直接参考官网教程即可：
http://www.ceres-solver.org/installation.html#linux
https://blog.csdn.net/SoftwarerRJY/article/details/113354759

安装ceres

1. 安装依赖

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

2. 安装ceres

首先下载git clone https://ceres-solver.googlesource.com/ceres-solver

tar zxf ceres-solver-2.0.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-2.0.0
make -j3
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.
make install

3.测试

bin/simple_bundle_adjuster ../ceres-solver-2.0.0/data/problem-16-22106-pre.txt

安装g2o

1.安装依赖项

git clone https://github.com/RainerKuemmerle/g2o.git
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
sudo apt-get install qtdeclarative5-dev
sudo apt-get install qt5-qmake
sudo apt-get install libqglviewer-dev

2.编译与安装g2o

cd g2o
mkdir build
cd build
sudo ldconfig
cmake ..
make
sudo make install