Ubuntu20.04安装Pangolin遇到的几种报错的解决方案

1.添加两个编译选项

/usr/include/OpenEXR/half.h:121:13: note: because ‘half’ has user-provided ‘half& half::operator=(half)’121 |     half &  operator = (half  h);|             ^~~~~~~~

解决方案：
在CMakeList中添加以下两句：
 

set_property(TARGET ${COMPONENT} PROPERTY CXX_STANDARD 11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-copy -Wno-error=deprecated-copy")

完整CMakeList.txt的如下：
 

cmake_minimum_required(VERSION 3.16)project("Pangolin")
set(PANGOLIN_VERSION_MAJOR 0)
set(PANGOLIN_VERSION_MINOR 9)
set(PANGOLIN_VERSION_PATCH 3)
set_property(TARGET ${COMPONENT} PROPERTY CXX_STANDARD 11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-copy -Wno-error=deprecated-copy")
set(PANGOLIN_VERSION ${PANGOLIN_VERSION_MAJOR}.${PANGOLIN_VERSION_MINOR}.${PANGOLIN_VERSION_PATCH})if(NOT CMAKE_CXX_STANDARD)set(CMAKE_CXX_STANDARD 17)set(CMAKE_CXX_STANDARD_REQUIRED ON)
endif()# Prevent in source builds
if(EXISTS "${PROJECT_BINARY_DIR}/CMakeLists.txt")message(FATAL_ERROR "Source build detected: please use a subdir. You may remove 'CMakeCache.txt' and 'CMakeFiles'.")
endif()# Make our own cmake imports accessible
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")set(CMAKE_POSITION_INDEPENDENT_CODE ON)
SET(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)include(SetPlatformVars)
include(PangolinFactory)option( BUILD_TOOLS "Build Tools" ON )
option( BUILD_EXAMPLES "Build Examples" ON )
option( BUILD_ASAN "Enable AddressSanitizer for Debug builds" OFF )# Default build type (Override with cmake .. -DCMAKE_BUILD_TYPE=...)
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose the type of build." FORCE)message(STATUS "Setting build type to '${CMAKE_BUILD_TYPE}' as none was specified.")set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
endif()option( BUILD_SHARED_LIBS "Build Shared Library" ON)if(_WIN_)option( MSVC_USE_STATIC_CRT  "Use static C Runtime with MSVC, /MT instead of /MD" ON)# Make sure there are no erroneous C Runtime flagslist(APPEND FLAG_VARSCMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFOCMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO)if(MSVC_USE_STATIC_CRT)foreach(FLAG_VAR ${FLAG_VARS})string(REGEX REPLACE "/MD" "/MT" NEW_FLAGS "${${FLAG_VAR}}")set(${FLAG_VAR} "${NEW_FLAGS}" CACHE STRING "" FORCE)endforeach()else()foreach(FLAG_VAR ${FLAG_VARS})string(REGEX REPLACE "/MT" "/MD" NEW_FLAGS "${${FLAG_VAR}}")set(${FLAG_VAR} "${NEW_FLAGS}" CACHE STRING "" FORCE)endforeach()endif()
elseif(_OSX_)set(CMAKE_MACOSX_RPATH ON)
elseif(EMSCRIPTEN)set(BUILD_SHARED_LIBS OFF)include(EmscriptenUtils)set(CMAKE_EXE_LINKER_FLAGS "-sASYNCIFY=1 -sDISABLE_EXCEPTION_CATCHING=0 -sGL_ASSERTIONS=1 -sFULL_ES3=1 --bind")
endif()# run with "ASAN_OPTIONS=fast_unwind_on_malloc=0" to print stack with more details
if(BUILD_ASAN)set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} \-fsanitize=address \-fsanitize=bool \-fsanitize=bounds \-fsanitize=enum \-fsanitize=float-cast-overflow \-fsanitize=float-divide-by-zero \-fsanitize=nonnull-attribute \-fsanitize=returns-nonnull-attribute \-fsanitize=signed-integer-overflow \-fsanitize=undefined \-fsanitize=vla-bound \-fno-sanitize=alignment \-fsanitize=leak \-fsanitize=object-size \")
endif()if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")add_compile_options(-Wall -Wextra -Werror)# error: ISO C++ prohibits anonymous structs# add_compile_options(-Wpedantic)# ignore "parentheses" warning for custom "picojson" forkadd_compile_options(-Wno-parentheses)add_compile_options(-Wno-null-pointer-arithmetic)add_compile_options(-Wno-null-pointer-subtraction)if(CMAKE_COMPILER_IS_GNUCC)add_compile_options(-Werror=maybe-uninitialized)endif()
endif()#######################################################
## Testing setupoption(BUILD_TESTS "Build Tests" OFF)
if(BUILD_TESTS)find_package(Catch2 REQUIRED)include(CTest)include(Catch)
endif()#######################################################
## Add all pangolin componentsfile(GLOB components_cmake "${CMAKE_CURRENT_LIST_DIR}/components/*/CMakeLists.txt")
set(component_list "")
foreach(component_cmake ${components_cmake})get_filename_component(component_dir ${component_cmake} DIRECTORY)get_filename_component(component_name ${component_dir} NAME)add_library(${component_name} "")list(APPEND component_list ${component_name})
endforeach()foreach(component_cmake ${components_cmake})include(${component_cmake})
endforeach()#######################################################
## Build Tree Export# Export Targets
export(TARGETS ${component_list} FILE PangolinTargets.cmake)
export(PACKAGE Pangolin)# Version information
configure_file( ${CMAKE_CURRENT_SOURCE_DIR}/cmake/${PROJECT_NAME}ConfigVersion.cmake.in
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake" @ONLY)# Build tree config
configure_file( ${CMAKE_CURRENT_SOURCE_DIR}/cmake/${PROJECT_NAME}Config.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake @ONLY IMMEDIATE )#######################################################
## Install headers / targetsinclude(GNUInstallDirs)
# This relative path allows installed files to be relocatable.
set( CMAKECONFIG_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME} )
file( RELATIVE_PATH REL_INCLUDE_DIR"${CMAKE_INSTALL_PREFIX}/${CMAKECONFIG_INSTALL_DIR}""${CMAKE_INSTALL_PREFIX}/include"
)install(TARGETS ${component_list}EXPORT ${PROJECT_NAME}TargetsLIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
)install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake""${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"DESTINATION ${CMAKECONFIG_INSTALL_DIR}
)
install(EXPORT ${PROJECT_NAME}Targets DESTINATION ${CMAKECONFIG_INSTALL_DIR}
)# uninstall target
if(NOT TARGET uninstall)configure_file("${CMAKE_CURRENT_LIST_DIR}/cmake/cmake_uninstall.cmake.in""${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"IMMEDIATE @ONLY)add_custom_target(uninstallCOMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
endif()#######################################################
## Tools / Examplesset(Pangolin_DIR ${CMAKE_CURRENT_BINARY_DIR})if(BUILD_EXAMPLES)add_subdirectory(examples)
endif()if(BUILD_TOOLS)add_subdirectory(tools)
endif()

