安装依赖（cmake 版本为2.8，我的是自带的）
sudo apt-get update
sudo apt-get install -y g++ git google-mock libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx ros-indigo-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

下载ceres-solver(1.11.0)
https://github.com/ceres-solver/ceres-solver/releases/tag/1.11.0
cd cere-solver
mkdir build
cd build
cmake ..
sudo make
sudo make install

安装 eigen3
https://github.com/eigenteam/eigen-git-mirror/releases?after=3.2.0
cd eigen-git-mirror
mkdir build
cd build
cmake ..
sudo make
sudo make install

安装 proto3（3.4.1）

检查protobuf版本:
$ protoc --version

https://github.com/protocolbuffers/protobuf/releases/tag/v3.4.0
#git clone https://github.com/google/protobuf.git
cd protobuf
mkdir build
cd build
cmake -G Ninja \
-DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-DCMAKE_BUILD_TYPE=Release \
-Dprotobuf_BUILD_TESTS=OFF \
../cmake
ninja
sudo ninja install

下载最新版cartographer(1.0.0)
https://github.com/googlecartographer/cartographer/releases/tag/1.0.0
cd cartographer
mkdir build
cd build
cmake ..
sudo make
sudo make install

安装包：https://pan.baidu.com/s/1alYGo9hrC9DIGzRtee1L4g  密码:xnkv

参考：
https://www.cnblogs.com/lvchaoshun/p/9824528.html
https://blog.csdn.net/u012706484/article/details/61207732
https://blog.csdn.net/sunyoop/article/details/79046043
https://blog.csdn.net/u013630299/article/details/79117504
https://blog.csdn.net/weixin_40712763/article/details/82292087
https://www.cnblogs.com/yebo92/p/5940856.html