LIO-SAM报错记录

问题

error: conversion from ‘std::shared_ptr’ to non-scalar type ‘boost::shared_ptr’ requested

解决

boost::shared_ptr p = gtsam::PreintegrationParams::MakeSharedU(imuGravity);
改成
auto p = gtsam::PreintegrationParams::MakeSharedU(imuGravity);

参考资料：

http://www.lizhongyi.com/archives/lio-sam-lvi-sam%E7%BC%96%E8%AF%91/