2.修改C++版本：
 

/home/and/work/lidar2camera/manual_calib/Pangolin/components/pango_opengl/src/glfont.cpp:125:26: error: invalid conversion from ‘const char*’ to ‘char*’ [-fpermissive]125 |     vsnprintf(result.data(), len+1, format, args);|               ~~~~~~~~~~~^~|                          ||                          const char*/usr/include/x86_64-linux-gnu/bits/stdio2.h:77:1: note:   initializing argument 1 of ‘int vsnprintf(char*, size_t, const char*, __va_list_tag*)’77 | __NTH (vsnprintf (char *__restrict __s, size_t __n,| ^~~~~/home/and/work/lidar2camera/manual_calib/Pangolin/components/pango_opengl/src/glfont.cpp:197:22: error: ‘class std::map<unsigned int, pangolin::GlChar>’ has no member named ‘try_emplace’; did you mean ‘emplace’?197 |             chardata.try_emplace(codepoint, tex_w,tex_h, x, y, gw, gh, scale*advance, x0 -0.5f, -y0 -0.5f);|                      ^~~~~~~~~~~|                      emplace
At global scope:

解决方法：
 

set(CMAKE_CXX_STANDARD 11) 改为set(CMAKE_CXX_STANDARD 17)

3.设置全局变量
 

/home/and/work/lidar2camera/manual_calib/Pangolin/components/pango_python/src/pyinterpreter.cpp:61:27: error: ‘py::module_’ has not been declared61 |     auto pypangolin = py::module_::import("pypangolin");|                           ^~~~~~~
/home/and/work/lidar2camera/manual_calib/Pangolin/components/pango_python/src/pyinterpreter.cpp:63:20: error: ‘py::module_’ has not been declared63 |     auto sys = py::module_::import("sys");|                    ^~~~~~~
At global scope:

解决方法：
 

sudo pip3 install "pybind11[global]"

4.修改install_prerequisites.sh文件
 

E: 无法定位软件包 catch2

这个包是22.04的中用来测试的，20.04里没有，在install_prerequisites.sh文件中删除就好，下面提供一个删除后完整的install_prerequisites.sh文件：

