1. 安装 CMake-3.22.1
- 1. 源码下载并解压
wget https://cmake.org/files/v3.22/cmake-3.22.1.tar.gz
tar -xvzf cmake-3.22.1.tar.gz
- 2. 移动到合适目录
sudo mv cmake-3.22.1 /usr/local/bin
- 3. 编译安装
cd ~/usr/local/bin/cmake-3.22.1
./bootstrap
make -j4
sudo make install
- 4. 建立软链接
sudo ln -sf /usr/local/bin/cmake-3.22.1/bin/* /usr/bin/
- 5. 查看版本
cmkae --version
hash -r
- 6. 添加环境变量并更新
sudo gedit ~/.bashrc
export PATH=$PATH:/opt/cmake-3.22.1/bin
source ~/.bashrc
2. 安装 Ceres-Solver-1.14.0
2.1 安装 gflags
git clone https://github.com/gflags/gflags.git
cd gflags
mkdir build && cd build
cmake -DGFLAGS_NAMESPACE=google -DCMAKE_CXX_FLAGS=-fPIC -DBUILD_SHARED_LIBS=ON ..
make -j4
sudo make install
2.2 安装 glog
tar -xvzf glog-0.5.0.tar.gz
cd glog-0.5.0
mkdir build && cd build
cmake -DGFLAGS_NAMESPACE=google -DCMAKE_CXX_FLAGS=-fPIC -DBUILD_SHARED_LIBS=ON ..
make -j4
sudo make install
2.3 其他依赖库安装
sudo apt-get update
sudo add-apt-repository "deb http://archive.ubuntu.com/ubuntu/ trusty main universe restricted multiverse" -u
sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.2
2.4 安装 Ceres-Solver
git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver
git checkout -b build 1.14.0
mkdir build
cd build
cmake ..
make -j4
sudo make install