Errors when I build the repo with DCMAKE_BUILD_TYPE=Debug

[xingyi5166]

Description:
I can build this repo with DCMAKE_BUILD_TYPE=Release mode, but if I switch to DCMAKE_BUILD_TYPE=Debug, I have some errors below on Kimera-VIO sub-repo. Note: I used the version of "e5866799dff48239573cdd84964180867e50edd2" for GTSAM dependency.

Console output:

                 %llx
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1428:26: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 2 has type ‘long long unsigned int’ [-Wformat=]
     printf("    [0] = x%lx  %d\n", (unsigned long long) printtri.tri,
                        ~~^         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                        %llx
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1435:26: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 2 has type ‘long long unsigned int’ [-Wformat=]
     printf("    [1] = x%lx  %d\n", (unsigned long long) printtri.tri,
                        ~~^         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                        %llx
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1442:26: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 2 has type ‘long long unsigned int’ [-Wformat=]
     printf("    [2] = x%lx  %d\n", (unsigned long long) printtri.tri,
                        ~~^         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                        %llx
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1450:33: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 3 has type ‘long long unsigned int’ [-Wformat=]
     printf("    Origin[%d] = x%lx  (%.12g, %.12g)\n",
                               ~~^
                               %llx
            (t->orient + 1) % 3 + 3, (unsigned long long) printvertex,
                                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1457:33: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 3 has type ‘long long unsigned int’ [-Wformat=]
     printf("    Dest  [%d] = x%lx  (%.12g, %.12g)\n",
                               ~~^
                               %llx
            (t->orient + 2) % 3 + 3, (unsigned long long) printvertex,
                                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1464:33: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 3 has type ‘long long unsigned int’ [-Wformat=]
     printf("    Apex  [%d] = x%lx  (%.12g, %.12g)\n",
                               ~~^
                               %llx
            t->orient + 3, (unsigned long long) printvertex,
                           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1471:28: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 2 has type ‘long long unsigned int’ [-Wformat=]
       printf("    [6] = x%lx  %d\n", (unsigned long long) printsh.ss,
                          ~~^         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                          %llx
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1476:28: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 2 has type ‘long long unsigned int’ [-Wformat=]
       printf("    [7] = x%lx  %d\n", (unsigned long long) printsh.ss,
                          ~~^         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                          %llx
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1481:28: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 2 has type ‘long long unsigned int’ [-Wformat=]
       printf("    [8] = x%lx  %d\n", (unsigned long long) printsh.ss,
                          ~~^         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                          %llx
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c: In function ‘printsubseg’:
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1508:25: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 2 has type ‘long long unsigned int’ [-Wformat=]
   printf("subsegment x%lx with orientation %d and mark %d:\n",
                       ~~^
                       %llx
          (unsigned long long) s->ss, s->ssorient, mark(*s));
          ~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1514:26: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 2 has type ‘long long unsigned int’ [-Wformat=]
     printf("    [0] = x%lx  %d\n", (unsigned long long) printsh.ss,
                        ~~^         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                        %llx
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1521:26: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 2 has type ‘long long unsigned int’ [-Wformat=]
     printf("    [1] = x%lx  %d\n", (unsigned long long) printsh.ss,
                        ~~^         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                        %llx
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1529:33: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 3 has type ‘long long unsigned int’ [-Wformat=]
     printf("    Origin[%d] = x%lx  (%.12g, %.12g)\n",
                               ~~^
                               %llx
            2 + s->ssorient, (unsigned long long) printvertex,
                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1536:33: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 3 has type ‘long long unsigned int’ [-Wformat=]
     printf("    Dest  [%d] = x%lx  (%.12g, %.12g)\n",
                               ~~^
                               %llx
            3 - s->ssorient, (unsigned long long) printvertex,
                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1544:26: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 2 has type ‘long long unsigned int’ [-Wformat=]
     printf("    [6] = x%lx  %d\n", (unsigned long long) printtri.tri,
                        ~~^         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                        %llx
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1551:26: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 2 has type ‘long long unsigned int’ [-Wformat=]
     printf("    [7] = x%lx  %d\n", (unsigned long long) printtri.tri,
                        ~~^         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                        %llx
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1559:41: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 3 has type ‘long long unsigned int’ [-Wformat=]
     printf("    Segment origin[%d] = x%lx  (%.12g, %.12g)\n",
                                       ~~^
                                       %llx
            4 + s->ssorient, (unsigned long long) printvertex,
                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:1566:41: warning: format ‘%lx’ expects argument of type ‘long unsigned int’, but argument 3 has type ‘long long unsigned int’ [-Wformat=]
     printf("    Segment dest  [%d] = x%lx  (%.12g, %.12g)\n",
                                       ~~^
                                       %llx
            5 - s->ssorient, (unsigned long long) printvertex,
                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c: In function ‘segmentintersection’:
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/third_party/triangle/triangle.c:6375:28: warning: variable ‘collinear’ set but not used [-Wunused-but-set-variable]
   enum finddirectionresult collinear;
                            ^~~~~~~~~
In file included from /home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/utils/ThreadsafeQueue.h:28:0,
                 from /home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/visualizer/Display-definitions.h:19,
                 from /home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/visualizer/Display.h:18,
                 from /home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/visualizer/DisplayFactory.h:20,
                 from /home/vince/catkin_ws/src/Kimera-VIO/src/visualizer/DisplayFactory.cpp:15:
/home/vince/catkin_ws/src/Kimera-VIO/include/kimera-vio/common/vio_types.h:70:13: warning: ‘void VIO::getValidKeypointsFromStatusKeypointsCV(const StatusKeypointsCV&, VIO::KeypointsCV*)’ defined but not used [-Wunused-function]
 static void getValidKeypointsFromStatusKeypointsCV(
             ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
libkimera_vio.so: undefined reference to `VIO::MeshOptimization::kMissingZ'
libkimera_vio.so: undefined reference to `VIO::MeshOptimization::kMinZ'
libkimera_vio.so: undefined reference to `VIO::MeshOptimization::kDepthMeasNoiseSigma'
libkimera_vio.so: undefined reference to `VIO::MeshOptimization::kMaxZ'
collect2: error: ld returned 1 exit status
make[2]: *** [stereoVIOEuroc] Error 1
make[1]: *** [CMakeFiles/stereoVIOEuroc.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
libkimera_vio.so: undefined reference to `VIO::MeshOptimization::kMissingZ'
libkimera_vio.so: undefined reference to `VIO::MeshOptimization::kMinZ'
libkimera_vio.so: undefined reference to `VIO::MeshOptimization::kDepthMeasNoiseSigma'
libkimera_vio.so: undefined reference to `VIO::MeshOptimization::kMaxZ'
collect2: error: ld returned 1 exit status
make[2]: *** [testKimeraVIO] Error 1
make[1]: *** [CMakeFiles/testKimeraVIO.dir/all] Error 2
make: *** [all] Error 2

Additional files:
Please attach all the files needed to reproduce the error.

Please give also the following information:

• KimeraVIO branch, tag or commit used: Master
• GTSAM version used: e5866799d
• OpenGV version used: Default
• OpenCV version used: type opencv_version: Default
• Operating system and version (e.g. Ubuntu 16.04 or Windows 10): Ubuntu 18
• Did you change the source code? (yes / no): no