feat:修正boost高版本问题，不再使用system包

cmake/HandleBoost.cmake

@@ -6,51 +6,88 @@
 # Boost_NO_SYSTEM_PATHS: set to true to keep the find script from ignoring BOOST_ROOT
 
 if(MSVC)
-    # By default, boost only builds static libraries on windows
-    set(Boost_USE_STATIC_LIBS ON)  # only find static libs
-    # If we ever reset above on windows and, ...
-    # If we use Boost shared libs, disable auto linking.
-    # Some libraries, at least Boost Program Options, rely on this to export DLL symbols.
+    set(Boost_USE_STATIC_LIBS ON)
     if(NOT Boost_USE_STATIC_LIBS)
         list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK)
     endif()
-    # Virtual memory range for PCH exceeded on VS2015
-    if(MSVC_VERSION LESS 1910) # older than VS2017
+    if(MSVC_VERSION LESS 1910)
         list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295)
     endif()
 endif()
 
+# ---- 关键修改：强制使用 FindBoost 模块模式，而不是 CONFIG 模式 ----
+set(Boost_NO_BOOST_CMAKE ON CACHE BOOL "Use FindBoost module mode" FORCE)
 
-# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
+# 允许多线程库（照旧）
+set(Boost_USE_MULTITHREADED ON)
+
+# 最低版本
 set(BOOST_FIND_MINIMUM_VERSION 1.65)
-set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex)
 
-find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS} REQUIRED)
+# ---- 关键修改：按版本决定是否需要 system 组件 ----
+set(BOOST_FIND_MINIMUM_COMPONENTS
+        serialization filesystem thread program_options date_time timer chrono regex
+)
 
-# Required components
-if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
-    NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY)
-  message(FATAL_ERROR "Missing required Boost components >= v1.65, please install/upgrade Boost or configure your search paths.")
+# 只有旧版 Boost (< 1.69) 需要 system；>=1.69 为 header-only，不再要求
+# 注意：Boost_VERSION 是 find_package 之后才有的，这里用一个预探测逻辑：
+# 先尝试不带 system；失败再带上 system 尝试一次（兼容极老环境）。
+# 也可以用工具链变量提前注入 Boost_VERSION，这里采用两段式最稳妥。
+
+# 第一次尝试：不含 system（适配 Boost>=1.69）
+message(STATUS "Trying Boost without 'system' component first (>=1.69 header-only)...")
+set(_boost_try_components ${BOOST_FIND_MINIMUM_COMPONENTS})
+set(_boost_found FALSE)
+find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${_boost_try_components} QUIET)
+if(Boost_FOUND)
+    set(_boost_found TRUE)
+else()
+    # 第二次尝试：加入 system（兼容 Boost<1.69）
+    message(STATUS "Retrying Boost with 'system' component for older Boost (<1.69)...")
+    list(APPEND _boost_try_components system)
+    find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${_boost_try_components} REQUIRED)
 endif()
 
+# 记录最终组件集合
+set(BOOST_FIND_MINIMUM_COMPONENTS ${_boost_try_components})
+
+# ---- 必要组件检查（按最终集合判断），不要无条件检查 Boost_SYSTEM_LIBRARY ----
+set(_missing_required FALSE)
+foreach(_comp IN LISTS BOOST_FIND_MINIMUM_COMPONENTS)
+    string(TOUPPER "${_comp}" _COMP_UP)
+    if(NOT DEFINED "Boost_${_COMP_UP}_LIBRARY" AND NOT TARGET "Boost::${_comp}")
+        # 某些组件（如 header-only）可能没有 *_LIBRARY 变量，但会有导入目标或仅头文件
+        # 对 header-only 的 system（>=1.69）这里不会要求
+        message(STATUS "Note: Boost component '${_comp}' has no explicit *_LIBRARY var; relying on imported target or headers.")
+    endif()
+endforeach()
+
+# ---- 计时接口选择，与原逻辑一致 ----
 option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
-# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
+
+# ---- 链接库列表（不再无条件包含 Boost::system）----
 set(GTSAM_BOOST_LIBRARIES
         Boost::serialization
-  Boost::system
         Boost::filesystem
         Boost::thread
         Boost::date_time
         Boost::regex
 )
+
+# 如果最终组件包含 chrono/timer，则追加
+if(TARGET Boost::chrono)
+    list(APPEND GTSAM_BOOST_LIBRARIES Boost::chrono)
+endif()
+if(TARGET Boost::timer)
+    list(APPEND GTSAM_BOOST_LIBRARIES Boost::timer)
+endif()
+
+# 仅当真的找了 system（即老版本 Boost）时才链接 Boost::system
+if("system" IN_LIST BOOST_FIND_MINIMUM_COMPONENTS AND TARGET Boost::system)
+    list(APPEND GTSAM_BOOST_LIBRARIES Boost::system)
+endif()
+
 if (GTSAM_DISABLE_NEW_TIMERS)
     message("WARNING:  GTSAM timing instrumentation manually disabled")
     list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS)
-else()
-    if(Boost_TIMER_LIBRARY)
-      list(APPEND GTSAM_BOOST_LIBRARIES Boost::timer Boost::chrono)
-    else()
-      list(APPEND GTSAM_BOOST_LIBRARIES rt) # When using the header-only boost timer library, need -lrt
-      message("WARNING:  GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.")
-    endif()
 endif()