error: ‘LocalParameterization’ is not a member of ‘ceres’ 190

error: ‘LocalParameterization’ is not a member of ‘ceres’
  190 |   ceres::LocalParameterization *quatParam = new ceres::QuaternionParameterization();

 

 我在lio-livox编译时遇到以上问题，经调研，发现是版本问题。

Ceres Solver 2.2需要完全兼容C++17的编译器。

 

请用2.0.0版本代替2.2.0版本：

1.下载2.0.0版本代码包：https://github.com/ceres-solver/ceres-solver/releases/tag/2.0.0

 

 2. 解压代码包

 

3.安装依赖项：

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

 

 4.安装ceres

cd ceres-solver-2.0.0/

mkdir ceres-bin

cmake  ../ceres-solver-2.0.0/

make -j

make test

make install

安装完成！

 

 安装中遇到以上问题时，请使用管理员命令进行安装：

sudo make install