ros-neodic安装ALOAM

一、安装ceres 

1. 下载依赖

sudo apt-get install  liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev

2.下载

git clone https://mirror.ghproxy.com/https://github.com/ceres-solver/ceres-solver.git    （镜像加速）
或
git clone http://gitee.com/liwuhaoooo/ceres-solver.git   （gitee倒仓）
 

3.编译并安装

mkdir build
cd build
cmake ..
make
sudo make install

4. 报错及解决方案

4.1 cmake .. 报错

CMake Error at CMakeLists.txt:60 (add_subdirectory):
  The source directory
 
    /home/zwkj/ceres-solver/third_party/abseil-cpp
 
  does not contain a CMakeLists.txt file.
 
 
-- Performing Test HAVE_BIGOBJ
-- Performing Test HAVE_BIGOBJ - Failed

  解决方案：进入third_party文件夹执行

git clone https://github.com/abseil/abseil-cpp.git
git clone https://github.com/google/googletest.git

再重新编译

4.2.make报错

（1）

home/zwkj/ceres-solver/internal/ceres/suitesparse.cc:187:7: error: ‘VLOG_IS_ON’ was not declared in this scope; did you mean ‘VLOG_FIRST_N’?
  187 |   if (VLOG_IS_ON(2)) {
      |       ^~~~~~~~~~
      |       VLOG_FIRST_N

解决方案：找到相应的.cc文件，加入头文件

#include <glog/logging.h>

（2）

 undefined reference to `google::kLogSiteUninitialized

解决方案：参考方法或注释所有与glog/logging.h相关的代码

二、安装PCL

sudo apt install libpcl-dev

三、安装ALOAM

参考链接

1报错及解决

报错

CMake Error at A-LOAM/CMakeLists.txt:25 (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.  Reason given by package:
 
  The following imported targets are referenced, but are missing: absl::log
  absl::check absl::fixed_array

解决

cmakelists 加入

set(ABSEIL_DIR "/home/zwkj/aloam/ceres-solver/third_party/abseil" CACHE PATH "Path to Abseil libraries")  
find_package(absl REQUIRED HINTS ${ABSEIL_DIR})