Jetson TK1 Install Ceres Solver 1.14.0
2 min readSep 11, 2021
Ceres Solver 1 is an open source C++ library for modeling and solving large, complicated optimization problems. It can be used to solve Non-linear Least Squares problems with bounds constraints and general unconstrained optimization problems. It is a mature, feature rich, and performant library that has been used in production at Google since 2010. [http://ceres-solver.org/]
Prerequisites
- Upgrade Ubuntu 14.04 in Jetson TK1 to Ubuntu 16.04 by referring to this article,
Installation
- Install dependencies library,
sudo apt-get install cmake cmake-curses-gui
sudo apt-get install libgtest-dev
sudo apt-get install libatlas-base-dev libopenblas-dev- Fixing OpenBLAS complaining about missing
lapacke.h
sudo cp /usr/include/lapacke*.h /usr/include/openblasInstall Gflags 2.2 From Source
- Download
gflags 2.2,
cd ~
wget https://github.com/gflags/gflags/archive/refs/tags/v2.2.0.tar.gz
tar -xvf v2.2.0.tar.gz
cd gflags-2.2.0
mkdir build && cd build
- Configure for build
gflags 2.2,
ccmake ..- Press ‘
c’ to configure the build system and ‘e’ to ignore warnings. - Set
CMAKE_INSTALL_PREFIXand other cmake variables and options. - Continue pressing ‘
c’ until the option ‘g’ is available. - Then press ‘
g’ to generate the configuration files for GNU Make. - Build
gflags 2.2,
make
make test
make installInstall Glog 0.5.0 From Source
- Download
glog 0.5.0source,
cd ~
git clone --depth 1 --branch v0.5.0 https://github.com/google/glog.git
cd glog
mkdir build
cd build- Build and Install
glog 0.5.0,
cmake ..
make -j3
make test
sudo make inatallInstall eigen 3.3
- Download & install
.debpackage,
wget http://security.ubuntu.com/ubuntu/pool/universe/e/eigen3/libeigen3-dev_3.3.4-4_all.deb
sudo dpkg -i libeigen3-dev_3.3.4-4_all.debInstall Ceres Solver 1.14.0
- Download source,
cd ~
wget ceres-solver.org/ceres-solver-1.14.0.tar.gz
tar -xvf ceres-solver-1.14.0.tar.gz
mkdir ceres-bin
cd ceres-bin- Build & Install,
cmake ../ceres-solver-1.14.0
make -j3
make test
sudo make install