在ubuntu18.04上安装。
imu_tk 的 cmake 必须要qt4.x，但 ubuntu22.04 和qt4.x不适配。

1、安装 ceres-solver

下载路径：http://ceres-solver.org/installation.html （需要梯子，核心内容记录如下。需下载 ceres-solver 安装包）

Start by installing all the dependencies.

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# Use ATLAS for BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse (optional)
sudo apt-get install libsuitesparse-dev

We are now ready to build, test, and install Ceres.

tar zxf ceres-solver-2.2.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-2.2.0
make -j3    # 有的地方写 -j2，不清楚区别，先按官方的来
make test
# Optionally install Ceres, it can also be exported using CMake which
# allows Ceres to be used without requiring installation, see the documentation
# for the EXPORT_BUILD_DIR option for more information.
sudo make install

2、安装imu_tk

下载路径：https://github.com/Kyle-ak/imu_tk

sudo apt-get install build-essential cmake libeigen3-dev libqt4-dev libqt4-opengl-dev freeglut3-dev gnuplot

cd imu_tk
mkdir build
cd build
cmake  ..
make

cmake不通过，debug

1、没有装boost

sudo apt-get update
sudo apt-get install libboost-all-dev

2、找不到eigin
参照：https://blog.csdn.net/qq_43872529/article/details/100937091

sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen