Pangolin 安装测试 Installation & Examination (Ubuntu 20.04)

如题所述，这是一个比较轻松的 Pangolin 安装配置方法，同样是基于 WSL 平台，Ubuntu 20.04 进行的安装

下载 dependencies

安装 Pangolin 需要一些准备工作，首先要做的是下载它的一些 dependency：

sudo apt-get install libglew-dev

sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev

sudo apt-get install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev

# The most important part, or error[1], error[2]

sudo apt-get install libpng-dev

安装&编译

注意上面的都务必先安装成功，最后那个 libpng-dev 很重要，不然直接编译报错 *2。然后就可以从 git 上面把 Pangolin 项目 clone 进来了（当然，此时已经切换到了你习惯存放文件的目录，我这边是 /mnt/...）：

git clone https://github.com/stevenlovegrove/Pangolin.git

输出以下 messages：

Cloning into 'Pangolin'...

remote: Enumerating objects: 5, done.

remote: Counting objects: 100% (5/5), done.

remote: Compressing objects: 100% (5/5), done.

remote: Total 15811 (delta 0), reused 3 (delta 0), pack-reused 15806

Receiving objects: 100% (15811/15811), 4.37 MiB | 16.00 KiB/s, done.

Resolving deltas: 100% (10685/10685), done.

接着切入 Pangolin 目录，开始编译：

cd Pangolin

mkdir build

cd build

记得在编译指令加上 -DCPP11_NO_BOOST=1：

cmake -DCPP11_NO_BOOST=1 ..

输出如下，代表基本成功了：

-- The C compiler identification is GNU 9.3.0

-- The CXX compiler identification is GNU 9.3.0

-- Check for working C compiler: /usr/bin/cc

-- Check for working C compiler: /usr/bin/cc -- works

-- Detecting C compiler ABI info

-- Detecting C compiler ABI info - done

-- Detecting C compile features

-- Detecting C compile features - done

-- Check for working CXX compiler: /usr/bin/c++

-- Check for working CXX compiler: /usr/bin/c++ -- works

-- Detecting CXX compiler ABI info

-- Detecting CXX compiler ABI info - done

-- Detecting CXX compile features

-- Detecting CXX compile features - done

Build type not set (defaults to release)

-DCMAKE_BUILD_TYPE=Debug for debug

-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so

-- Found GLEW: /usr/lib/x86_64-linux-gnu/libGLEW.so

-- Eigen Found and Enabled

-- V4L Found and Enabled

-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")

-- libpng Found and Enabled

-- Found Doxygen: /usr/bin/doxygen (found version "1.8.17") found components: doxygen missing components: dot

-- Configuring done

-- Generating done

CMake Warning:

  Manually-specified variables were not used by the project:

    CPP11_NO_BOOST

-- Build files have been written to: /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/build

然后就可以进行编译了，为了便于调试，我之前用了 make -j，为的是能够看到更多的信息：

make -j

输出下面这些，没有什么报错，但是 warning 还真不少，虽然也无所谓：

Scanning dependencies of target pangolin

[  1%] Building CXX object src/CMakeFiles/pangolin.dir/utils/file_extension.cpp.o

[  2%] Building CXX object src/CMakeFiles/pangolin.dir/utils/file_utils.cpp.o

[  2%] Building CXX object src/CMakeFiles/pangolin.dir/utils/sigstate.cpp.o

[  3%] Building CXX object src/CMakeFiles/pangolin.dir/utils/threadedfilebuf.cpp.o

[  4%] Building CXX object src/CMakeFiles/pangolin.dir/utils/timer.cpp.o

[  5%] Building CXX object src/CMakeFiles/pangolin.dir/utils/uri.cpp.o

[  6%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io.cpp.o

[  7%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_exr.cpp.o

[  8%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_packed12bit.cpp.o

[  8%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_lz4.cpp.o

[ 10%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_jpg.cpp.o

[ 11%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_raw.cpp.o

[ 12%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_png.cpp.o

[ 12%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_pango.cpp.o

[ 13%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_ppm.cpp.o

[ 14%] Building CXX object src/CMakeFiles/pangolin.dir/log/packetstream_reader.cpp.o

