Lecture 6 of slam Lecture 14 -- nonlinear optimization

1. The dependent packages involved in the example

In the installation Ceres Before Library , The following dependent packages need to be installed in advance lapack、suitesparse、cxsparse3、 gflags、 google-glog、 gtest、metis.

2. compile ceres

• Download link
  https://github.com/ceres-solver/ceres-solver
• compile

mkdir build
cd build
cmake ..
make (option)-j8
sudo make test
sudo make install

• problem
  The last two steps of the compilation were not performed , Lead to in /usr/local/include Can't find... In the directory ceres Folder （ Store header file ）, as well as /usr/local/lib I can't find libceres.a The library files .
  Perform the last two steps in the compilation , Just OK 了 .

3. Examples of nonlinear optimization

• cmake have a problem

 CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
G2O_CORE_LIBRARY

Forget to install g2o（General Graphic Optimization） Optimization Library . Brief introduction ： A library based on graph optimization , Graph optimization is a theory that combines nonlinear optimization with graph theory .

• install g20 Dependency package

sudo apt-get install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3

• Download and compile g2o

git clone https://github.com/RainerKuemmerle/g2o
make build
cd build
cmake ..
make -j8
sudo make test
sudo make install

4. note