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. 5V 升压 8.4V，5V 转 8.4V 做两节锂电池充电芯片

    5V 升压 8.4V SOT23-6 封装的六脚升压 IC PW5300 是一颗 DC-DC 异步整流升压转换器芯片,输入电压范围 2.6V-5.5V.最高输出 电压 12V, PW5300 是一种电 ...

  2. 解决Python内CvCapture视频文件格式不支持问题

    解决Python内CvCapture视频文件格式不支持问题 在读取视频文件调用默认的摄像头cv.VideoCapture(0)会出现下面的视频格式问题 CvCapture_MSMF::initStre ...

  3. 计算机网络安全 —— 报文摘要算法 ME5 （三）

    一.报文摘要算法基本概念 使用加密通常可达到报文鉴别的目的,因为伪造的报文解密后一般不能得到可理解的内容.但简单采用这种方法,计算机很难自动识别报文是否被篡改.另外,对于不需要保密而只需要报文鉴别的网 ...

  4. HA工作机制

    HA工作机制 HA:高可用(7*24小时不中断服务) 主要的HA是针对集群的master节点的,即namenode和resourcemanager,毕竟DataNode挂掉之后影响 不是特别大,重启就 ...

  5. Windows10 通过 ssh 映射 Linux 为盘符

    一. 安装WinFsp 地址 选择.msi文件下载并安装 二. 安装SSHFS-Win 地址 点击下载64位安装包, 然后安装 三.挂载Linux文件夹 1.映射网络驱动器 输入用户名, 服务器ip地 ...

  6. C++ Primer Plus读书笔记（一）开始学习C++

    1.using namespace std; 注意一下命名空间的概念,不编译这句话,可能就要用  std::cout << std::endl 这种写作方式了. 这句话放在函数内部,只对该 ...

  7. 你应该了解的25个JS技巧

    目录 1. 类型检查小工具 2. 检查是否为空 3. 获取列表最后一项 4. 带有范围的随机数生成器 5. 随机 ID 生成器 6. 创建一个范围内的数字 7. 格式化 JSON 字符串,string ...

  8. JetBrains(IEDA、CLion、Pycharm) 学生获得免费使用资格

    JetBrains针对学生推出了免费使用资格,但是很多同学却不知道或者说不知道怎样获得免费资格,只能千辛万苦的去寻找破解密钥,但现在JetBrains针对盗版的封锁越来越严密,很多密钥过一段时间就会失 ...

  9. Spring Filter过滤表单中的非法字符

    使用Spring Filter过滤表单中的非法字符 1 package test.filter; 2 3 import java.io.IOException; 4 import java.util. ...

  10. c++指针 c指针 改变值

    1. #include <iostream>using namespace std;void move(int *p)    ====>void move(*&p){     ...