[ 15%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_tga.cpp.o

[ 15%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_zstd.cpp.o

[ 16%] Building CXX object src/CMakeFiles/pangolin.dir/log/packetstream.cpp.o

[ 17%] Building CXX object src/CMakeFiles/pangolin.dir/log/packetstream_writer.cpp.o

[ 18%] Building CXX object src/CMakeFiles/pangolin.dir/log/playback_session.cpp.o

[ 18%] Building CXX object src/CMakeFiles/pangolin.dir/geometry/geometry_obj.cpp.o

[ 20%] Building CXX object src/CMakeFiles/pangolin.dir/gl/gltext.cpp.o

[ 21%] Building CXX object src/CMakeFiles/pangolin.dir/gl/gldraw.cpp.o

[ 22%] Building CXX object src/CMakeFiles/pangolin.dir/geometry/glgeometry.cpp.o

[ 23%] Building CXX object src/CMakeFiles/pangolin.dir/image/pixel_format.cpp.o

[ 23%] Building CXX object src/CMakeFiles/pangolin.dir/geometry/geometry.cpp.o

[ 24%] Building CXX object src/CMakeFiles/pangolin.dir/geometry/tinyobj.cpp.o

[ 25%] Building CXX object src/CMakeFiles/pangolin.dir/log/packet.cpp.o

[ 26%] Building CXX object src/CMakeFiles/pangolin.dir/gl/glfont.cpp.o

[ 26%] Building CXX object src/CMakeFiles/pangolin.dir/gl/glpangoglu.cpp.o

[ 27%] Building CXX object src/CMakeFiles/pangolin.dir/gl/glchar.cpp.o

[ 28%] Building CXX object src/CMakeFiles/pangolin.dir/geometry/geometry_ply.cpp.o

[ 29%] Building CXX object src/CMakeFiles/pangolin.dir/gl/gltexturecache.cpp.o

[ 30%] Building CXX object src/CMakeFiles/pangolin.dir/display/display.cpp.o

[ 31%] Building CXX object src/CMakeFiles/pangolin.dir/display/opengl_render_state.cpp.o

[ 32%] Building CXX object src/CMakeFiles/pangolin.dir/display/image_view.cpp.o

[ 32%] Building CXX object src/CMakeFiles/pangolin.dir/display/viewport.cpp.o

[ 33%] Building CXX object src/CMakeFiles/pangolin.dir/handler/handler.cpp.o

[ 34%] Building CXX object src/CMakeFiles/pangolin.dir/display/window_factory.cpp.o

[ 35%] Building CXX object src/CMakeFiles/pangolin.dir/display/view.cpp.o

[ 36%] Building CXX object src/CMakeFiles/pangolin.dir/handler/handler_glbuffer.cpp.o

[ 37%] Building CXX object src/CMakeFiles/pangolin.dir/plot/datalog.cpp.o

[ 38%] Building CXX object src/CMakeFiles/pangolin.dir/plot/plotter.cpp.o

[ 39%] Building CXX object src/CMakeFiles/pangolin.dir/handler/handler_image.cpp.o

[ 40%] Building CXX object src/CMakeFiles/pangolin.dir/display/widgets/widgets.cpp.o

[ 40%] Building CXX object src/CMakeFiles/pangolin.dir/var/input_record_repeat.cpp.o

[ 41%] Building CXX object src/CMakeFiles/pangolin.dir/var/vars.cpp.o

[ 42%] Building CXX object src/CMakeFiles/pangolin.dir/video/video_input.cpp.o

[ 43%] Building CXX object src/CMakeFiles/pangolin.dir/video/video.cpp.o

[ 44%] Building CXX object src/CMakeFiles/pangolin.dir/video/video_interface_factory.cpp.o

[ 45%] Building CXX object src/CMakeFiles/pangolin.dir/video/video_output.cpp.o

[ 46%] Building CXX object src/CMakeFiles/pangolin.dir/video/stream_encoder_factory.cpp.o

[ 46%] Building CXX object src/CMakeFiles/pangolin.dir/video/video_output_interface_factory.cpp.o

