Ubuntu18.04安装ceres-solver时发生的编译问题

Question

我尝试在实验室的Linux服务器上安装ceres-solver（https://github.com/ceres-solver/ceres-solver），因为我没有root权限，所以尝试下载Zip文件并解压缩后使用CMake进行构建。但是在执行make install时出现了问题。

下面是我的所有 Linux 命令。

tar -zxf ceres-solver-2.0.0.tar.gz
cd ceres-solver-2.0.0/
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=/home/zhangzb/include/Ceres/ -DCMAKE_PREFIX_PATH=/home/zhangzb/include/Glog -DCMAKE_PREFIX_PATH=/home/zhangzb/include/eigen3/ -DCMAKE_PREFIX_PATH=/home/zhangzb/include/Gflags/ -Dglog_DIR=/home/zhangzb/include/Glog  ..
make install

在执行cmake命令后，一切都正常进行。但在执行make install命令后，出现了以下问题

make[2]: *** No rule to make target '/tmp/build/80754af9/snappy_1649923748780/_build_env/x86_64-conda-linux-gnu/sysroot/usr/lib/librt.so', needed by 'bin/small_blas_gemv_benchmark'.  Stop.
CMakeFiles/Makefile2:3192: recipe for target 'internal/ceres/CMakeFiles/small_blas_gemv_benchmark.dir/all' failed
make[1]: *** [internal/ceres/CMakeFiles/small_blas_gemv_benchmark.dir/all] Error 2
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2

我注意到它试图在/tmp/build/80754af9/snappy_1649923748780/_build_env/x86_64-conda-linux-gnu/sysroot/usr/lib/librt.so中查找librt.so，但librt.so位于/usr/lib/x86_64-linux-gnu/中。

zhangzb@master:~/include/ceres-solver-2.0.0/build$ ls -l /usr/lib/x86_64-linux-gnu/librt.so
lrwxrwxrwx 1 root root 32 5 3 2022 /usr/lib/x86_64-linux-gnu/librt.so -> /lib/x86_64-linux-gnu/librt.so.

我希望它可以在正确的位置（/usr/lib/x86_64-linux-gnu/librt.so）找到librt.so，这样我就可以成功安装Ceres Solver。

Answer 1

引用 皆我百晓生 小程序回复内容作答：
这个问题可能是因为CMake在查找依赖库时使用了错误的路径。你可以尝试以下解决方法：

1. 在运行cmake之前，先将当前路径（build目录）添加到LD_LIBRARY_PATH环境变量中，命令如下：
   export LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu/:$LD_LIBRARY_PATH

2. 修改你的cmake命令，将默认的库路径更改为正确的路径(/usr/lib/x86_64-linux-gnu/)，例如：
   cmake -DCMAKE_INSTALL_PREFIX=/home/zhangzb/include/Ceres/ -DCMAKE_PREFIX_PATH=/home/zhangzb/include/Glog -DCMAKE_PREFIX_PATH=/home/zhangzb/include/eigen3/ -DCMAKE_PREFIX_PATH=/home/zhangzb/include/Gflags/ -Dglog_DIR=/home/zhangzb/include/Glog -DLIBRARY_OUTPUT_PATH=/usr/lib/x86_64-linux-gnu/ ..

3. 如果以上方法仍然无效，你可以尝试手动将librt.so链接到/tmp/build/80754af9/snappy_1649923748780/_build_env/x86_64-conda-linux-gnu/sysroot/usr/lib/目录中，命令如下：
   ln -s /usr/lib/x86_64-linux-gnu/librt.so /tmp/build/80754af9/snappy_1649923748780/_build_env/x86_64-conda-linux-gnu/sysroot/usr/lib/

尝试以上解决方法后，重新执行make install命令，看看问题是否解决。如果仍然存在问题，请检查其他依赖库的路径是否正确，并进行类似的修复操作。希望这些方法对你有帮助！

