安装依赖：
sudo apt-get install -y google-mock libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx ros-indigo-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev
安装ceres-solver
# Build and install Ceres. # git clone https://ceres-solver.googlesource.com/ceres-solver # cd ceres-solver git clone https://github.com/hitcm/ceres-solver-1.11.0.git cd ceres-solver-1.11.0 mkdir build cd build cmake .. -G Ninja ninja ninja test sudo ninja install