[ 47%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/test.cpp.o

[ 48%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/images.cpp.o

[ 49%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/split.cpp.o

[ 50%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/truncate.cpp.o

[ 51%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/pvn.cpp.o

[ 51%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/pango.cpp.o

[ 52%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/pango_video_output.cpp.o

[ 54%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/debayer.cpp.o

[ 54%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/images_out.cpp.o

[ 55%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/shift.cpp.o

[ 56%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/mirror.cpp.o

[ 57%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/unpack.cpp.o

[ 58%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/pack.cpp.o

[ 59%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/merge.cpp.o

[ 60%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/json.cpp.o

[ 60%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/join.cpp.o

[ 61%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/thread.cpp.o

[ 62%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/shared_memory.cpp.o

[ 63%] Building CXX object src/CMakeFiles/pangolin.dir/utils/posix/condition_variable.cpp.o

[ 64%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/v4l.cpp.o

[ 65%] Building CXX object src/CMakeFiles/pangolin.dir/display/device/display_x11.cpp.o

[ 65%] Building CXX object src/CMakeFiles/pangolin.dir/tools/video_viewer.cpp.o

[ 66%] Building CXX object src/CMakeFiles/pangolin.dir/display/device/display_headless.cpp.o

[ 67%] Building CXX object src/CMakeFiles/pangolin.dir/utils/posix/shared_memory_buffer.cpp.o

[ 69%] Building CXX object src/CMakeFiles/pangolin.dir/fonts.cpp.o

[ 69%] Building CXX object src/CMakeFiles/pangolin.dir/utils/posix/semaphore.cpp.o

In file included from /usr/include/string.h:495,

                 from /usr/include/c++/9/cstring:42,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/image/memcpy.h:32,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/image/image.h:31,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/image/managed_image.h:30,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/image/typed_image.h:30,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/image/image_io_packed12bit.cpp:4:

In function ‘char* strncpy(char*, const char*, size_t)’,

    inlined from ‘void pangolin::SavePacked12bit(const pangolin::Image<unsigned char>&, const pangolin::PixelFormat&, std::ostream&, int)’ at /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/image/image_io_packed12bit.cpp:42:10:

/usr/include/x86_64-linux-gnu/bits/string_fortified.h:106:34: warning: ‘char* __builtin_strncpy(char*, const char*, long unsigned int)’ output truncated before terminating nul copying 4 bytes from a string of the same length [-Wstringop-truncation]

  106 |   return __builtin___strncpy_chk (__dest, __src, __len, __bos (__dest));

      |          ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

In function ‘char* strncpy(char*, const char*, size_t)’,

    inlined from ‘void pangolin::SavePacked12bit(const pangolin::Image<unsigned char>&, const pangolin::PixelFormat&, std::ostream&, int)’ at /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/image/image_io_packed12bit.cpp:43:10:

/usr/include/x86_64-linux-gnu/bits/string_fortified.h:106:34: warning: ‘char* __builtin_strncpy(char*, const char*, long unsigned int)’ specified bound 16 equals destination size [-Wstringop-truncation]

  106 |   return __builtin___strncpy_chk (__dest, __src, __len, __bos (__dest));

      |          ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp: In constructor ‘pangolin::Button::Button(std::string, pangolin::VarValueGeneric&)’:

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp:238:31: warning: implicitly-declared ‘pangolin::GlText& pangolin::GlText::operator=(const pangolin::GlText&)’ is deprecated [-Wdeprecated-copy]

  238 |     gltext = font().Text(title);

      |                               ^

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/plot/plotter.cpp: In member function ‘void pangolin::Plotter::PlotSeries::CreatePlot(const string&, const string&, pangolin::Colour, std::string)’:

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/plot/plotter.cpp:102:50  warning: implicitly-declared ‘pangolin::GlText& pangolin::GlText::operator=(const pangolin::GlText&)’ is deprecated [-Wdeprecated-copy]

  102 |     this->title  = GlFont::I().Text(title.c_str());

      |                                                  ^

In file included from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/gl/glfont.h:30,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/display/widgets/widgets.h:33,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp:28:

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/gl/gltext.h:43:5: note: because ‘pangolin::GlText’ has user-provided ‘pangolin::GlText::GlText(const pangolin::GlText&)’

