ubuntu22.04 安装ceres踩坑指南（含省力有效安装方法）

ubuntu22.04 安装ceres踩坑指南（含省力有效安装方法）

以下是报错复现，直到下一个小标题为止。

编译打符项目时，报错：

CMake Error at CMakeLists.txt:27 (find_package):
  By not providing "FindCeres.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "Ceres", but
  CMake did not find one.

  Could not find a package configuration file provided by "Ceres" with any of
  the following names:

    CeresConfig.cmake
    ceres-config.cmake

  Add the installation prefix of "Ceres" to CMAKE_PREFIX_PATH or set
  "Ceres_DIR" to a directory containing one of the above files.  If "Ceres"
  provides a separate development package or SDK, be sure it has been
  installed.

原因是没装ceres

我的解决步骤：

sudo apt-get update
sudo apt-get install cmake libgoogle-glog-dev libgflags-dev libeigen3-dev libsuitesparse-dev liblapack-dev libtbb-dev
git clone https://github.com/ceres-solver/ceres-solver
cd ceres-solver
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local/ceres ..
make -j8
sudo make install

在执行

cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local/ceres ..

时报错：

CMake Error at CMakeLists.txt:173 (find_package):
  By not providing "Findabsl.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "absl", but
  CMake did not find one.

  Could not find a package configuration file provided by "absl" with any of
  the following names:

    abslConfig.cmake
    absl-config.cmake

  Add the installation prefix of "absl" to CMAKE_PREFIX_PATH or set
  "absl_DIR" to a directory containing one of the above files.  If "absl"
  provides a separate development package or SDK, be sure it has been
  installed.

看样子是缺少abseil库，于是继续手动编译安装：

git clone https://github.com/abseil/abseil-cpp
cd abseil-cpp
mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=/usr/local/absl ..  # 指定安装路径
make -j8
sudo make install

很顺利，没什么问题，于是回到ceres-solver，编译，报错：

zhizhi@zzpc:~/ceres-solver/build$ cmake .. \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_INSTALL_PREFIX=/usr/local/ceres \
  -Dabsl_DIR=/usr/local/absl/lib/cmake/absl

CMake Error at internal/ceres/CMakeLists.txt:371 (add_library):
  Target "test_util" links to target "GTest::gmock" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at internal/ceres/CMakeLists.txt:385 (add_executable):
  Target "array_utils_test" links to target "GTest::gmock" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?
Call Stack (most recent call first):
  internal/ceres/CMakeLists.txt:414 (ceres_test)


CMake Error at internal/ceres/CMakeLists.txt:385 (add_executable):
  Target "array_utils_test" links to target "GTest::gmock_main" but the
  target was not found.  Perhaps a find_package() call is missing for an
  IMPORTED target, or an ALIAS target is missing?
Call Stack (most recent call first):


# ……

通过

ls /usr/local/lib | grep libgtest
ls /usr/local/lib | grep libgmock
ls /usr/local/include | grep gtest
ls /usr/local/include | grep gmock

解决，然后make -j4

/home/zhizhi/ceres-solver/internal/ceres/test_util.cc:136:30: error: ‘SrcDir’ is not a member of ‘testing’
  136 |   return JoinPath(::testing::SrcDir() + CERES_TEST_SRCDIR_SUFFIX, filename);
      |                              ^~~~~~

以上都是踩坑部分，可以思考一下，但别这样照着做了。以下是省力有效版安装方法。

参考：Ubuntu20.04安装Ceres库

出现如上报错大概率是因为cuda导致报错。这里选择回退版本

点这里下载官网的ceres2.1.0
如果报错

file STRINGS file "/usr/include/tbb/tbb_stddef.h" cannot be read.

可以把
tbb_stddef.h的内容放进去:

cd /usr/include/tbb
sudo touch tbb_stddef.h
sudo gedit tbb_stddef.h

然后

cmake  ..
make -j4
sudo make install

成功。