ubuntu18.04 Pangolin安装出现error 的解决方法

参考：

1. Pangolin安装error: ‘AV_PIX_FMT_VAAPI_MOCO’ was not declared in this scopelink
2. Ubuntu 14.04下安装Pagolin遇到的问题及解决方法（之一）link
3. ubuntu 安装Pangolin 过程link
4. Pangolin github link

安装之前先装依赖：

sudo apt-get install libglew-dev

安装过程中碰到的问题：

1. pangolin/video/drivers/ffmpeg_common.h:37:39: error: ‘AV_PIX_FMT_VAAPI_MOCO’ was not declared in this scope
2. pangolin/video/drivers/ffmpeg_common.h:37:39: error: ‘AV_PIX_FMT_VAAPI_IDCT’ was not declared in this scope
3. components/pango_video/include/pangolin/video/drivers/ffmpeg_common.h:37:39: error: ‘AV_PIX_FMT_VAAPI_VLD’ was not declared in this scope
4. components/pango_video/src/drivers/ffmpeg.cpp:62:5: error: ‘av_register_all’ was not declared in this scope
     av_register_all();
5. error: invalid conversion from ‘const AVInputFormat*’ to ‘AVInputFormat*’ [-fpermissive]
         fmt = av_find_input_format(codec_hint.c_str());
               ~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~
/home/wxf/softwares/3rdparty/Pangolin/components/pango_video/src/drivers/ffmpeg.cpp:120:36: error: ‘AVStream {aka struct AVStream}’ has no member named ‘codec’
         if(pFormatCtx->streams[i]->codec->codec_type==AVMEDIA_TYPE_VIDEO)
                                    ^~~~~
/home/wxf/softwares/3rdparty/Pangolin/components/pango_video/src/drivers/ffmpeg.cpp:123:42: error: ‘AVStream {aka struct AVStream}’ has no member named ‘codec’
         }else if(pFormatCtx->streams[i]->codec->codec_type==AVMEDIA_TYPE_AUDIO)
                                          ^~~~~
/home/wxf/softwares/3rdparty/Pangolin/components/pango_video/src/drivers/ffmpeg.cpp:139:54: error: ‘AVStream {aka struct AVStream}’ has no member named ‘codec’
     pVidCodecCtx = pFormatCtx->streams[videoStream]->codec;
                                                      ^~~~~
/home/wxf/softwares/3rdparty/Pangolin/components/pango_video/src/drivers/ffmpeg.cpp:142:35: error: invalid conversion from ‘const AVCodec*’ to ‘AVCodec*’ [-fpermissive]
     pVidCodec=avcodec_find_decoder(pVidCodecCtx->codec_id);
               ~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~
/home/wxf/softwares/3rdparty/Pangolin/components/pango_video/src/drivers/ffmpeg.cpp:180:17: error: ‘avpicture_get_size’ was not declared in this scope
     numBytesOut=avpicture_get_size(fmtout, w, h);

一般因为命名空间改变，或者命名空间中变量名字的改变导致出现的错误，是版本冲突引起的
解决问题的思路是：

1. 改变Pangolin的版本

2. 改变ffmpeg的版本

查看ffmpeg的版本
$ ffmpeg -version
ffmpeg version 3.0.12 Copyright (c) 2000-2018 the FFmpeg developers
built with gcc 7 (Ubuntu 7.5.0-3ubuntu1~18.04)
configuration: --enable-shared --prefix=/usr/local/ffmpeg
libavutil      55. 17.103 / 55. 17.103
libavcodec     57. 24.102 / 57. 24.102
libavformat    57. 25.100 / 57. 25.100
libavdevice    57.  0.101 / 57.  0.101
libavfilter     6. 31.100 /  6. 31.100
libswscale      4.  0.100 /  4.  0.100
libswresample   2.  0.101 /  2.  0.101

3. Pangolin不处理视频的话，不编译ffmpeg

cd /xxx/Pangolin/components/pango_video
cp CMakeLists.txt CMakeLists1.txt
gedit CMakeLists.txt

删除关于编译FFMPEG的这段

option(BUILD_PANGOLIN_FFMPEG "Build support for ffmpeg video input" ON)
if(BUILD_PANGOLIN_FFMPEG)
  find_package(FFMPEG QUIET)
  if(FFMPEG_FOUND)
      target_sources( ${COMPONENT} PRIVATE
          ${DRIVER_DIR}/ffmpeg.cpp
          ${DRIVER_DIR}/ffmpeg_convert.cpp
          ${DRIVER_DIR}/ffmpeg_output.cpp
      )
      target_link_libraries(${COMPONENT} PRIVATE ${FFMPEG_LIBRARIES} )
      target_include_directories(${COMPONENT} PRIVATE ${FFMPEG_INCLUDE_DIRS} )
      PangolinRegisterFactory( VideoInterface FfmpegVideo FfmpegVideoConvert)
      PangolinRegisterFactory( VideoOutputInterface FfmpegVideoOutput)
      if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
        # FFMPEG is a real pain for deprecating the API.
        set_source_files_properties(${DRIVER_DIR}/ffmpeg.cpp  PROPERTIES COMPILE_FLAGS "-Wno-deprecated-declarations")
      endif()
      message(STATUS "ffmpeg Found and Enabled")
  endif()
endif()

保存、退出
然后：

make -j6
sudo make install 
ldconfig