   43 |     GlText(const GlText& txt);

      |     ^~~~~~

In file included from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/gl/glfont.h:30,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/plot/plotter.h:36,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/plot/plotter.cpp:29:

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/gl/gltext.h:43:5: note: because ‘pangolin::GlText’ has user-provided ‘pangolin::GlText::GlText(const pangolin::GlText&)’

   43 |     GlText(const GlText& txt);

      |     ^~~~~~

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp: In constructor ‘pangolin::FunctionButton::FunctionButton(std::string, pangolin::VarValueGeneric&)’:

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp:275:31: warning: implicitly-declared ‘pangolin::GlText& pangolin::GlText::operator=(const pangolin::GlText&)’ is deprecated [-Wdeprecated-copy]

  275 |     gltext = font().Text(title);

      |                               ^

In file included from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/gl/glfont.h:30,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/display/widgets/widgets.h:33,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp:28:

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/gl/gltext.h:43:5: note: because ‘pangolin::GlText’ has user-provided ‘pangolin::GlText::GlText(const pangolin::GlText&)’

   43 |     GlText(const GlText& txt);

      |     ^~~~~~

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp: In constructor ‘pangolin::Checkbox::Checkbox(std::string, pangolin::VarValueGeneric&)’:

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp:313:31: warning: implicitly-declared ‘pangolin::GlText& pangolin::GlText::operator=(const pangolin::GlText&)’ is deprecated [-Wdeprecated-copy]

  313 |     gltext = font().Text(title);

      |                               ^

In file included from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/gl/glfont.h:30,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/display/widgets/widgets.h:33,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp:28:

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/gl/gltext.h:43:5: note: because ‘pangolin::GlText’ has user-provided ‘pangolin::GlText::GlText(const pangolin::GlText&)’

   43 |     GlText(const GlText& txt);

      |     ^~~~~~

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp: In constructor ‘pangolin::Slider::Slider(std::string, pangolin::VarValueGeneric&)’:

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp:369:31: warning: implicitly-declared ‘pangolin::GlText& pangolin::GlText::operator=(const pangolin::GlText&)’ is deprecated [-Wdeprecated-copy]

  369 |     gltext = font().Text(title);

      |                               ^

In file included from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/gl/glfont.h:30,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/display/widgets/widgets.h:33,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp:28:

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/gl/gltext.h:43:5: note: because ‘pangolin::GlText’ has user-provided ‘pangolin::GlText::GlText(const pangolin::GlText&)’

   43 |     GlText(const GlText& txt);

      |     ^~~~~~

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp: In member function ‘virtual void pangolin::Slider::Render()’:

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp:489:50: warning: implicitly-declared ‘pangolin::GlText& pangolin::GlText::operator=(const pangolin::GlText&)’ is deprecated [-Wdeprecated-copy]

  489 |         gltext = font().Text(var->Meta().friendly);

      |                                                  ^

In file included from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/gl/glfont.h:30,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/display/widgets/widgets.h:33,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp:28:

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/gl/gltext.h:43:5: note: because ‘pangolin::GlText’ has user-provided ‘pangolin::GlText::GlText(const pangolin::GlText&)’

   43 |     GlText(const GlText& txt);

      |     ^~~~~~

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp: In constructor ‘pangolin::TextInput::TextInput(std::string, pangolin::VarValueGeneric&)’:

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp:512:31: warning: implicitly-declared ‘pangolin::GlText& pangolin::GlText::operator=(const pangolin::GlText&)’ is deprecated [-Wdeprecated-copy]

  512 |     gltext = font().Text(title);

      |                               ^

In file included from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/gl/glfont.h:30,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/display/widgets/widgets.h:33,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp:28:

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/gl/gltext.h:43:5: note: because ‘pangolin::GlText’ has user-provided ‘pangolin::GlText::GlText(const pangolin::GlText&)’

   43 |     GlText(const GlText& txt);

      |     ^~~~~~

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp: In member function ‘virtual void pangolin::TextInput::Render()’:

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp:657:30: warning: implicitly-declared ‘pangolin::GlText& pangolin::GlText::operator=(const pangolin::GlText&)’ is deprecated [-Wdeprecated-copy]

