayertcp3.0
libplayerwkb3.0 libpmap3.0 libpoco-dev libpococrypto9 libpocodata9
libpocofoundation9 libpocomysql9 libpoconet9 libpoconetssl9 libpocoodbc9
libpocosqlite9 libpocoutil9 libpocoxml9 libpocozip9 libprotobuf-dev
libprotobuf-lite8 libprotoc8 libpulse-dev libpurple-bin libpurple0
libpyside-dev libpyside-py3-1.2 libpyside1.2 libqt5webkit5-qmlwebkitplugin
libqwt-dev libqwt5-qt4 libqwt6 libreadline-dev libreadline6-dev librtmp-dev
libsctp-dev libsdformat-dev libsdformat1 libsdl-image1.2 libsdl-image1.2-dev
libsdl1.2-dev libsdl1.2debian libshiboken-dev libshiboken-py3-1.2
libshiboken1.2 libsilly libslang2-dev libsnappy1 libspnav-dev libspnav0
libstatgrab9 libtar0 libtasn1-6-dev libtcmalloc-minimal4 libtinfo-dev
libtinyxml-dev libufe-xidgetter0 liburdfdom-dev liburdfdom-headers-dev
liburdfdom-model-state0.2 liburdfdom-model0.2 liburdfdom-sensor0.2
liburdfdom-world0.2 libv8-3.14.5 libvtk-java libwebp-dev libwebpdemux1
libxaw7-dev libxerces-c3.1 libxmu-dev libxmu-headers libxpm-dev
libyaml-cpp-dev libyaml-cpp0.5 libzephyr4 libzzip-0-13 libzzip-dev
linux-headers-3.13.0-158 linux-headers-3.13.0-158-generic
linux-headers-generic mongodb mongodb-clients mongodb-dev mongodb-server
python-bluez python-bson python-bson-ext python-cwiid python-empy
python-gridfs python-gst0.10 python-matplotlib python-matplotlib-data
python-netifaces python-opengl python-psutil python-pydot python-pymongo
python-pymongo-ext python-pyside python-pyside.phonon python-pyside.qtcore
python-pyside.qtdeclarative python-pyside.qtgui python-pyside.qthelp
python-pyside.qtnetwork python-pyside.qtopengl python-pyside.qtscript
python-pyside.qtsql python-pyside.qtsvg python-pyside.qttest
python-pyside.qtuitools python-pyside.qtwebkit python-pyside.qtxml
python-qt4-dev python-qt4-gl python-qwt5-qt4 python-rosdep python-sip-dev
python-support python-tz python-vtk python-zeitgeist
qtdeclarative5-accounts-plugin qtdeclarative5-dialogs-plugin
qtdeclarative5-privatewidgets-plugin
qtdeclarative5-ubuntu-ui-extras-browser-plugin
qtdeclarative5-ubuntu-ui-extras-browser-plugin-assets redis-server
redis-tools robot-player ros-indigo-actionlib ros-indigo-actionlib-msgs
ros-indigo-actionlib-tutorials ros-indigo-amcl ros-indigo-angles
ros-indigo-ar-track-alvar ros-indigo-arbotix ros-indigo-arbotix-controllers
ros-indigo-arbotix-python ros-indigo-arbotix-sensors ros-indigo-astra-camera
ros-indigo-astra-launch ros-indigo-audio-capture ros-indigo-audio-common
ros-indigo-audio-common-msgs ros-indigo-audio-play
ros-indigo-base-local-planner ros-indigo-bfl ros-indigo-bond
ros-indigo-bond-core ros-indigo-bondcpp ros-indigo-bondpy
ros-indigo-calibration-msgs ros-indigo-camera-calibration
ros-indigo-camera-calibration-parsers ros-indigo-camera-info-manager
ros-indigo-capabilities ros-indigo-carrot-planner ros-indigo-catkin
ros-indigo-class-loader ros-indigo-clear-costmap-recovery
ros-indigo-cmake-modules ros-indigo-collada-parser ros-indigo-collada-urdf
ros-indigo-common-msgs ros-indigo-common-tutorials
ros-indigo-compressed-depth-image-transport
ros-indigo-compressed-image-transport ros-indigo-control-msgs
ros-indigo-costmap-2d ros-indigo-create-dashboard
ros-indigo-create-description ros-indigo-create-driver
ros-indigo-create-gazebo-plugins ros-indigo-create-node ros-indigo-csm
