安装ceres-1.14.0时,请将Jetson NX 开启最大性能的电源模式。有的时候电源模式默认是开启最低性能的,到编译时会产生错误,这个原因可能是NX内存资源不够,试过增加交换内存也不能解决,最后发现是电源模式的问题。
一、安装Eigen-3.3.7
1.卸载系统自带的eigen(谨慎)
sudo apt-get remove libeigen3-dev
2.下载eigen源码包并解压
mkdir Download
cd ~/Download/
wget -O eigen.zip https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip
解压:
unzip eigen.zip
3.编译
cd ~/Download/eigen-3.3.7
mkdir build && cd build
cmake ..
sudo make install
4.查看版本是否安装成功
pkg-config --modversion eigen3
二、安装ceres-1.14.0
1、下载Ceres
cd ~/Download/
sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev
wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz
解压:
tar zxf ceres-solver-1.14.0.tar.gz
2、安装相关依赖项
sudo apt-get install liblapack-dev
sudo apt-get install libsuitesparse-dev
sudo apt-get install libcxsparse3
sudo apt-get install libgflags-dev
sudo apt-get install libgoogle-glog-dev libgtest-dev
3、编译并安装Ceres
cd ~/Download/ceres-solver-1.14.0
mkdir build
cd build
cmake ..
make -j3
sudo make install