  657 |     gledit = font().Text(edit);

      |                              ^

In file included from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/gl/glfont.h:30,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/display/widgets/widgets.h:33,

                 from /mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/src/display/widgets/widgets.cpp:28:

/mnt/c/Users/a1020/Desktop/Reinforcement_ELyou/Demolist/slamdemo/slambook/3rdparty/Pangolin/include/pangolin/gl/gltext.h:43:5: note: because ‘pangolin::GlText’ has user-provided ‘pangolin::GlText::GlText(const pangolin::GlText&)’

   43 |     GlText(const GlText& txt);

      |     ^~~~~~

[ 70%] Linking CXX shared library libpangolin.so

[ 70%] Built target pangolin

Scanning dependencies of target VideoViewer

Scanning dependencies of target VideoJsonTransform

Scanning dependencies of target VideoConvert

Scanning dependencies of target Plotter

Scanning dependencies of target VideoJsonPrint

Scanning dependencies of target ModelViewer

Scanning dependencies of target HelloPangolinOffscreen

Scanning dependencies of target HelloPangolinThreads

Scanning dependencies of target SimpleScene

Scanning dependencies of target HelloPangolin

Scanning dependencies of target SimpleMultiDisplay

Scanning dependencies of target SimpleDisplayImage

Scanning dependencies of target SimpleVideo

Scanning dependencies of target SimpleDisplay

Scanning dependencies of target SimpleRecord

Scanning dependencies of target SimplePlot

Scanning dependencies of target SharedMemoryCamera

[ 71%] Building CXX object tools/VideoJson/CMakeFiles/VideoJsonTransform.dir/main-transform.cpp.o

[ 72%] Building CXX object tools/VideoViewer/CMakeFiles/VideoViewer.dir/main.cpp.o

[ 73%] Building CXX object tools/VideoConvert/CMakeFiles/VideoConvert.dir/main.cpp.o

[ 74%] Building CXX object examples/HelloPangolinOffscreen/CMakeFiles/HelloPangolinOffscreen.dir/main.cpp.o

[ 75%] Building CXX object examples/SimpleMultiDisplay/CMakeFiles/SimpleMultiDisplay.dir/main.cpp.o

[ 76%] Building CXX object tools/Plotter/CMakeFiles/Plotter.dir/main.cpp.o

[ 77%] Building CXX object tools/ModelViewer/CMakeFiles/ModelViewer.dir/main.cpp.o

[ 78%] Building CXX object examples/HelloPangolinThreads/CMakeFiles/HelloPangolinThreads.dir/main.cpp.o

[ 79%] Building CXX object examples/SimpleScene/CMakeFiles/SimpleScene.dir/main.cpp.o

[ 80%] Building CXX object examples/SimpleRecord/CMakeFiles/SimpleRecord.dir/main.cpp.o

[ 80%] Building CXX object examples/HelloPangolin/CMakeFiles/HelloPangolin.dir/main.cpp.o

[ 80%] Building CXX object examples/SimpleDisplayImage/CMakeFiles/SimpleDisplayImage.dir/main.cpp.o

[ 81%] Building CXX object tools/VideoJson/CMakeFiles/VideoJsonPrint.dir/main-print.cpp.o

[ 82%] Building CXX object examples/SimpleVideo/CMakeFiles/SimpleVideo.dir/main.cpp.o

[ 83%] Building CXX object examples/SimpleDisplay/CMakeFiles/SimpleDisplay.dir/main.cpp.o

[ 84%] Building CXX object examples/SharedMemoryCamera/CMakeFiles/SharedMemoryCamera.dir/main.cpp.o

[ 85%] Building CXX object examples/SimplePlot/CMakeFiles/SimplePlot.dir/main.cpp.o