ros-indigo-cv-bridge ros-indigo-depth-image-proc
ros-indigo-depthimage-to-laserscan ros-indigo-desktop
ros-indigo-desktop-full ros-indigo-diagnostic-aggregator
ros-indigo-diagnostic-analysis ros-indigo-diagnostic-common-diagnostics
ros-indigo-diagnostic-msgs ros-indigo-diagnostic-updater
ros-indigo-diagnostics ros-indigo-driver-base ros-indigo-dwa-local-planner
ros-indigo-dynamic-reconfigure ros-indigo-dynamixel-controllers
ros-indigo-dynamixel-driver ros-indigo-dynamixel-motor
ros-indigo-dynamixel-msgs ros-indigo-dynamixel-tutorials
ros-indigo-ecl-streams ros-indigo-eigen-conversions
ros-indigo-eigen-stl-containers ros-indigo-executive-smach
ros-indigo-fake-localization ros-indigo-filters ros-indigo-freenect-camera
ros-indigo-freenect-launch ros-indigo-freenect-stack ros-indigo-gateway-msgs
ros-indigo-gazebo-msgs ros-indigo-gazebo-plugins ros-indigo-gazebo-ros
ros-indigo-gazebo-ros-pkgs ros-indigo-gencpp ros-indigo-genlisp
ros-indigo-geometric-shapes ros-indigo-geometry
ros-indigo-geometry-tutorials ros-indigo-global-planner ros-indigo-gmapping
ros-indigo-hokuyo-node ros-indigo-image-cb-detector ros-indigo-image-common
ros-indigo-image-geometry ros-indigo-image-pipeline ros-indigo-image-proc
ros-indigo-image-rotate ros-indigo-image-transport
ros-indigo-image-transport-plugins ros-indigo-image-view
ros-indigo-interactive-marker-tutorials ros-indigo-interactive-markers
ros-indigo-joint-state-publisher ros-indigo-joint-states-settler
ros-indigo-joy ros-indigo-joystick-drivers ros-indigo-kdl-conversions
ros-indigo-kdl-parser ros-indigo-kobuki ros-indigo-kobuki-auto-docking
ros-indigo-kobuki-bumper2pc ros-indigo-kobuki-capabilities
ros-indigo-kobuki-controller-tutorial ros-indigo-kobuki-dashboard
ros-indigo-kobuki-description ros-indigo-kobuki-gazebo-plugins
ros-indigo-kobuki-keyop ros-indigo-kobuki-msgs ros-indigo-kobuki-node
ros-indigo-kobuki-random-walker ros-indigo-kobuki-rapps
ros-indigo-kobuki-safety-controller ros-indigo-kobuki-testsuite
ros-indigo-laptop-battery-monitor ros-indigo-laser-assembler
ros-indigo-laser-cb-detector ros-indigo-laser-filtering
ros-indigo-laser-filters ros-indigo-laser-filters-jsk-patch
ros-indigo-laser-geometry ros-indigo-laser-joint-processor
ros-indigo-laser-joint-projector ros-indigo-laser-odometry
ros-indigo-laser-odometry-core ros-indigo-laser-odometry-node
ros-indigo-laser-ortho-projector ros-indigo-laser-pipeline
ros-indigo-laser-proc ros-indigo-laser-scan-matcher
ros-indigo-laser-scan-publisher-tutorial ros-indigo-laser-scan-sparsifier
ros-indigo-laser-scan-splitter ros-indigo-laser-tilt-controller-filter
ros-indigo-libfreenect ros-indigo-librealsense ros-indigo-librviz-tutorial
ros-indigo-map-laser ros-indigo-map-msgs ros-indigo-map-server
ros-indigo-media-export ros-indigo-message-filters
ros-indigo-message-generation ros-indigo-mk ros-indigo-move-base
ros-indigo-move-base-msgs ros-indigo-move-slow-and-clear ros-indigo-nav-core
ros-indigo-nav-msgs ros-indigo-navfn ros-indigo-navigation
ros-indigo-nodelet ros-indigo-nodelet-core ros-indigo-nodelet-topic-tools
ros-indigo-nodelet-tutorial-math ros-indigo-octomap ros-indigo-openni-camera
ros-indigo-openni-description ros-indigo-openni-launch
ros-indigo-openni2-camera ros-indigo-openni2-launch
ros-indigo-openslam-gmapping ros-indigo-orocos-kdl ros-indigo-pano-core
