Pangolin 安裝測試 Installation & Examination (Ubuntu 20.04)
目錄
下載 dependencies
安裝 Pangolin 需要一些准備工作，首先要做的是下載它的一些 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
安裝&編譯
注意上面的都務必先安裝成功，最后那個 libpng-dev 很重要，不然直接編譯報錯 *2。然后就可以從 git 上面把 Pangolin 項目 clone 進來了（當然，此時已經切換到了你習慣存放文件的目錄，我這邊是 /mnt/...）：
git clone https://github.com/stevenlovegrove/Pangolin.git
輸出以下 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 目錄，開始編譯：
cd Pangolin
mkdir build
cd build
記得在編譯指令加上 -DCPP11_NO_BOOST=1：
cmake -DCPP11_NO_BOOST=1 ..
輸出如下，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
然后就可以進行編譯了，為了便於調試，我之前用了 make -j，為的是能夠看到更多的信息：
make -j
輸出下面這些，沒有什么報錯，但是 warning 還真不少，雖然也無所謂：
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
看到上面這些 messages 也可以知道，Pangolin 是一個基於 OpenGL 的項目，能實現數據的可視化。
WSL 專屬的 VcXsrv 配置及使用
以上就是安裝 Pangolin 的所有步驟了，接下來讓我們體驗一下它的功能：
cd examples
cd HelloPangolin
mkdir build
cd build
cmake ..
make
./HelloPangolin
按理說，WSL 此時應該畫出一個六面體：
沒有彈出想要的圖像是因為沒有安裝合適的xming，這里推薦一下 VcXsrv，在Win10里面嘗試過了，沒有發生什么卡頓以及報錯情況，這個軟件直接在網站上面下載后，在Win10中隨便安裝即可，安裝路徑也可以隨便改。在bash中改動一下 DISPLAY 端口即可，進入 .bashrc 或是 .zshrc 文件中進行修改：
nano ~/.zshrc # if you are using bash itself, you may use nano ~/.bashrc
進入后，在文件中加入如下命令（代表采用的是 0 號端口，所以一會打開 VcXsrv 時也把端口命名為 0）：
export DISPLAY=localhost:0
然后刷新一下：
source ~/.zshrc # same as above, use source ~/.bashrc
打開 VcXsrv，選擇 Multiple windows，Display number 為 0，Start no client，Clipboard-Primary Selection 選中，禁用 Native opengl，選中 Disable access control，點擊完成。這樣就可以在運行之前的 examples 了，這里展示一些其它的：
cd ../..
cd SimpleMultiDisplay/build
./SimpleMultiDisplay
輸出的是一組拼接圖像（和上面的一樣為交互式圖形）：
[0.0] 面號：[OPTSxNaN]
Too basic to have NN... ...