[ 86%] Linking CXX executable HelloPangolinOffscreen

[ 88%] Linking CXX executable SimpleDisplayImage

[ 88%] Linking CXX executable VideoViewer

[ 89%] Linking CXX executable HelloPangolinThreads

[ 90%] Linking CXX executable VideoJsonTransform

[ 91%] Linking CXX executable SharedMemoryCamera

[ 92%] Linking CXX executable SimpleMultiDisplay

[ 93%] Linking CXX executable SimpleVideo

[ 94%] Linking CXX executable VideoJsonPrint

[ 94%] Linking CXX executable SimplePlot

[ 94%] Built target HelloPangolinOffscreen

[ 94%] Linking CXX executable SimpleRecord

[ 94%] Built target SimpleDisplayImage

[ 95%] Linking CXX executable VideoConvert

[ 96%] Linking CXX executable HelloPangolin

[ 96%] Built target HelloPangolinThreads

[ 96%] Built target VideoViewer

[ 96%] Built target VideoJsonTransform

[ 97%] Linking CXX executable Plotter

[ 97%] Built target SimpleMultiDisplay

[ 97%] Built target SharedMemoryCamera

[ 97%] Built target VideoJsonPrint

[ 97%] Built target SimpleVideo

[ 97%] Built target SimplePlot

[ 98%] Linking CXX executable SimpleScene

[ 98%] Built target SimpleRecord

[ 98%] Built target HelloPangolin

[100%] Linking CXX executable SimpleDisplay

[100%] Built target VideoConvert

[100%] Built target Plotter

[100%] Built target SimpleScene

[100%] Built target SimpleDisplay

[100%] Linking CXX executable ModelViewer

[100%] Built target ModelViewer

看到上面这些 messages 也可以知道，Pangolin 是一个基于 OpenGL 的项目，能实现数据的可视化。

WSL 专属的 VcXsrv 配置及使用

以上就是安装 Pangolin 的所有步骤了，接下来让我们体验一下它的功能：

cd examples

cd HelloPangolin

mkdir build

cd build

cmake ..

make

./HelloPangolin

按理说，WSL 此时应该画出一个六面体：

没有弹出想要的图像是因为没有安装合适的xming，这里推荐一下 VcXsrv，在Win10里面尝试过了，没有发生什么卡顿以及报错情况，这个软件直接在网站上面下载后，在Win10中随便安装即可，安装路径也可以随便改。在bash中改动一下 DISPLAY 端口即可，进入 .bashrc 或是 .zshrc 文件中进行修改：

nano ~/.zshrc # if you are using bash itself, you may use nano ~/.bashrc

进入后，在文件中加入如下命令（代表采用的是 0 号端口，所以一会打开 VcXsrv 时也把端口命名为 0）：

export DISPLAY=localhost:0

然后刷新一下：

source ~/.zshrc # same as above, use source ~/.bashrc

打开 VcXsrv，选择 Multiple windows，Display number 为 0，Start no client，Clipboard-Primary Selection 选中，禁用 Native opengl，选中 Disable access control，点击完成。这样就可以在运行之前的 examples 了，这里展示一些其它的：

cd ../..

cd SimpleMultiDisplay/build

./SimpleMultiDisplay

输出的是一组拼接图像（和上面的一样为交互式图形）：

[0.0] 面号：[OPTSxNaN]

Too basic to have NN... ...

Pangolin 安装测试 Installation & Examination (Ubuntu 20.04)的更多相关文章

  1. OpenCV4.4.0 安装测试 Installation & Examination (Ubuntu18.04, Ubuntu 20.04)

    OpenCV4.4.0 安装测试 Installation & Examination (Ubuntu18.04, Ubuntu 20.04) 单纯简单的 OpenCV 安装配置方法,在这个地 ...

  2. Ubuntu 20.04下源码编译安装ROS 2 Foxy Fitzroy

    ROS 2 Foxy Fitzroy(以下简称Foxy)于2020年6月5日正式发布了,是LTS版本,支持到2023年5月.本文主要根据官方的编译安装教程[1]完成,并记录编译过程中遇到的问题. 1. ...

  3. Ubuntu 20.04安装Docker

    Docker学习系列文章 入门必备:十本你不容错过的Docker入门到精通书籍推荐 day1.全面的Docker快速入门教程 day2.CentOS 8.4安装Docker day3.Windows1 ...

