Which library versions do you use?

[AndreasAZiegler]

Your source code does not compile on my Linux machine, and it looks like due to some API changes of your dependencies. Could you tell me, which library version you are using?

[EXing]

Any information? It's probably the Ceres version problem. Ceres change the LocalParameterization to Manifold after version 2.
Please make sure the version of Ceres is less than 2.

[AndreasAZiegler]

I now use the following libraries

FROM ubuntu:22.04

ENV DEBIAN_FRONTEND noninteractive

# Some system dependencies
RUN apt-get update && apt-get install -y mlocate less git cmake-curses-gui cmake-gui jq wget unzip debconf-utils iputils-ping

# Install Sophus
RUN apt-get install -y libfmt-dev
RUN cd ~ && \
    git clone https://github.com/strasdat/Sophus.git && \
    cd Sophus && \
    mkdir build && \
    cd build && \
    cmake .. && \
    make -j && \
    make install && \
    cd ../.. && \
    rm -r Sophus

# Install Pangolin
RUN apt-get install -y libgl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols libegl1-mesa-dev libc++-dev libglew-dev libeigen3-dev cmake g++ ninja-build libjpeg-dev libpng-dev libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev
RUN cd ~ && \
    git clone --recursive https://github.com/stevenlovegrove/Pangolin.git && \
    cd Pangolin && \
    cmake -B build && \
    cmake --build build && \
    cmake --install build && \
    cd .. && \
    rm -r Pangolin

# Install ceres and nanoflann
RUN apt-get install -y libunwind-dev libceres-dev libnanoflann-dev

But I had to do some minor adjustments in the code to make it work

[MarceloContreras]

I found that nanoflann-dev (2020 release) and ceres (version < 2.0) worked without a problem.