Optimization Problem | 非线性求解器ceres 在ubuntu18.04的安装和测试

这篇博客详细介绍了如何在Ubuntu 18.04系统中安装Ceres求解器，包括依赖库的安装，如CMake、google-glog、gflags、BLAS、LAPACK、Eigen3等。接着，通过下载Ceres源码，使用CMake构建并编译项目，最后进行安装和测试。测试结果显示了求解过程中的迭代细节和最终的收敛状态，表明安装和配置成功。

摘要生成于 C知道，由 DeepSeek-R1 满血版支持，前往体验 >

非线性求解器ceres 在ubuntu18.04的安装和测试

Install dependencies

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

INstall Ceres

wget http://ceres-solver.org/ceres-solver-2.0.0.tar.gz
ar zxf ceres-solver-2.0.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-2.0.0
make -j3
make test
# Optionally install Ceres, it can also be exported using CMake which
# allows Ceres to be used without requiring installation, see the documentation
# for the EXPORT_BUILD_DIR option for more information.
make install

Test install

$ bin/simple_bundle_adjuster ../../ceres-solver-2.0.0/data/problem-16-22106-pre.txt
iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.185660e+06    0.00e+00    1.09e+08   0.00e+00   0.00e+00  1.00e+04        0    3.84e-02    8.94e-02
   1  1.062590e+05    4.08e+06    8.99e+06   5.36e+02   9.82e-01  3.00e+04        1    7.34e-02    1.63e-01
   2  4.992817e+04    5.63e+04    8.32e+06   3.19e+02   6.52e-01  3.09e+04        1    7.05e-02    2.33e-01
   3  1.899774e+04    3.09e+04    1.60e+06   1.24e+02   9.77e-01  9.26e+04        1    7.02e-02    3.04e-01
   4  1.808729e+04    9.10e+02    3.97e+05   6.39e+01   9.51e-01  2.78e+05        1    7.17e-02    3.75e-01
   5  1.803399e+04    5.33e+01    1.48e+04   1.23e+01   9.99e-01  8.33e+05        1    7.03e-02    4.46e-01
   6  1.803390e+04    9.02e-02    6.35e+01   8.00e-01   1.00e+00  2.50e+06        1    7.06e-02    5.16e-01

Solver Summary (v 2.0.0-eigen-(3.3.4)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-eigensparse-no_openmp)

                                     Original                  Reduced
Parameter blocks                        22122                    22122
Parameters                              66462                    66462
Residual blocks                         83718                    83718
Residuals                              167436                   167436

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver ordering              AUTOMATIC                 22106,16
Schur structure                         2,3,9                    2,3,9

Cost:
Initial                          4.185660e+06
Final                            1.803390e+04
Change                           4.167626e+06

Minimizer iterations                        7
Successful steps                            7
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                         0.051062

  Residual only evaluation           0.061758 (7)
  Jacobian & residual evaluation     0.206733 (7)
  Linear solver                      0.184548 (7)
Minimizer                            0.504000

Postprocessor                        0.001315
Total                                0.556377

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769764e-09 <= 1.000000e-06)