Ceres solver version 1.14 and eigen3.2.9

notes ： Best use Ceres1.14 edition ,Eigen The corresponding version is 3.2.9

commonly Vins-Fusion Compilation error about Ceres When you make a mistake , Direct reinstallation Ceres and Eigen, Avoid constant error reporting , You can refer to the following , Directly solve the error report .

One 、 compile Vins-fusion Report errors

Report errors ：

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

resolvent ：

1、 Delete the previous ceres-solver edition ： What I installed before is 2.0 edition

Ceres The header file of the library is installed in "/usr/local/include/ceres/" Under the table of contents , The library files are installed in "/usr/local/lib/" Catalog , Delete CERES file ：

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、 download ceres-solver-1.14.0

wget ceres-solver.org/ceres-solver-1.14.0.tar.gz

3、 decompression

tar xvf ceres-solver-1.14.0.tar.gz

4、 compile

cd ceres-solver-1.14.0
mkdir build
cd build
cmake ..
sudo make 

5、 install

sudo make install

Two 、ceres-solver-1.14.0 Installation error

/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();

reason ：eigen Version and ceres Version conflict

Solution steps ：

1、 The first eigen uninstall , hold /usr/include and /usr/local/include Below Eigen and eigen3 Delete all the folders ：

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

2、eigen download ： from Eigen Download the corresponding version of eigen Compressed package , Just unzip it directly to the corresponding location

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

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

4、 Copy ：

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

Then repeat ceres-solver-1.14.0 Installation steps are enough .

3、 ... and 、Vins-fusion Compilation problems ：

-- 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.

resolvent ：

open /usr/local/lib/cmake/Ceres/CeresConfig.cmake, Make the following modifications ：

First grant write permission ：sudo chmod 777 CeresConfig.cmake

set(Ceres_FOUND TRUE)  # take FALSE Change it to TRUE

set(EIGEN_INCLUDE_DIR "/usr/local/include/eigen3")  # Add this line

set(CERES_EIGEN_VERSION 3.2.9)  # Add this line , The version number corresponds to the one you installed