Ceres Solver 2.0

ceres solver를 설치해보자

Ref. http://ceres-solver.org/installation.html

1. Dependencies

v2.0 Ceres는 fully C++14-compliant complier를 요구

<=v1.4 Ceres는 C++11 이면 됨

• Eigen 3.3 or later
• CMake 3.5 or later
• glog 0.3.1 or later

2. Install all the dependencies

# CMake
sudo apt install cmake
# google-glog + gflags
sudo apt install libgoogle-glog-dev libgflags-dev
# BLAS & LAPACK
sudo apt install libatlas-base-dev
# Eigen3
sudo apt install libeigen3-dev
# SuiteSparse and CXSparse (optional)
sudo apt install libsuitesparse-dev

3. Git clone Ceres Solver

$ cd ~/Downloads
$ mkdir ceres
$ cd ceres

$ git clone https://ceres-solver.googlesource.com/ceres-solver

여기까지만 오면 [ceres] - [ceres-solver]로 폴더 경로가 잡혀있을텐데,

직전 경로로 돌아가서 ceres-bin을 만들어 준다

$ cd ..
$ mkdir ceres-bin
$ cd ceres-bin

4. Build, Test and Install

$ cmake ../ceres-solver
$ make -j3
$ make test
$ make install