ros-indigo-pano-py ros-indigo-pano-ros ros-indigo-pcl-conversions
ros-indigo-pcl-msgs ros-indigo-pcl-ros ros-indigo-perception
ros-indigo-perception-pcl ros-indigo-pluginlib
ros-indigo-pluginlib-tutorials ros-indigo-pocketsphinx
ros-indigo-pointcloud-to-laserscan ros-indigo-polled-camera
ros-indigo-pr2-msgs ros-indigo-ps3joy ros-indigo-python-orocos-kdl
ros-indigo-python-qt-binding ros-indigo-qt-dotgraph ros-indigo-qt-gui
ros-indigo-qt-gui-cpp ros-indigo-qt-gui-py-common ros-indigo-random-numbers
ros-indigo-realsense-camera ros-indigo-resource-retriever
ros-indigo-rgbd-launch ros-indigo-robot ros-indigo-robot-model
ros-indigo-robot-pose-ekf ros-indigo-robot-pose-publisher
ros-indigo-robot-state-publisher ros-indigo-rocon-app-manager
ros-indigo-rocon-app-manager-msgs ros-indigo-rocon-app-utilities
ros-indigo-rocon-apps ros-indigo-rocon-bubble-icons ros-indigo-rocon-console
ros-indigo-rocon-ebnf ros-indigo-rocon-gateway
ros-indigo-rocon-gateway-utils ros-indigo-rocon-hub
ros-indigo-rocon-hub-client ros-indigo-rocon-icons
ros-indigo-rocon-interaction-msgs ros-indigo-rocon-interactions
ros-indigo-rocon-launch ros-indigo-rocon-master-info
ros-indigo-rocon-python-comms ros-indigo-rocon-python-redis
ros-indigo-rocon-python-utils ros-indigo-rocon-python-wifi
ros-indigo-rocon-qt-library ros-indigo-rocon-remocon
ros-indigo-rocon-semantic-version ros-indigo-rocon-service-pair-msgs
ros-indigo-rocon-std-msgs ros-indigo-rocon-uri ros-indigo-ros
ros-indigo-ros-base ros-indigo-ros-comm ros-indigo-ros-core
ros-indigo-ros-tutorials ros-indigo-rosbag ros-indigo-rosbag-migration-rule
ros-indigo-rosbag-storage ros-indigo-rosbash ros-indigo-rosboost-cfg
ros-indigo-rosbuild ros-indigo-rosclean ros-indigo-rosconsole
ros-indigo-rosconsole-bridge ros-indigo-roscpp ros-indigo-roscpp-core
ros-indigo-roscpp-tutorials ros-indigo-roscreate ros-indigo-rosgraph
ros-indigo-rosgraph-msgs ros-indigo-roslang ros-indigo-roslaunch
ros-indigo-roslib ros-indigo-roslint ros-indigo-roslisp ros-indigo-roslz4
ros-indigo-rosmake ros-indigo-rosmaster ros-indigo-rosmsg ros-indigo-rosnode
ros-indigo-rosout ros-indigo-rospack ros-indigo-rosparam ros-indigo-rospy
ros-indigo-rospy-message-converter ros-indigo-rospy-tutorials
ros-indigo-rosservice ros-indigo-rostest ros-indigo-rostopic
ros-indigo-rosunit ros-indigo-roswtf ros-indigo-rotate-recovery
ros-indigo-rqt-action ros-indigo-rqt-bag ros-indigo-rqt-bag-plugins
ros-indigo-rqt-common-plugins ros-indigo-rqt-console ros-indigo-rqt-dep
ros-indigo-rqt-graph ros-indigo-rqt-gui ros-indigo-rqt-gui-cpp
ros-indigo-rqt-gui-py ros-indigo-rqt-image-view ros-indigo-rqt-launch
ros-indigo-rqt-logger-level ros-indigo-rqt-moveit ros-indigo-rqt-msg
ros-indigo-rqt-nav-view ros-indigo-rqt-plot ros-indigo-rqt-pose-view
ros-indigo-rqt-publisher ros-indigo-rqt-py-common ros-indigo-rqt-py-console
ros-indigo-rqt-reconfigure ros-indigo-rqt-robot-dashboard
ros-indigo-rqt-robot-monitor ros-indigo-rqt-robot-plugins
ros-indigo-rqt-robot-steering ros-indigo-rqt-runtime-monitor
ros-indigo-rqt-rviz ros-indigo-rqt-service-caller ros-indigo-rqt-shell
ros-indigo-rqt-srv ros-indigo-rqt-tf-tree ros-indigo-rqt-top
ros-indigo-rqt-topic ros-indigo-rqt-web ros-indigo-rviz
ros-indigo-rviz-plugin-tutorials ros-indigo-rviz-python-tutorial
