ubuntu1604安装ceres库

提前安装engin3

编译ceres时：error: ‘integer_sequence’ is not a member of ‘std‘错误

https://blog.csdn.net/qq_41586768/article/details/107541917

视觉slam十四讲第六章中，按照上安装的ceres库版本，以及网上大多数教程安装的版本都会和eigen3（3.3.7）有冲突，编译时会报如下错误：

 

 

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:16: error: ‘integer_sequence’ is not a member of ‘std’
 struct SumImpl<std::integer_sequence<T, N, Ns...>> {
                ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:16: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:46: error: wrong number of template arguments (3, should be 1)
 struct SumImpl<std::integer_sequence<T, N, Ns...>> {
                                              ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’
 struct SumImpl;
        ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:49: error: expected unqualified-id before ‘>’ token
 struct SumImpl<std::integer_sequence<T, N, Ns...>> {
                                                 ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:70:16: error: ‘integer_sequence’ is not a member of ‘std’
 struct SumImpl<std::integer_sequence<T, N1, N2, Ns...>> {
                ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:70:16: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:70:51: error: wrong number of template arguments (4, should be 1)
 struct SumImpl<std::integer_sequence<T, N1, N2, Ns...>> {
                                                   ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’
 struct SumImpl;
        ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:70:54: error: expected unqualified-id before ‘>’ token
 struct SumImpl<std::integer_sequence<T, N1, N2, Ns...>> {
                                                      ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:77:16: error: ‘integer_sequence’ is not a member of ‘std’
 struct SumImpl<std::integer_sequence<T, N1, N2, N3, N4, Ns...>> {
                ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:77:16: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:77:59: error: wrong number of template arguments (6, should be 1)
 struct SumImpl<std::integer_sequence<T, N1, N2, N3, N4, Ns...>> {
                                                           ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’
 struct SumImpl;
        ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:77:62: error: expected unqualified-id before ‘>’ token
 struct SumImpl<std::integer_sequence<T, N1, N2, N3, N4, Ns...>> {
                                                              ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:84:16: error: ‘integer_sequence’ is not a member of ‘std’
 struct SumImpl<std::integer_sequence<T, N>> {
                ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:84:16: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:84:41: error: wrong number of template arguments (2, should be 1)
 struct SumImpl<std::integer_sequence<T, N>> {

 

 

这里换成1.14.0版本的ceres问题得以解决;

0安装库文件

sudo apt install libcxspares3.1.4

sudo apt install libsuitesparse-dev

sudo apt install libgoogle-glog-dev

sudo apt install libgtest-dev 

1.先删除之前的ceres-solver：

sudo rm -r /usr/local/lib/cmake/Ceres
sudo rm -rf /usr/local/include/ceres /usr/local/lib/libceres.a
sudo rm -r /usr/local/share/Ceres

2.下载ceres-solver-1.14.0

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

3.解压

tar xvf ceres-solver-1.14.0.tar.gz

4.编译

cd ceres-solver-1.14.0
mkdir build
cd build
cmake ..
make -j4
make test

5.安装

sudo make install

6.编译ceres_curve_fiiting
cd到ceres_curve_fiiting文件夹下

 mkdir build
   cd build
   cmake ..
   make
   ./curve_fitting

 

成功编译！