  4. ubuntu 20.04 编译安装 p 详解

    事情的起因 实验需要安装 p4 环境 我考虑到我自己的电脑性能不足,因此打算在本机安装 github上官方仓库的安装教程老旧,都是在 ubuntu14.04或者ubuntu16.04 我长时间用的li ...

  5. Ubuntu 20.04上安装MySQL教程，ubuntu安装mysql

    在Ubuntu 20.04上安装MySQL教程 先决条件 确保您以具有sudo特权的用户身份登录. 在Ubuntu上安装MySQL 在撰写本文时,Ubuntu存储库中可用的MySQL的最新版本是MyS ...

  6. 安装MySQL到Ubuntu 20.04

    本文的内容主要来自对How To Install MySQL on Ubuntu 20.04的翻译.在根据该文的指导下,我在自己的Ubuntu 20.04.3 LTS版本中安装了MySQL 8. St ...

  7. Ubuntu 20.04.1 安装软件和系统配置脚本

    #!/bin/bash # https://launchpad.net/ubuntu # https://www.easyicon.net # https://download-chromium.ap ...

  8. Ubuntu 20.04上通过Wine 安装微信

    没有想过会在一个手机软件上花这么多心思,好在今天总算安装成功,觉得可以记录下这个过程,方便他人方便自己. 首先介绍下我使用过的其他方法,希望可以节省大家一些时间: Rambox Pro:因为原理是网页 ...

  9. 树莓派安装 Ubuntu 20.04 LTS 碰壁指南

    树莓派安装 Ubuntu 20.04 LTS 碰壁指南 设备 Raspberry 4B 4+32G 系统 Ubuntu 20.04 LTS 1.镜像下载与烧录 镜像下载地址:https://cdima ...

随机推荐

  1. SAP 中session和外部断点设置的区别

    1 Session Breakpoints:只在当前user session的所有main session中有效 2 External Breakpoints 在abap editor或事务SICF中 ...

  2. 04. struts2中Result配置的各种视图转发类型

    概述 <action name="helloworld" class="com.liuyong666.action.HelloWorldAction"&g ...

  3. 关于Vue v-model你需要知道的一切

    ​v-model是Vue的一个指令,它提供了input和form数据之间或两个组件之间的双向数据绑定. 这在Vue开发中是一个简单的概念,但是v-model的真正威力需要一些时间才能理解. 到本教程结 ...

  4. LVS负载均衡之DR模式原理介绍

    LVS基本原理 流程解释: 当用户向负载均衡调度器(Director Server)发起请求,调度器将请求发往至内核空间 PREROUTING 链首先会接收到用户请求,判断目标 IP 确定是本机 IP ...

  5. SQL函数知识点

    SQL函数知识点 SQL题目(一) 1.查询部门编号为10的员工信息 select*from emp where empno=10; 2.查询年薪大于3万的人员的姓名与部门编号 select enam ...

  6. 现有以下关系型数据库中的表(见表4-20表4-21和表4-22),要求将具转换为适合Hbase存储的表并插入数据。

    ① createTable(String tableName, String[] fields) 创建表,参数tableName为表的名称,字符串数组fields为存储记录各个域名称的数组.要 求当H ...

  7. https://www.cs.cmu.edu/~dga/papers/cuckoo-conext2014.pdf 检验hash冲突

    https://github.com/google/cityhash We like to test hash functions with SMHasher, among other things. ...

  8. pywin32 pywin32 docx文档转html页面 word doc docx 提取文字 图片 html 结构

    https://blog.csdn.net/X21214054/article/details/78873338# python docx文档转html页面 - 程序猿tx - 博客园 https:/ ...

  9. 挖掘隐藏在源码中的Vue技巧！

    前言 最近关于Vue的技巧文章大热,我自己也写过一篇(vue开发中的"骚操作"),但这篇文章的技巧是能在Vue的文档中找到蛛丝马迹的,而有些文章说的技巧在Vue文档中根本找不到踪迹 ...

  10. loj10005数列极差

    题目描述 佳佳的老师在黑板上写了一个由  n个正整数组成的数列,要求佳佳进行如下操作:每次擦去其中的两个数 a 和 b,然后在数列中加入一个数 a*b+1,如此下去直至黑板上剩下一个数为止,在所有按这 ...