slambook2（ch6）—— Ubuntu18.04安装Ceres库 + g2o库 + 例程演示
slambook2（ch6）—— Ubuntu18.04安装Ceres库 + g2o库 + 例程演示
- 一、安装 Ceres
-
- 1.安装依赖项
- 2.下载——编译——安装
- 3.安装结果
- 4.安装错误
- 二、安装g2o
-
- 1.安装依赖项：
- 2.下载——编译——安装：
- 3.可能的错误
- 三、例程结果
一、安装 Ceres
1.安装依赖项
首先安装 Ceres，安装依赖项（如果缺少依赖项，在 cmake 时会有提示，补上重新 cmake 即可）：
sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev
2.下载——编译——安装
git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
mkdir build
cd build
cmake ..
make -j4
sudo make install
3.安装结果
-- Installing: /usr/local/lib/cmake/Ceres/CeresConfigVersion.cmake
-- Installing: /usr/local/lib/cmake/Ceres/FindGlog.cmake
-- Installing: /usr/local/lib/libceres.a
4.安装错误
libcxsparse3.1.2 //我装的是libcxsparse3
出现找不到package的错误：
正在读取软件包列表... 完成
正在分析软件包的依赖关系树
正在读取状态信息... 完成
E: 无法定位软件包 libcxsparse3.1.2
E: 无法按照 glob ‘libcxsparse3.1.2’ 找到任何软件包
E: 无法按照正则表达式 libcxsparse3.1.2 找到任何软件包
解决办法：
添加源，用下面命令打开source.list
sudo gedit /etc/apt/sources.list
在第一行添加：
deb http://cz.archive.ubuntu.com/ubuntu trusty main universe
然后更新一下：
sudo apt-get update
二、安装g2o
1.安装依赖项：
sudo apt-get install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3
2.下载——编译——安装：
git clone https://github.com/RainerKuemmerle/g2o # 克隆最新版本g2o
cd g2o
mkdir build
cd build
cmake ..
make -j6 # 注意，这里尽量使用更多的j，否则g2o安装很慢（-j4 -j6等等）
sudo make install
3.可能的错误
大量template的扩展需要足够的内存，报错的原因是（虚拟机）运行内存不足。
[ 27%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/parameter_se2_offset.cpp.o
c++: internal compiler error: 已杀死 (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions.
g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/build.make:81: recipe for target 'g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/solver_pcg.cpp.o' failed
make[2]: *** [g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/solver_pcg.cpp.o] Error 4
CMakeFiles/Makefile2:1942: recipe for target 'g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/all' failed
make[1]: *** [g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/all] Error 2
解决办法：
减少make使用到的核数：本次安装直接make（就是时间长点！！）
三、例程结果
$ ./gaussNewton
total cost: 3.19575e+06, update: 0.0455771 0.078164 -0.985329 estimated params: 2.04558,-0.921836,4.01467
total cost: 376785, update: 0.065762 0.224972 -0.962521 estimated params: 2.11134,-0.696864,3.05215
total cost: 35673.6, update: -0.0670241 0.617616 -0.907497 estimated params: 2.04432,-0.0792484,2.14465
total cost: 2195.01, update: -0.522767 1.19192 -0.756452 estimated params: 1.52155,1.11267,1.3882
total cost: 174.853, update: -0.537502 0.909933 -0.386395 estimated params: 0.984045,2.0226,1.00181
total cost: 102.78, update: -0.0919666 0.147331 -0.0573675 estimated params: 0.892079,2.16994,0.944438
total cost: 101.937, update: -0.00117081 0.00196749 -0.00081055 estimated params: 0.890908,2.1719,0.943628
total cost: 101.937, update: 3.4312e-06 -4.28555e-06 1.08348e-06 estimated params: 0.890912,2.1719,0.943629
total cost: 101.937, update: -2.01204e-08 2.68928e-08 -7.86602e-09 estimated params: 0.890912,2.1719,0.943629
cost: 101.937>= last cost: 101.937, break.
solve time cost = 0.000324167 seconds.
estimated abc = 0.890912, 2.1719, 0.943629
$ ./ceresCurveFitting
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.597873e+06 0.00e+00 3.52e+06 0.00e+00 0.00e+00 1.00e+04 0 2.10e-05 5.70e-05
1 1.884440e+05 1.41e+06 4.86e+05 9.88e-01 8.82e-01 1.81e+04 1 8.01e-05 1.24e-03
2 1.784821e+04 1.71e+05 6.78e+04 9.89e-01 9.06e-01 3.87e+04 1 2.38e-05 1.28e-03
3 1.099631e+03 1.67e+04 8.58e+03 1.10e+00 9.41e-01 1.16e+05 1 2.00e-05 1.32e-03
4 8.784938e+01 1.01e+03 6.53e+02 1.51e+00 9.67e-01 3.48e+05 1 1.91e-05 1.36e-03
5 5.141230e+01 3.64e+01 2.72e+01 1.13e+00 9.90e-01 1.05e+06 1 1.79e-05 1.39e-03
6 5.096862e+01 4.44e-01 4.27e-01 1.89e-01 9.98e-01 3.14e+06 1 1.91e-05 1.42e-03
7 5.096851e+01 1.10e-04 9.53e-04 2.84e-03 9.99e-01 9.41e+06 1 1.69e-05 1.44e-03
solve time cost = 0.00148036 seconds.
Ceres Solver Report: Iterations: 8, Initial cost: 1.597873e+06, Final cost: 5.096851e+01, Termination: CONVERGENCE
estimated a,b,c = 0.890908 2.1719 0.943628
$ ./g2oCurveFitting
start optimization
iteration= 0 chi2= 376785.128234 time= 1.5027e-05 cumTime= 1.5027e-05 edges= 100 schur= 0
iteration= 1 chi2= 35673.566018 time= 7.077e-06 cumTime= 2.2104e-05 edges= 100 schur= 0
iteration= 2 chi2= 2195.012304 time= 6.434e-06 cumTime= 2.8538e-05 edges= 100 schur= 0
iteration= 3 chi2= 174.853126 time= 6.058e-06 cumTime= 3.4596e-05 edges= 100 schur= 0
iteration= 4 chi2= 102.779695 time= 6.567e-06 cumTime= 4.1163e-05 edges= 100 schur= 0
iteration= 5 chi2= 101.937194 time= 6.282e-06 cumTime= 4.7445e-05 edges= 100 schur= 0
iteration= 6 chi2= 101.937020 time= 6.171e-06 cumTime= 5.3616e-05 edges= 100 schur= 0
iteration= 7 chi2= 101.937020 time= 6.32e-06 cumTime= 5.9936e-05 edges= 100 schur= 0
iteration= 8 chi2= 101.937020 time= 6.219e-06 cumTime= 6.6155e-05 edges= 100 schur= 0
iteration= 9 chi2= 101.937020 time= 6.234e-06 cumTime= 7.2389e-05 edges= 100 schur= 0
solve time cost = 0.000582221 seconds.
estimated model: 0.890912 2.1719 0.943629