ros-indigo-self-test ros-indigo-sensor-msgs ros-indigo-settlerlib
ros-indigo-shape-msgs ros-indigo-shape-tools ros-indigo-simulators
ros-indigo-slam-gmapping ros-indigo-smach ros-indigo-smach-msgs
ros-indigo-smach-ros ros-indigo-smart-battery-msgs ros-indigo-smclib
ros-indigo-sound-play ros-indigo-spacenav-node ros-indigo-stage
ros-indigo-stage-ros ros-indigo-std-capabilities ros-indigo-std-srvs
ros-indigo-stdr-gui ros-indigo-stdr-msgs ros-indigo-stdr-parser
ros-indigo-stdr-resources ros-indigo-stdr-robot ros-indigo-stdr-server
ros-indigo-stereo-image-proc ros-indigo-stereo-msgs ros-indigo-tf
ros-indigo-tf-conversions ros-indigo-tf2 ros-indigo-tf2-geometry-msgs
ros-indigo-tf2-msgs ros-indigo-tf2-py ros-indigo-tf2-ros
ros-indigo-tf2-sensor-msgs ros-indigo-theora-image-transport
ros-indigo-topic-tools ros-indigo-trajectory-msgs
ros-indigo-turtle-actionlib ros-indigo-turtle-tf ros-indigo-turtle-tf2
ros-indigo-turtlebot ros-indigo-turtlebot-actions ros-indigo-turtlebot-apps
ros-indigo-turtlebot-bringup ros-indigo-turtlebot-calibration
ros-indigo-turtlebot-capabilities ros-indigo-turtlebot-create-desktop
ros-indigo-turtlebot-dashboard ros-indigo-turtlebot-description
ros-indigo-turtlebot-follower ros-indigo-turtlebot-gazebo
ros-indigo-turtlebot-interactions ros-indigo-turtlebot-interactive-markers
ros-indigo-turtlebot-msgs ros-indigo-turtlebot-navigation
ros-indigo-turtlebot-panorama ros-indigo-turtlebot-rapps
ros-indigo-turtlebot-rviz-launchers ros-indigo-turtlebot-simulator
ros-indigo-turtlebot-stage ros-indigo-turtlebot-stdr
ros-indigo-turtlebot-teleop ros-indigo-turtlesim ros-indigo-unique-id
ros-indigo-urdf ros-indigo-urdf-parser-plugin ros-indigo-urdf-tutorial
ros-indigo-usb-cam ros-indigo-uuid-msgs ros-indigo-vision-opencv
ros-indigo-visualization-marker-tutorials ros-indigo-visualization-msgs
ros-indigo-visualization-tutorials ros-indigo-viz ros-indigo-voxel-grid
ros-indigo-warehouse-ros ros-indigo-wiimote
ros-indigo-world-canvas-client-py ros-indigo-world-canvas-msgs
ros-indigo-world-canvas-server ros-indigo-world-canvas-utils
ros-indigo-xacro ros-indigo-xmlrpcpp ros-indigo-yocs-cmd-vel-mux
ros-indigo-yocs-controllers ros-indigo-yocs-math-toolkit
ros-indigo-yocs-msgs ros-indigo-yocs-velocity-smoother
ros-indigo-yocs-virtual-sensor ros-indigo-zeroconf-avahi
ros-indigo-zeroconf-msgs sbcl shiboken signon-plugin-password sip-dev
spacenavd tango-icon-theme tcl-vtk unity-webapps-qml uuid-dev v4l-utils
webapp-container webbrowser-app
下列【新】软件包将被安装：
python-catkin-pkg-modules python-rospkg-modules
下列软件包将被升级：
python-catkin-lint python-catkin-pkg python-rospkg
升级了 3 个软件包，新安装了 2 个软件包，要卸载 642 个软件包，有 780 个软件包未被升级。
安装cmake之后再次编译cere库：
znkz@znkz:~/下载/ceres-solver-master/build$ cmake ..
-- The C compiler identification is GNU 4.8.4
-- The CXX compiler identification is GNU 4.8.4
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Detected Ceres version: 2.0.0 from /home/znkz/下载/ceres-solver-master/include/ceres/version.h
-- Detected available Ceres threading models: [CXX11_THREADS, OPENMP, NO_THREADS]
-- Building with C++11
-- No preference for use of exported Eigen CMake configuration set, and no hints for include directory provided. Defaulting to preferring an installed/exported Eigen CMake configuration if available.
