安装gtsam

sudo apt-get install libboost-all-dev libtbb-dev

git clone https://gitee.com/zsy26226/gtsam.git
cd gtsam
git checkout -b build 4.0.3 #改成需要的版本
mkdir build
cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_WITH_EIGEN_MKL=OFF -DGTSAM_WITH_EIGEN_MKL_OPENMP=OFF ..
make check
sudo make install