slambook2(ch3)--visualizeGeometry执行报错

错误如下

error: conversion from ‘pangolin::OpenGlMatrix’ to non-scalar type ‘Eigen::Matrix＜double, 4, 4＞’

/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::clean(sigslot::detail::slot_state*)’:
/usr/local/include/sigslot/signal.hpp:1504:46: error: ‘m_slots’ was not declared in this scope
 1504 |         for (auto &group : detail::cow_write(m_slots)) {
      |                                              ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::add_slot(sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::slot_ptr&&)’:
/usr/local/include/sigslot/signal.hpp:1538:42: error: ‘m_slots’ was not declared in this scope
 1538 |         auto &groups = detail::cow_write(m_slots);
      |                                          ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘size_t sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::disconnect_if(Cond&&)’:
/usr/local/include/sigslot/signal.hpp:1560:42: error: ‘m_slots’ was not declared in this scope
 1560 |         auto &groups = detail::cow_write(m_slots);
      |                                          ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::clear()’:
/usr/local/include/sigslot/signal.hpp:1584:27: error: ‘m_slots’ was not declared in this scope
 1584 |         detail::cow_write(m_slots).clear();
      |                           ^~~~~~~
make[2]: *** [CMakeFiles/visualizeGeometry.dir/build.make:76：CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:83：CMakeFiles/visualizeGeometry.dir/all] 错误 2
make: *** [Makefile:91：all] 错误 2

原因
因为安装Pangolin时直接

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

这里下载的是最新版本的Pangolin, 对应的C++编译标准与slambook2的代码编译标准不一样，故报错。

解决方法
解决方法是：去https://github.com/stevenlovegrove/Pangolin找到0.5版本的Pangolin 把源码下载下来或者去进入文件夹slambook2/3rdparty安装，然后再解压，之后执行代码

cd Pangolin
mkdir build 
cd build
cmake ..
make -j2
sudo make install

在安装的过程中可能会遇到这样的错误
“（make[2]: *** [src/CMakeFiles/pangolin.dir/build.make:818：src/CMakeFiles/pangolin.dir/video/drivers/ffmpeg.cpp.o] 错误 1）：”

解决方法
进入Pangolin-0.5文件夹——>找到src文件夹——>修改里面的CMakelists.txt文件，注释掉以下内容：

#find_package(FFMPEG QUIET)
#if(BUILD_PANGOLIN_VIDEO AND FFMPEG_FOUND)
 # set(HAVE_FFMPEG 1)
 # list(APPEND INTERNAL_INC  ${FFMPEG_INCLUDE_DIRS} )
 # list(APPEND LINK_LIBS ${FFMPEG_LIBRARIES} )
 # list(APPEND HEADERS ${INCDIR}/video/drivers/ffmpeg.h)
 # list(APPEND SOURCES video/drivers/ffmpeg.cpp)
 # message(STATUS "ffmpeg Found and Enabled")
#endif()

#find_package(OpenNI QUIET)
#if(BUILD_PANGOLIN_VIDEO AND OPENNI_FOUND)
#  set(HAVE_OPENNI 1)
 # if(_LINUX_)
 #   add_definitions(-Dlinux=1)
 # endif()
 # list(APPEND INTERNAL_INC  ${OPENNI_INCLUDE_DIRS} )
 # list(APPEND LINK_LIBS ${OPENNI_LIBRARIES} )
 # list(APPEND HEADERS ${INCDIR}/video/drivers/openni.h )
  #list(APPEND SOURCES video/drivers/openni.cpp)
 # message(STATUS "OpenNI Found and Enabled")
#endif()

#find_package(OpenNI2 QUIET)
#if(BUILD_PANGOLIN_VIDEO AND OPENNI2_FOUND)
#  set(HAVE_OPENNI2 1)
#  if(_LINUX_)
 #   add_definitions(-Dlinux=1)
#  endif()
#  list(APPEND INTERNAL_INC  ${OPENNI2_INCLUDE_DIRS} )
#  list(APPEND LINK_LIBS ${OPENNI2_LIBRARIES} )
#  list(APPEND HEADERS ${INCDIR}/video/drivers/openni2.h )
 # list(APPEND SOURCES video/drivers/openni2.cpp)
#  message(STATUS "OpenNI2 Found and Enabled")
#endif()

测试
编译完，可以运行以下命令测试，如果显示出一个彩色立方体，并且可以通过鼠标左、右键和滚轮按住拖拽，就表示 Pangolin 安装成功了。

cd examples
cd HelloPangolin
./HelloPangolin