ubuntu20.04安装gtsam

1.安装boost和cmake推荐连接

2.安装 TBB

sudo apt-get install libtbb-dev

3.安装MKL官网链接

我安装的是full

sudo apt-get install intel-mkl-full

4.下载gtsam

git clone https://bitbucket.org/gtborg/gtsam.git

5.编译

cd ~/gtsam
mkdir build
cd build
cmake ..
make check   #可选的，运行单元测试
sudo  make install

修改cmakelist

Q1:cmake .. 编译中出现的错误

CMake Error at wrap/CMakeLists.txt:29 (target_link_libraries):
  The "debug" argument must be followed by a library.

解决方法

找到gtsam/wrap/CMakeLists 文件 把以下内容注释或者删除

  debug
    ${Boost_FILESYSTEM_LIBRARY_DEBUG}
    ${Boost_SYSTEM_LIBRARY_DEBUG}
    ${Boost_THREAD_LIBRARY_DEBUG}

Q2 cmake .. 编译中出现的错误

CMake Error at gtsam/CMakeLists.txt:105 (target_link_libraries):
  The "debug" argument must be followed by a library.

解决方法

注释或删掉gtsam/CMakeLists文件中的俩处代码

  debug
    ${Boost_SERIALIZATION_LIBRARY_DEBUG}
    ${Boost_SYSTEM_LIBRARY_DEBUG}
    ${Boost_FILESYSTEM_LIBRARY_DEBUG}
    ${Boost_THREAD_LIBRARY_DEBUG}
    ${Boost_DATE_TIME_LIBRARY_DEBUG}
    ${Boost_REGEX_LIBRARY_DEBUG}

        debug
          ${Boost_TIMER_LIBRARY_DEBUG}
          ${Boost_CHRONO_LIBRARY_DEBUG}