问题
error: conversion from 'std::shared_ptr<gtsam::PreintegrationParams>' to non-scalar type 'boost::shared_ptr<gtsam::PreintegrationParams>' requested
解决
cpp
boost::shared_ptr<gtsam::PreintegrationParams> p = gtsam::PreintegrationParams::MakeSharedU(imuGravity);
改成
auto p = gtsam::PreintegrationParams::MakeSharedU(imuGravity);参考资料：
https://www.lizhongyi.com/archives/lio-sam-lvi-sam%E7%BC%96%E8%AF%91/