pyceres

1. 将 ceres_python_bindings 工程 clone到 ceres-solver下
   Clone the repository at https://github.com/Edwinem/ceres_python_bindings into your ceres-solver folder.

2. 修改 ceres的 CMakeLists.txt,添加编译 PyCeres的选项

   +set(CMAKE_CXX_STANDARD 14)
   +include(ceres_python_bindings/AddToCeres.cmake)

3. 添加 函数
   ceres-solver/ceres_python_bindings/python_bindings/custom_cpp_cost_functions.cpp 文件内添加自定义的优化函数

4. 系统环境配置

   # PyCeres
   export PYTHONPATH=$PYTHONPATH:/home/frank/ceres-solver/build/lib
   export PYTHONPATH=$PYTHONPATH:/home/frank/geometry/build
   export PYTHONPATH=$PYTHONPATH:/home/frank/pyceres_factors/build

5. 生成函数提示
   cd ceres-solver/build/lib

   pybind11-stubgen PyCeres --ignore-all-errors

   此时会出现一个 stubs文件夹，里面有PyCeres.pyi的代码提示文件
   将该文件拷贝到与 PyCeres.cpython-38-x86_64-linux-gnu.so 同一级目录即可