Answer 2

【相关推荐】

• 这篇博客: Ceres-Solver 安装与卸载ubuntu20.04中的  1、cmake 部分也许能够解决你的问题, 你可以仔细阅读以下内容或跳转源博客中阅读:
  

  cmake时的日志

  (base) r****@r*******:~/3dTracking/tools/ceres-solver-1.14.0$ sudo apt-get install libgtest-dev
  Reading package lists... Done
  Building dependency tree       
  Reading state information... Done
  libgtest-dev is already the newest version (1.10.0-2).
  (base) r****@r*******:~/3dTracking/tools/ceres-solver-1.14.0/build$ cmake ..
  -- The C compiler identification is GNU 7.5.0
  -- The CXX compiler identification is GNU 7.5.0
  -- Check for working C compiler: /usr/bin/cc
  -- Check for working C compiler: /usr/bin/cc -- works
  -- Detecting C compiler ABI info
  -- Detecting C compiler ABI info - done
  -- Detecting C compile features
  -- Detecting C compile features - done
  -- Check for working CXX compiler: /usr/bin/c++
  -- Check for working CXX compiler: /usr/bin/c++ -- works
  -- Detecting CXX compiler ABI info
  -- Detecting CXX compiler ABI info - done
  -- Detecting CXX compile features
  -- Detecting CXX compile features - done
  -- Detected Ceres version: 1.14.0 from /home/r****/3dTracking/tools/ceres-solver-1.14.0/include/ceres/version.h
  -- No preference for use of exported Eigen CMake configuration set, and no hints for include directory provided. Defaulting to preferring an installed/exported Eigen CMake configuration if available.
  -- Found installed version of Eigen: /usr/local/share/eigen3/cmake
  -- Found Eigen: /usr/local/include/eigen3 (found version "3.3.90") 
  -- Found Eigen version 3.3.90: /usr/local/include/eigen3
  -- Enabling use of Eigen as a sparse linear algebra library.
  -- Looking for sgemm_
  -- Looking for sgemm_ - not found
  -- Looking for pthread.h
  -- Looking for pthread.h - found
  -- Performing Test CMAKE_HAVE_LIBC_PTHREAD
  -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
  -- Looking for pthread_create in pthreads
  -- Looking for pthread_create in pthreads - not found
  -- Looking for pthread_create in pthread
  -- Looking for pthread_create in pthread - found
  -- Found Threads: TRUE  
  -- Looking for dgemm_
  -- Looking for dgemm_ - found
  -- Found BLAS: /usr/lib/x86_64-linux-gnu/libf77blas.so;/usr/lib/x86_64-linux-gnu/libatlas.so  
  -- Found LAPACK library: /usr/lib/x86_64-linux-gnu/liblapack.so;/usr/lib/x86_64-linux-gnu/libf77blas.so;/usr/lib/x86_64-linux-gnu/libatlas.so
  -- Found AMD headers in: /usr/include/suitesparse
  -- Found AMD library: /usr/lib/x86_64-linux-gnu/libamd.so
  -- Found CAMD headers in: /usr/include/suitesparse
  -- Found CAMD library: /usr/lib/x86_64-linux-gnu/libcamd.so
  -- Found COLAMD headers in: /usr/include/suitesparse
  -- Found COLAMD library: /usr/lib/x86_64-linux-gnu/libcolamd.so
  -- Found CCOLAMD headers in: /usr/include/suitesparse
  -- Found CCOLAMD library: /usr/lib/x86_64-linux-gnu/libccolamd.so
  -- Found CHOLMOD headers in: /usr/include/suitesparse
  -- Found CHOLMOD library: /usr/lib/x86_64-linux-gnu/libcholmod.so
  -- Found SUITESPARSEQR headers in: /usr/include/suitesparse
  -- Found SUITESPARSEQR library: /usr/lib/x86_64-linux-gnu/libspqr.so
  -- Did not find Intel TBB library, assuming SuiteSparseQR was not compiled with TBB.
  -- Found SUITESPARSE_CONFIG headers in: /usr/include/suitesparse
  -- Found SUITESPARSE_CONFIG library: /usr/lib/x86_64-linux-gnu/libsuitesparseconfig.so
  -- Found LIBRT library: /usr/lib/x86_64-linux-gnu/librt.so
  -- Adding librt: /usr/lib/x86_64-linux-gnu/librt.so to SuiteSparse_config libraries (required on Linux & Unix [not OSX] if SuiteSparse is compiled with timing).
  -- Found METIS library: /usr/lib/x86_64-linux-gnu/libmetis.so
  -- Found SuiteSparse: TRUE (found version "5.7.1") 
  -- Found SuiteSparse 5.7.1, building with SuiteSparse.
  -- Found CXSparse: /usr/include/suitesparse (found version "3.2.0") 
  -- Found CXSparse version: 3.2.0, building with CXSparse.
  -- No preference for use of exported gflags CMake configuration set, and no hints for include/library directories provided. Defaulting to preferring an installed/exported gflags CMake configuration if available.
  -- Found installed version of gflags: /usr/lib/x86_64-linux-gnu/cmake/gflags
  -- Detected gflags version: 2.2.2
  -- Found Gflags: /usr/include  
  -- Found Google Flags header in: /usr/include, in namespace: google
  -- No preference for use of exported glog CMake configuration set, and no hints for include/library directories provided. Defaulting to preferring an installed/exported glog CMake configuration if available.
  -- Found installed version of glog: /usr/local/lib/cmake/glog
  -- Detected glog version: 0.6.0
  -- Found Glog: glog::glog  
  -- Found Google Log (glog). Assuming glog was built with gflags support as gflags was found. This will make gflags a public dependency of Ceres.
  -- Building with OpenMP.
  -- Performing Test COMPILER_HAS_CXX11_FLAG
  -- Performing Test COMPILER_HAS_CXX11_FLAG - Success
  -- Looking for C++ include unordered_map
  -- Looking for C++ include unordered_map - found
  -- Performing Test HAVE_UNORDERED_MAP_IN_STD_NAMESPACE
  -- Performing Test HAVE_UNORDERED_MAP_IN_STD_NAMESPACE - Success
  -- Found unordered_map/set in std namespace.
  -- Looking for C++ include memory
  -- Looking for C++ include memory - found
  -- Performing Test HAVE_SHARED_PTR_IN_STD_NAMESPACE
  -- Performing Test HAVE_SHARED_PTR_IN_STD_NAMESPACE - Success
  -- Found shared_ptr in std namespace using <memory> header.
  -- Performing Test CXX11_MATH_FUNCTIONS_FOUND
  -- Performing Test CXX11_MATH_FUNCTIONS_FOUND - Success
  -- Building Ceres as a static library.
  -- No build type specified; defaulting to CMAKE_BUILD_TYPE=Release.
  -- Creating configured Ceres config.h output directory: /home/r****/3dTracking/tools/ceres-solver-1.14.0/build/config/ceres/internal
  -- Enabling CERES_USE_EIGEN_SPARSE in Ceres config.h
  -- Enabling CERES_USE_OPENMP in Ceres config.h
  -- Enabling CERES_HAVE_PTHREAD in Ceres config.h
  -- Enabling CERES_HAVE_RWLOCK in Ceres config.h
  -- Enabling CERES_STD_UNORDERED_MAP in Ceres config.h
  -- Build the examples.
  -- Configuring done
  -- Generating done
  -- Build files have been written to: /home/r****/3dTracking/tools/ceres-solver-1.14.0/build

如果你已经解决了该问题, 非常希望你能够分享一下解决方案, 写成博客, 将相关链接放在评论区, 以帮助更多的人 ^-^

Answer 3

你把报错复制出来还有运行记录都发给我