ubuntu18.04安装pangolin库，图文详解

╰半夏微凉° 2023-10-02 20:03 8阅读 0赞

## 1. 终端输入命令，安装所需依赖 ##

sudo apt install libglew-dev cmake libboost-dev libboost-thread-dev libboost-filesystem-dev libeigen3-dev -y

## 2、下载源码压缩包 ##

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

## 3、解压文件，cd到该目录中 ##

unzip  Pangolin && cd Pangolin

## 4、创建build文件夹，cd到该目录中 ##

mkdir build && cd build

## 5、cmake分析源代码 ##

cmake ..

可能会遇到下面这样的报错

CMake Error at CMakeLists.txt:109 (add_library):
      Target "pango_opengl" links to target "Eigen3::Eigen" but the target was
      not found.  Perhaps a find_package() call is missing for an IMPORTED
      target, or an ALIAS target is missing?
    
    
    CMake Error at CMakeLists.txt:109 (add_library):
      Target "pango_glgeometry" links to target "Eigen3::Eigen" but the target
      was not found.  Perhaps a find_package() call is missing for an IMPORTED
      target, or an ALIAS target is missing?
    
    
    CMake Error at CMakeLists.txt:109 (add_library):
      Target "pango_glgeometry" links to target "Eigen3::Eigen" but the target
      was not found.  Perhaps a find_package() call is missing for an IMPORTED
      target, or an ALIAS target is missing?
    
    
    CMake Error at CMakeLists.txt:109 (add_library):
      Target "pango_plot" links to target "Eigen3::Eigen" but the target was not
      found.  Perhaps a find_package() call is missing for an IMPORTED target, or
      an ALIAS target is missing?

报错显示找不到eigen库，那我们修改下components/pango\_geometry和components/pango\_opengl文件夹下的CMakeLists.txt。  
添加这一行：`include_directories(/usr/include/eigen3)`  
修改这一行：`target_link_libraries(${COMPONENT} PUBLIC pango_core pango_image ${Eigen3_LIBRARIES})`

添加的是为了后面make成功，修改的是为了cmake成功，然后保存，再次`cmake..`成功。

![在这里插入图片描述][05308ddd2df74c39b2376934e9337c30.png_pic_center]  
如果你cmake报错： 缺少xkbcommon库，然后你安装`libxkbcommon-x11-dev`出现以下报错：

libxkbcommon-x11-dev : 依赖: libxkbcommon-x11-0 (= 0.8.0-1ubuntu0.1) 
    但是 0.8.2-1~ubuntu18.04.1 正要被安装

就说明你下载的pangolin版本不适用于你的ubuntu版本，不要使用网上的方法强制降低版本，那样会导致你很多依赖库opencv、pcl、ros被卸载，正确做法是重新下载个低版本的pangollin。

## 6、make编译源代码 ##

sudo make -j4

![在这里插入图片描述][d182d6be95844689abc25ec00e7cfa74.png_pic_center]

## 7、make install安装 ##

sudo make install

![在这里插入图片描述][976a591bae3f4a108c21d0152cccfa15.png_pic_center]

## 至此，pangolin库安装完成！ ##

[05308ddd2df74c39b2376934e9337c30.png_pic_center]: https://img-blog.csdnimg.cn/05308ddd2df74c39b2376934e9337c30.png#pic_center
[d182d6be95844689abc25ec00e7cfa74.png_pic_center]: https://img-blog.csdnimg.cn/d182d6be95844689abc25ec00e7cfa74.png#pic_center
[976a591bae3f4a108c21d0152cccfa15.png_pic_center]: https://img-blog.csdnimg.cn/976a591bae3f4a108c21d0152cccfa15.png#pic_center