#!/bin/bash# exit when any command fails
set -eMANAGERS=(dnf apt port vcpkg brew pacman)
MANAGER=""
LIST=0
VERBOSE=0
DRYRUN=0
UPDATE=0
REQUIRED_RECOMMENDED_ALL=1
SUDO=""PKGS_UPDATE=""
PKGS_REQUIRED=()
PKGS_RECOMMENDED=()
PKGS_ALL=()
PKGS_OPTIONS=()# Parse Command line
PARAMS=""
while (( "$#" )); docase "$1" in-v|--verbose)VERBOSE=1shift;;-d|--dry-run)DRYRUN=1shift;;-l|--list)LIST=1shift;;-u|--update-package-list)UPDATE=1shift;;-m|--package-manager)if [ -n "$2" ] && [ ${2:0:1} != "-" ]; thenMANAGER=($2)shift 2elseecho "Error: Argument for $1 is missing" >&2exit 1fi;;-h|--help)echo "$0 [-vh] [-m package-manager-list] [required|recommended|all]"echo "  -m, --package-manager:     preferred package manager order (default: \"${MANAGERS[*]}\")"echo "  -v, --verbose:             verbose output"echo "  -d, --dry-run:             print actions, but do not execute"echo "  -l, --list:                just list the packages to install"echo "  -u, --update-package-list: update package manager package list"echo "  -h, --help:                this help message"echo " (required|recommended|all) the set of dependencies to select."exit 0;;-*|--*=) # unsupported flagsecho "Error: Unsupported flag $1" >&2exit 1;;*) # preserve positional argumentsPARAMS="$1"shift;;esac
done# Make lower case
PARAMS=$(echo "$PARAMS" | tr '[:upper:]' '[:lower:]' | tr -s "[:blank:]")# Work out which set of dependencies we're installing
case "$PARAMS" inrequired)REQUIRED_RECOMMENDED_ALL=0if ((VERBOSE > 0)); then echo "Selecting required dependencies only."; fi;;""|recommended)REQUIRED_RECOMMENDED_ALL=1if ((VERBOSE > 0)); then echo "Selecting required+recommended dependencies."; fi;;all)REQUIRED_RECOMMENDED_ALL=2if ((VERBOSE > 0)); then echo "Selecting all available dependencies."; fi;;*)echo "Unrecognized positional argument \"$PARAMS\". Expecting one of (required,recommended [default],all)"exit 1;;
esac# Find an available package manager from the preferred list
# if one has not already been selected manually.
if [ -z "$MANAGER" ]
thenfor m in ${MANAGERS[@]}doif [ -x "$(command -v $m)" ]; thenMANAGER="$m"breakfidone
fi# If no package manager is found, exit
if [ -z "$MANAGER" ]
thenecho "Error: No preferred package managers from list [${MANAGERS[*]}] found. Use -m to select manually." >&2exit 1
fi
if ((VERBOSE > 0)); then echo "Using \"$MANAGER\" package manager (select another using -m)"; fi# Setup prereq commands and packages.
