make check failed in case testFactorGraph and AttributeError: module 'minisam' has no attribute 'SE3'

[lfwin]

Hi, I try to install PyICP-SLAM which depends on minisam. then make check, runs in this error,

  Start  1: testCalibration

1/22 Test #1: testCalibration .................. Passed 0.01 sec
Start 2: testCholmod
2/22 Test #2: testCholmod ...................... Passed 0.01 sec
Start 3: testConjugateGradient
3/22 Test #3: testConjugateGradient ............ Passed 0.01 sec
Start 4: testCovariance
4/22 Test #4: testCovariance ................... Passed 0.01 sec
Start 5: testDenseCholesky
5/22 Test #5: testDenseCholesky ................ Passed 0.01 sec
Start 6: testDogleg
6/22 Test #6: testDogleg ....................... Passed 0.01 sec
Start 7: testEigen
7/22 Test #7: testEigen ........................ Passed 0.01 sec
Start 8: testFactorGraph
8/22 Test #8: testFactorGraph ..................***Failed 0.01 sec
Not equal:
expected: 10,
actual: 0,
Not equal:
expected: 10,
actual: 0,
Not equal:
expected: 11,
actual: 1,
Not equal:
expected: 11,
actual: 1,
Not equal:
expected size: 0
actual size: 6

testFactorGraph is a Catch v2.9.1 host application.
Run with -? for options

and I run PyICP-SLAM, this error occers,

File "/home/win/work/PyICP-SLAM/utils/PoseGraphManager.py", line 32, in addPriorFactor
self.graph_initials.add(minisam.key('x', self.curr_node_idx), minisam.SE3(self.curr_se3))
AttributeError: module 'minisam' has no attribute 'SE3'.

My system is ubuntu 20.04, Python 3.8.10..
Thank you.