-- Failed to find installed Eigen CMake configuration, searching for Eigen build directories exported with CMake.
-- Failed to find an installed/exported CMake configuration for Eigen, will perform search for installed Eigen components.
-- Found Eigen version 3.2.0: /usr/include/eigen3
-- Enabling use of Eigen as a sparse linear algebra library.
WARNING:
Your version of Eigen (3.2.0) is older than
version 3.2.2. The performance of SPARSE_NORMAL_CHOLESKY
and SPARSE_SCHUR linear solvers will suffer.
-- A library with BLAS API found.
-- Found LAPACK library: /usr/lib/liblapack.so;/usr/lib/libblas.so
-- A library with BLAS API found.
-- Found AMD headers in: /usr/include/suitesparse
-- Found AMD library: /usr/lib/x86_64-linux-gnu/libamd.so
-- Found CAMD headers in: /usr/include/suitesparse
-- Found CAMD library: /usr/lib/x86_64-linux-gnu/libcamd.so
-- Found COLAMD headers in: /usr/include/suitesparse
-- Found COLAMD library: /usr/lib/x86_64-linux-gnu/libcolamd.so
-- Found CCOLAMD headers in: /usr/include/suitesparse
-- Found CCOLAMD library: /usr/lib/x86_64-linux-gnu/libccolamd.so
-- Found CHOLMOD headers in: /usr/include/suitesparse
-- Found CHOLMOD library: /usr/lib/x86_64-linux-gnu/libcholmod.so
-- Found SUITESPARSEQR headers in: /usr/include/suitesparse
-- Found SUITESPARSEQR library: /usr/lib/x86_64-linux-gnu/libspqr.so
-- Found Intel Thread Building Blocks (TBB) library (4.2) assuming SuiteSparseQR was compiled with TBB.
-- Found SUITESPARSE_CONFIG headers in: /usr/include/suitesparse
-- Found SUITESPARSE_CONFIG library: /usr/lib/x86_64-linux-gnu/libsuitesparseconfig.a
-- Found LIBRT library: /usr/lib/x86_64-linux-gnu/librt.so
-- Adding librt: /usr/lib/x86_64-linux-gnu/librt.so to SuiteSparse_config libraries (required on Linux & Unix [not OSX] if SuiteSparse is compiled with timing).
-- Did not find METIS library (optional SuiteSparse dependency)
-- Found SuiteSparse 4.2.1, building with SuiteSparse.
-- Found CXSparse version: 3.1.2, building with CXSparse.
-- Building without Apple's Accelerate sparse support.
-- No preference for use of exported gflags CMake configuration set, and no hints for include/library directories provided. Defaulting to preferring an installed/exported gflags CMake configuration if available.
-- Failed to find installed gflags CMake configuration, searching for gflags build directories exported with CMake.
-- Failed to find an installed/exported CMake configuration for gflags, will perform search for installed gflags components.
-- Found Google Flags header in: /usr/include, in namespace: google
-- No preference for use of exported glog CMake configuration set, and no hints for include/library directories provided. Defaulting to preferring an installed/exported glog CMake configuration if available.
-- Failed to find installed glog CMake configuration, searching for glog build directories exported with CMake.
-- Failed to find an installed/exported CMake configuration for glog, will perform search for installed glog components.
-- Found Google Log (glog). Assuming glog was built with gflags support as gflags was found. This will make gflags a public dependency of Ceres.
-- Using Ceres threading model: CXX11_THREADS
-- Building Ceres as a static library.
-- Enabling CERES_USE_EIGEN_SPARSE in Ceres config.h
-- Enabling CERES_NO_ACCELERATE_SPARSE in Ceres config.h
-- Enabling CERES_USE_CXX11_THREADS in Ceres config.h
-- Build the examples.
