Ubuntu16.04下安装gtsam-3.2.1

GTSAM官网下载gtsam-3.2.1.zip文件，需依赖安装：

• BOOST version 1.43 or higher (install through Linux repositories or MacPorts)
• CMake (http://www.cmake.org/) 2.6 or higher

解压gtsam-3.2.1.zip文件并到gtsam-3.2.1文件路径下执行：

$  mkdir build

$ cd build

$  cmake ..

$ make install

期间遇到两个错误：

首先在执行make install过程中：

In file included from /usr/include/boost/serialization/set.hpp:26:0,
                 from /home/bing/gtsam-3.2.1/gtsam/base/FastSet.h:30,
                 from /home/bing/gtsam-3.2.1/gtsam/inference/Ordering.h:24,
                 from /home/bing/gtsam-3.2.1/gtsam/inference/Ordering.cpp:23:
/usr/include/boost/serialization/detail/stack_constructor.hpp: In constructor ‘boost::serialization::detail::stack_construct<Archive, T>::stack_construct(Archive&, unsigned int)’:
/usr/include/boost/serialization/detail/stack_constructor.hpp:54:9: error: ‘load_construct_data_adl’ is not a member of ‘boost::serialization’

         boost::serialization::load_construct_data_adl(

解决方法是在：

File gtsam/inference/Ordering.cpp文件中添加

#include <boost/serialization/serialization.hpp>

另一个问题是在最后出现make失败，是因为管理权限的问题，sudo make install 一下就可以。