ubuntu18.04安装pangolin库，图文详解

最新推荐文章于 2025-03-28 22:52:38 发布

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最新推荐文章于 2025-03-28 22:52:38 发布

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分类专栏： Ubuntu 文章标签： pangolin orbslam ubuntu cmake boost

本文链接：https://blog.csdn.net/qq_42257666/article/details/125473414

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本文档详细介绍了在Ubuntu系统中安装Pangolin库的完整过程，包括安装依赖、下载源码、解决cmake错误、make编译及make install安装。在安装过程中，遇到的Eigen库未找到的问题通过修改CMakeLists.txt文件得以解决，同时提示如果遇到其他版本不匹配问题，建议选择合适版本的Pangolin源码进行安装。

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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
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

7、make install安装

sudo make install