-- Configuring done
-- Generating done
-- Build files have been written to: /home/znkz/下载/ceres-solver-master/build
安装3.2.2以上的Eigen:
http://eigen.tuxfamily.org/index.php?title=Main_Page
下载eigen-eigen-5a0156e40feb.tar.bz2，解压，修改文件夹名字为eigen3
移除旧版本：
znkz@znkz:/usr/include$ sudo rm -rf Eigen/将新版本复制过去：
znkz@znkz:/usr/include$ sudo mv /home/znkz/下载/eigen3 /usr/include/查看Eigen版本：https://stackoverflow.com/questions/49082293/error-related-to-eigen-while-installing-caffe2
znkz@znkz:~/下载/eigen-eigen-5a0156e40feb/Eigen/build$ cat /usr/include/Eigen/src/Core/util/Macros.h | grep VERSION
#define EIGEN_WORLD_VERSION 3
#define EIGEN_MAJOR_VERSION 3
#define EIGEN_MINOR_VERSION 4
测试安装Eigen3.3.4成功
安装最稳定的Ceres版本1.14.0
Ubuntu16.04编译安装Ceres-Solver
用cmake编译
秀一下结果，嘻嘻：
[100%] Building CXX object examples/CMakeFiles/robot_pose_mle.dir/robot_pose_mle.cc.o
Linking CXX executable ../bin/robot_pose_mle
[100%] Built target robot_pose_mle
Scanning dependencies of target robust_curve_fitting
[100%] Building CXX object examples/CMakeFiles/robust_curve_fitting.dir/robust_curve_fitting.cc.o
Linking CXX executable ../bin/robust_curve_fitting
[100%] Built target robust_curve_fitting
Scanning dependencies of target rosenbrock
[100%] Building CXX object examples/CMakeFiles/rosenbrock.dir/rosenbrock.cc.o
Linking CXX executable ../bin/rosenbrock
[100%] Built target rosenbrock
Scanning dependencies of target simple_bundle_adjuster
[100%] Building CXX object examples/CMakeFiles/simple_bundle_adjuster.dir/simple_bundle_adjuster.cc.o
Linking CXX executable ../bin/simple_bundle_adjuster
[100%] Built target simple_bundle_adjuster
Scanning dependencies of target sampled_function
[100%] Building CXX object examples/sampled_function/CMakeFiles/sampled_function.dir/sampled_function.cc.o
Linking CXX executable ../../bin/sampled_function
[100%] Built target sampled_function
Scanning dependencies of target pose_graph_2d
[100%] Building CXX object examples/slam/pose_graph_2d/CMakeFiles/pose_graph_2d.dir/pose_graph_2d.cc.o
Linking CXX executable ../../../bin/pose_graph_2d
[100%] Built target pose_graph_2d
Scanning dependencies of target pose_graph_3d
[100%] Building CXX object examples/slam/pose_graph_3d/CMakeFiles/pose_graph_3d.dir/pose_graph_3d.cc.o
Linking CXX executable ../../../bin/pose_graph_3d
[100%] Built target pose_graph_3d
安装：
znkz@znkz:~/下载/ceres-solver-1.14.0/build$ sudo make install
头文件安装在/usr/local/include中，库文件安装在/usr/include
-- Up-to-date: /usr/local/include/ceres/types.h
-- Up-to-date: /usr/local/include/ceres/dynamic_cost_function.h
-- Up-to-date: /usr/local/include/ceres/tiny_solver_autodiff_function.h
-- Up-to-date: /usr/local/include/ceres/sized_cost_function.h
-- Up-to-date: /usr/local/include/ceres/evaluation_callback.h
-- Up-to-date: /usr/local/include/ceres/ceres.h
-- Up-to-date: /usr/local/include/ceres/conditioned_cost_function.h
-- Up-to-date: /usr/local/include/ceres/crs_matrix.h
-- Up-to-date: /usr/local/include/ceres/dynamic_cost_function_to_functor.h
-- Up-to-date: /usr/local/include/ceres/numeric_diff_options.h
-- Up-to-date: /usr/local/include/ceres/iteration_callback.h
-- Up-to-date: /usr/local/include/ceres/version.h
