SLAM14-ch6非线性优化

安装：Ceres

安装Ceres

下载

wget ceres-solver.org/ceres-solver-1.14.0.tar.gz

解压

tar xvf ceres-solver-1.14.0.tar.gz

编译

cd ceres-solver-1.14.0

mkdir build

cd build

cmake ..

make -j8

装在机器上（不可少）

sudo make install

安装g2o

依赖

sudo apt-get install libqt4-dev qt4-qmake libqglviewer-dev libcholmod3.0.6

下载

git clone https://github.com/RainerKuemmerle/g2o.git

解压

tar -zxvf g2o-master.zip

编译

cd g2o

mkdir build

cd build

cmake ..

make -j8  

sudo make install