ceres-solver1.14版本与Eigen3.2.9版本

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于 2022-07-17 21:53:11 首次发布

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本文详细阐述了在编译Vins-Fusion过程中遇到Ceres和Eigen版本不兼容导致的错误，提供了解决方案，包括删除旧版本、下载并安装Ceres 1.14.0、调整Eigen版本以及修改CeresConfig.cmake。确保了Ceres与Eigen的正确配置，帮助读者顺利编译VINS-Fusion。

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注：最好使用Ceres1.14版本，Eigen对应版本为3.2.9

一般Vins-Fusion编译报错关于Ceres的错误时，直接重新安装Ceres和Eigen，避免一直报错，可以参考以下内容，直接解决报错。

一、编译Vins-fusion报错

报错：

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

解决方法：

1、删除之前的ceres-solver版本：我之前安装的是2.0版本

Ceres库的头文件安装在"/usr/local/include/ceres/"目录下，库文件安装在"/usr/local/lib/"目录，删除以下文件夹下的CERES文件：

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 ..
sudo make

5、安装

sudo make install

二、ceres-solver-1.14.0安装报错

/home/lab/ceres-solver-1.14.0/internal/ceres/gtest/gtest.h:10445:35: error: variable or field ‘it’ declared void

for (typename C::const_iterator it = container.begin();

原因：eigen版本与ceres版本冲突

解决步骤：

1、先把eigen卸载，把/usr/include和/usr/local/include下面的Eigen和eigen3文件夹都删除：

sudo rm -rf /usr/include/Eigen /usr/include/eigen3  /usr/local/include/Eigen  /usr/local/include/eigen3

2、eigen下载：从Eigen下载对应版本的eigen压缩包，直接解压到对应位置就可以了

解压：sudo tar -xzvf eigen-3.2.9.tar.gz -C /usr/local/include

3、解压：sudo tar -xzvf eigen-3.2.9.tar.gz -C /usr/local/include

4、复制：

sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include
sudo cp -r /usr/local/include/eigen3/Eigen /usr/include
sudo cp -r /usr/local/include/eigen3 /usr/include

之后重复ceres-solver-1.14.0安装步骤即可。

三、Vins-fusion编译问题：

-- Found installed version of Eigen: /usr/local/share/eigen3/cmake
CMake Error at /usr/local/lib/cmake/Ceres/CeresConfig.cmake:88 (message):
  Failed to find Ceres - Missing required Ceres dependency: Eigen version
  3.3.90, please set EIGEN_INCLUDE_DIR.
Call Stack (most recent call first):
  /usr/local/lib/cmake/Ceres/CeresConfig.cmake:233 (ceres_report_not_found)
  VINS-Fusion/camera_models/CMakeLists.txt:19 (find_package)


CMake Error at VINS-Fusion/camera_models/CMakeLists.txt:19 (find_package):
  Found package configuration file:

    /usr/local/lib/cmake/Ceres/CeresConfig.cmake

  but it set Ceres_FOUND to FALSE so package "Ceres" is considered to be NOT
  FOUND.

解决方法：

打开/usr/local/lib/cmake/Ceres/CeresConfig.cmake，作以下修改：

首先赋予写权限：sudo chmod 777 CeresConfig.cmake

set(Ceres_FOUND TRUE) #将FALSE改为TRUE

set(EIGEN_INCLUDE_DIR "/usr/local/include/eigen3") #添加此行

set(CERES_EIGEN_VERSION 3.2.9) #添加此行，版本号与你安装的对应