-- Up-to-date: /usr/local/include/ceres/autodiff_cost_function.h
-- Up-to-date: /usr/local/include/ceres/internal/numeric_diff.h
-- Up-to-date: /usr/local/include/ceres/internal/scoped_ptr.h
-- Up-to-date: /usr/local/include/ceres/internal/variadic_evaluate.h
-- Up-to-date: /usr/local/include/ceres/internal/manual_constructor.h
-- Up-to-date: /usr/local/include/ceres/internal/port.h
-- Up-to-date: /usr/local/include/ceres/internal/disable_warnings.h
-- Up-to-date: /usr/local/include/ceres/internal/reenable_warnings.h
-- Up-to-date: /usr/local/include/ceres/internal/eigen.h
-- Up-to-date: /usr/local/include/ceres/internal/macros.h
-- Up-to-date: /usr/local/include/ceres/internal/autodiff.h
-- Up-to-date: /usr/local/include/ceres/internal/fixed_array.h
-- Up-to-date: /usr/local/include/ceres/internal/config.h
-- Installing: /usr/local/lib/cmake/Ceres/CeresTargets.cmake
-- Installing: /usr/local/lib/cmake/Ceres/CeresTargets-release.cmake
-- Installing: /usr/local/lib/cmake/Ceres/CeresConfig.cmake
-- Installing: /usr/local/lib/cmake/Ceres/CeresConfigVersion.cmake
-- Installing: /usr/local/lib/cmake/Ceres/FindEigen.cmake
-- Installing: /usr/local/lib/cmake/Ceres/FindGlog.cmake
-- Installing: /usr/local/lib/cmake/Ceres/FindGflags.cmake
-- Installing: /usr/local/lib/libceres.a
//main.cpp
#include
#include
#include
#include
using namespace std;
struct CURVE_FITTING_CONST
{
CURVE_FITTING_CONST (double x, double y): _x( x ), _y( y ) {};
template
bool operator() (
const T* const abc,
T* residual ) const
{
residual[0] = T(_y) -ceres::exp( abc[0]*T(_x)*T(_x) + abc[1]*T(_x) + abc[2] );
return true;
}
const double _x, _y;
};
int main(int argc, char** argv)
{
double a = 1.0, b = 2.0, c = 1.0;
int N = 100;
double w_sigma = 1.0;
cv::RNG rng;
double abc[3] = {0, 0, 0};
vector x_data, y_data;
cout << "generating data: " << endl;
for (int i = 0; i < N; i++)
{
double x = i/100.0;
x_data.push_back(x);
y_data.push_back(
exp(a * x * x + b * x + c) + rng.gaussian( w_sigma)
);
cout << x_data[i] << " " <(
new CURVE_FITTING_CONST ( x_data[i], y_data[i])
),
nullptr,
abc);
}
ceres::Solver::Options options;
options.linear_solver_type = ceres::DENSE_QR;
options.minimizer_progress_to_stdout = true;
ceres::Solver::Summary summary;
chrono::steady_clock::time_point t1 = chrono::steady_clock::now();
ceres::Solve (options, &problem, &summary);
chrono::steady_clock::time_point t2 = chrono::steady_clock::now();
chrono::duration time_used = chrono::duration_cast> (t2 - t1);
cout << summary.BriefReport() < //CmakeList.txt
project(ceres_curve_fitting)
set ( CMAKE_CXX_FLAGS "-std=c++11")
cmake_minimum_required(VERSION 3.2)
#opencv
find_package(OpenCV REQUIRED)
include_directories( ${Opencv_INCLUDE_DIRS} )
#EIGEN
find_package(Ceres REQUIRED)
#include_directories("/usr/local/include/ceres") #添加头文件目录
include_directories( ${CERES_INCLUDE_DIRS} )
add_executable(ceres_curve_fitting main.cpp) #添加可执行文件
target_link_libraries(ceres_curve_fitting ${CERES_LIBRARIES} ${OpenCV_LIBS}) #添加库文件目录generating data:
0 2.71828
0.01 2.93161
0.02 2.12942
0.03 2.46037
0.04 4.18814
0.05 2.73368
0.06 2.42751
0.07 3.44729
