1. Prerequisites

---

1.1 ** Ubuntu 16.04, ROS Kinetic **

sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-message-filters ros-kinetic-image-transport

• My testing environment: Ubuntu 16.04, ROS Kinetic (Fully desktop version) *

1.2 ** Ceres Solver **

$ sudo apt install libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev 

$ cd Documents/program_files/ceres-solver/
$ mkdir build
$ cd build
$ cmake ..
$ make -j4
$ sudo make install

Reference:

1. (Ceres Installation)[http://ceres-solver.org/installation.html]