if [[ "$MANAGER" == "apt" ]]; thenSUDO="sudo"PKGS_UPDATE="apt update"PKGS_OPTIONS+=(install --no-install-suggests --no-install-recommends)if ((DRYRUN > 0));  then PKGS_OPTIONS+=(--dry-run); SUDO=""; fiPKGS_REQUIRED+=(libgl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols libegl1-mesa-dev)PKGS_REQUIRED+=(libc++-dev libepoxy-dev libglew-dev libeigen3-dev cmake g++ ninja-build)PKGS_RECOMMENDED+=(libjpeg-dev libpng-dev)PKGS_RECOMMENDED+=(libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev)PKGS_ALL+=(libdc1394-dev libraw1394-dev libopenni-dev python3-dev)
elif [[ "$MANAGER" == "dnf" ]]; thenSUDO="sudo"PKGS_UPDATE="dnf check-update"PKGS_OPTIONS+=(install)PKGS_REQUIRED+=(wayland-devel libxkbcommon-devel g++ ninja-build)PKGS_REQUIRED+=(epoxy-devel eigen3 cmake)PKGS_RECOMMENDED+=(libjpeg-devel libpng-devel OpenEXR-devel )PKGS_ALL+=(libdc1394-devel libraw1394-devel librealsense-devel openni-devel)if ((DRYRUN > 0));  thenMANAGER="echo $MANAGER"SUDO=""fi
elif [[ "$MANAGER" == "pacman" ]]; thenSUDO="sudo"PKGS_UPDATE=""  # databases and packages are updated in -Syu install optionsPKGS_OPTIONS+=(-Syu --needed)PKGS_REQUIRED+=(mesa wayland libxkbcommon wayland-protocols libc++ glew eigen cmake gcc ninja)PKGS_RECOMMENDED+=(libjpeg-turbo libpng ffmpeg)PKGS_ALL+=(libdc1394 libraw1394 openni python3)if ((DRYRUN > 0));  thenMANAGER="echo $MANAGER"SUDO=""fi
elif [[ "$MANAGER" == "port" ]]; thenSUDO="sudo"PKGS_UPDATE="port sync -q"if ((DRYRUN > 0));  then PKGS_OPTIONS+=(-y); SUDO=""; fiPKGS_OPTIONS+=(-N install -q)PKGS_REQUIRED+=(glew eigen3-devel cmake +gui ninja)PKGS_RECOMMENDED+=(libjpeg-turbo libpng openexr tiff ffmpeg-devel lz4 zstd py37-pybind11 )PKGS_ALL+=(libdc1394 openni)
elif [[ "$MANAGER" == "brew" ]]; thenPKGS_OPTIONS+=(install)if ((VERBOSE > 0)); then PKGS_OPTIONS+=(--verbose); fiPKGS_REQUIRED+=(glew eigen cmake ninja)PKGS_RECOMMENDED+=(libjpeg-turbo libpng openexr libtiff ffmpeg lz4 zstd  python-setuptools)# Brew doesn't have a dryrun optionif ((DRYRUN > 0));  thenMANAGER="echo $MANAGER"fi
elif [[ "$MANAGER" == "vcpkg" ]]; then# TODO: this should be a config option somehow...PKGS_OPTIONS+=(install --triplet=x64-windows )if ((DRYRUN > 0));  then PKGS_OPTIONS+=(--dry-run); fiPKGS_REQUIRED+=(glew eigen3 vcpkg-tool-ninja)PKGS_RECOMMENDED+=(libjpeg-turbo libpng openexr tiff ffmpeg lz4 zstd python3 )PKGS_ALL+=(openni2 realsense2)
elseecho "Error: Don't know how to use \"$MANAGER\", please fix the script." >&2exit 1
fiif ((REQUIRED_RECOMMENDED_ALL < 2)); then PKGS_ALL=(); fi
if ((REQUIRED_RECOMMENDED_ALL < 1)); then PKGS_RECOMMENDED=(); fiPACKAGES=( "${PKGS_REQUIRED[*]}" "${PKGS_RECOMMENDED[*]}" "${PKGS_ALL[*]}" )if ((LIST > 0)); thenecho "${PACKAGES[*]}"exit 0
fiif ((UPDATE > 0)); thenif ((VERBOSE > 0)); then echo "Requesting \"$MANAGER\" package update."; fi$SUDO $PKGS_UPDATE
fiif ((VERBOSE > 0)); then echo "Requesting install of: ${PACKAGES[*]}"; fi# Install
$SUDO $MANAGER ${PKGS_OPTIONS[*]} ${PACKAGES[*]}