【报错】undefined reference to `tbb::interface7::internal::isolate_within_arena(tbb::interface7::interna

在编译高博《自动驾驶与机器人中的SLAM技术》ch3时，出现报错:

../../../lib/libslam_in_auto_driving.tools.so: undefined reference to `tbb::interface7::internal::isolate_within_arena(tbb::interface7::internal::delegate_base&, long)'
collect2: error: ld returned 1 exit status
src/tools/CMakeFiles/ui_test.dir/build.make:833: recipe for target '../bin/ui_test' failed
make[2]: *** [../bin/ui_test] Error 1
CMakeFiles/Makefile2:3829: recipe for target 'src/tools/CMakeFiles/ui_test.dir/all' failed
make[1]: *** [src/tools/CMakeFiles/ui_test.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 94%] Built target slam_in_auto_driving.common
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2

前置条件：电脑已经将GCC升级到了9+版本
报错提示是未链接到tbb的库，当使用find_package(tbb)或者find_package(TBB)时，CMake提示无法找到这个库

解决办法：
在src/tools/CMakeLists.txt中的两个target_link_libraries()直接链接tbb的相关库文件：

        /usr/local/lib/libtbb.so
        /usr/local/lib/libtbbmalloc.so
        /usr/local/lib/libtbbmalloc_proxy.so

完整的CMakeLists.txt如下：

add_library(${PROJECT_NAME}.tools
        pointcloud_convert/velodyne_convertor.cc
        pointcloud_convert/packets_parser.cc
        ui/pangolin_window.cc
        ui/pangolin_window_impl.cc
        ui/ui_car.cc
        ui/ui_trajectory.cc
        ui/ui_cloud.cc
        )

target_link_libraries(${PROJECT_NAME}.tools
# lusx add
        /usr/local/lib/libtbb.so
        /usr/local/lib/libtbbmalloc.so
        /usr/local/lib/libtbbmalloc_proxy.so

        ${third_party_libs}
        )

add_executable(ui_test ui/ui_test.cc)
target_link_libraries(ui_test
# lusx add
        /usr/local/lib/libtbb.so
        /usr/local/lib/libtbbmalloc.so
        /usr/local/lib/libtbbmalloc_proxy.so

        ${PROJECT_NAME}.tools
        ${third_party_libs}
        )