0.08 3.72543
0.09 2.1358
0.1 4.12333
0.11 3.38199
0.12 4.81164
0.13 1.62582
0.14 1.76862
0.15 3.21555
0.16 3.0922
0.17 5.82752
0.18 4.29855
0.19 2.74081
0.2 5.75724
0.21 3.53729
0.22 1.95514
0.23 2.99195
0.24 3.28739
0.25 4.70749
0.26 6.24365
0.27 5.81645
0.28 4.88402
0.29 4.75991
0.3 7.25246
0.31 5.92933
0.32 7.00306
0.33 5.22286
0.34 5.16179
0.35 7.26191
0.36 6.40545
0.37 6.25549
0.38 6.56094
0.39 6.53523
0.4 8.14891
0.41 7.77616
0.42 7.40141
0.43 8.75638
0.44 7.20606
0.45 7.57795
0.46 8.21564
0.47 9.84032
0.48 6.96725
0.49 9.90619
0.5 9.27125
0.51 9.87567
0.52 10.3412
0.53 9.55315
0.54 11.3635
0.55 10.8815
0.56 13.0648
0.57 11.4756
0.58 11.337
0.59 13.2393
0.6 13.5299
0.61 14.0441
0.62 13.31
0.63 13.672
0.64 14.8504
0.65 14.2599
0.66 14.7724
0.67 17.4339
0.68 17.4632
0.69 17.7598
0.7 16.8223
0.71 19.9468
0.72 20.5446
0.73 21.3767
0.74 20.1435
0.75 20.3088
0.76 23.2543
0.77 23.4349
0.78 22.8706
0.79 24.094
0.8 25.4183
0.81 25.5237
0.82 27.9738
0.83 28.5861
0.84 29.5703
0.85 29.6744
0.86 32.667
0.87 34.2698
0.88 33.5124
0.89 36.1479
0.9 39.2485
0.91 40.988
0.92 41.5716
0.93 41.3686
0.94 44.285
0.95 42.8312
0.96 47.7941
0.97 48.5931
0.98 51.8487
0.99 51.0258
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.824887e+04 0.00e+00 1.38e+03 0.00e+00 0.00e+00 1.00e+04 0 1.20e-03 1.24e-03
1 2.748700e+39 -2.75e+39 0.00e+00 7.67e+01 -1.52e+35 5.00e+03 1 5.15e-05 1.32e-03
2 2.429783e+39 -2.43e+39 0.00e+00 7.62e+01 -1.35e+35 1.25e+03 1 2.25e-05 1.35e-03
3 1.213227e+39 -1.21e+39 0.00e+00 7.30e+01 -6.73e+34 1.56e+02 1 2.04e-05 1.38e-03
4 1.852387e+37 -1.85e+37 0.00e+00 5.56e+01 -1.03e+33 9.77e+00 1 1.96e-05 1.41e-03
5 6.714689e+31 -6.71e+31 0.00e+00 2.96e+01 -3.85e+27 3.05e-01 1 1.96e-05 1.43e-03
6 9.500531e+12 -9.50e+12 0.00e+00 9.50e+00 -8.39e+08 4.77e-03 1 1.94e-05 1.46e-03
7 1.776982e+04 4.79e+02 1.83e+03 2.58e-01 1.18e+00 1.43e-02 1 1.20e-03 2.66e-03
8 1.599969e+04 1.77e+03 3.45e+03 5.53e-01 1.46e+00 4.29e-02 1 1.20e-03 3.87e-03
9 1.060557e+04 5.39e+03 7.62e+03 7.33e-01 1.68e+00 1.29e-01 1 1.20e-03 5.10e-03
10 3.669783e+03 6.94e+03 9.60e+03 5.25e-01 1.39e+00 3.86e-01 1 1.20e-03 6.30e-03
11 5.397541e+02 3.13e+03 5.00e+03 2.66e-01 1.12e+00 1.16e+00 1 1.18e-03 7.49e-03
12 1.484444e+02 3.91e+02 1.22e+03 8.46e-02 1.02e+00 3.48e+00 1 1.18e-03 8.68e-03
13 1.216815e+02 2.68e+01 3.76e+02 4.17e-02 1.01e+00 1.04e+01 1 1.22e-03 9.91e-03
14 9.290109e+01 2.88e+01 2.42e+02 9.10e-02 1.01e+00 3.13e+01 1 1.20e-03 1.11e-02
15 6.674330e+01 2.62e+01 1.09e+02 1.33e-01 1.00e+00 9.39e+01 1 1.19e-03 1.23e-02
16 5.936574e+01 7.38e+00 2.14e+01 1.08e-01 9.94e-01 2.82e+02 1 1.21e-03 1.35e-02
17 5.653118e+01 2.83e+00 1.36e+01 1.57e-01 9.98e-01 8.45e+02 1 1.20e-03 1.48e-02
18 5.310764e+01 3.42e+00 8.50e+00 2.81e-01 9.89e-01 2.53e+03 1 1.19e-03 1.60e-02
19 5.125939e+01 1.85e+00 2.84e+00 2.98e-01 9.90e-01 7.60e+03 1 1.20e-03 1.72e-02
20 5.097693e+01 2.82e-01 4.34e-01 1.48e-01 9.95e-01 2.28e+04 1 1.19e-03 1.84e-02
21 5.096854e+01 8.39e-03 3.24e-02 2.87e-02 9.96e-01 6.84e+04 1 1.19e-03 1.96e-02
Ceres Solver Report: Iterations: 22, Initial cost: 1.824887e+04, Final cost: 5.096854e+01, Termination: CONVERGENCE
*** 正常退出 ***