Ubuntu 中 gtsam 安装问题：CMake Error at wrap/CMakeLists.txt:32 (target_link_libraries): The “debug“ ...

编译报错：
 

-- Found TBB: /usr/include (found suitable version "2020.1", minimum required is "4.4") found components: tbb tbbmalloc 
-- Could NOT find MKL (missing: MKL_INCLUDE_DIR MKL_LIBRARIES) 
-- Found OpenMP_C: -fopenmp (found version "4.5") 
-- Found OpenMP_CXX: -fopenmp (found version "4.5") 
-- Found OpenMP: TRUE (found version "4.5")  
-- Found Eigen version: 3.3.7
CMake Error at wrap/CMakeLists.txt:32 (target_link_libraries):
  The "debug" argument must be followed by a library.


-- Configuring incomplete, errors occurred!
See also "/opt/ykcnnc/libs/libs/gtsam-4.0.2/build/CMakeFiles/CMakeOutput.log".
See also "/opt/ykcnnc/libs/libs/gtsam-4.0.2/build/CMakeFiles/CMakeError.log".

解决方案：

1. 找到gtsam/wrap/CMakeLists.txt文件，注释掉debug部分

set(WRAP_BOOST_LIBRARIES
  optimized
    ${Boost_FILESYSTEM_LIBRARY_RELEASE}
    ${Boost_SYSTEM_LIBRARY_RELEASE}
    ${Boost_THREAD_LIBRARY_RELEASE}
    #  debug
    #${Boost_FILESYSTEM_LIBRARY_DEBUG}
    #${Boost_SYSTEM_LIBRARY_DEBUG}
    #${Boost_THREAD_LIBRARY_DEBUG}
)

2. 找到gtsam/CMakeLists.txt文件，注释掉debug部分

if (GTSAM_DISABLE_NEW_TIMERS)
    message("WARNING:  GTSAM timing instrumentation manually disabled")
    list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS)
else()
    if(Boost_TIMER_LIBRARY)
      list(APPEND GTSAM_BOOST_LIBRARIES
        optimized ${Boost_TIMER_LIBRARY_RELEASE}
        optimized ${Boost_CHRONO_LIBRARY_RELEASE}
        #debug ${Boost_TIMER_LIBRARY_DEBUG}
        #debug ${Boost_CHRONO_LIBRARY_DEBUG}
        )
    else()
      list(APPEND GTSAM_BOOST_LIBRARIES rt) # When using the header-only boost timer library, need -lrt
      message("WARNING:  GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.")
    endif()
endif()