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 flags
    list(APPEND FLAG_VARS
        CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO
        CMAKE_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" fork
    add_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 setup

option(BUILD_TESTS "Build Tests" OFF)
if(BUILD_TESTS)
    find_package(Catch2 REQUIRED)
    include(CTest)
    include(Catch)
endif()

#######################################################
## Add all pangolin components

file(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 / targets

include(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}Targets
    LIBRARY 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(uninstall
    COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
endif()


#######################################################
## Tools / Examples

set(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 declared
   61 |     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 declared
   63 |     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 -e

MANAGERS=(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 (( "$#" )); do
  case "$1" in
    -v|--verbose)
      VERBOSE=1
      shift
      ;;
    -d|--dry-run)
      DRYRUN=1
      shift
      ;;
    -l|--list)
      LIST=1
      shift
      ;;
    -u|--update-package-list)
      UPDATE=1
      shift
      ;;
    -m|--package-manager)
      if [ -n "$2" ] && [ ${2:0:1} != "-" ]; then
        MANAGER=($2)
        shift 2
      else
        echo "Error: Argument for $1 is missing" >&2
        exit 1
      fi
      ;;
    -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 flags
      echo "Error: Unsupported flag $1" >&2
      exit 1
      ;;
    *) # preserve positional arguments
      PARAMS="$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 "$PARAMS" in
  required)
    REQUIRED_RECOMMENDED_ALL=0
    if ((VERBOSE > 0)); then echo "Selecting required dependencies only."; fi
    ;;
  ""|recommended)
    REQUIRED_RECOMMENDED_ALL=1
    if ((VERBOSE > 0)); then echo "Selecting required+recommended dependencies."; fi
    ;;
  all)
    REQUIRED_RECOMMENDED_ALL=2
    if ((VERBOSE > 0)); then echo "Selecting all available dependencies."; fi
    ;;
  *)
    echo "Unrecognized positional argument \"$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" ]
then
  for m in ${MANAGERS[@]}
  do
      if [ -x "$(command -v $m)" ]; then
          MANAGER="$m"
          break
      fi
  done
fi

# If no package manager is found, exit
if [ -z "$MANAGER" ]
then
      echo "Error: No preferred package managers from list [${MANAGERS[*]}] found. Use -m to select manually." >&2
      exit 1
fi
if ((VERBOSE > 0)); then echo "Using \"$MANAGER\" package manager (select another using -m)"; fi

# Setup prereq commands and packages.
if [[ "$MANAGER" == "apt" ]]; then
    SUDO="sudo"
    PKGS_UPDATE="apt update"
    PKGS_OPTIONS+=(install --no-install-suggests --no-install-recommends)
    if ((DRYRUN > 0));  then PKGS_OPTIONS+=(--dry-run); SUDO=""; fi
    PKGS_REQUIRED+=(libgl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols libegl1-mesa-dev)
    PKGS_REQUIRED+=(libc++-dev libepoxy-dev libglew-dev libeigen3-dev cmake g++ ninja-build)
    PKGS_RECOMMENDED+=(libjpeg-dev libpng-dev)
    PKGS_RECOMMENDED+=(libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev)
    PKGS_ALL+=(libdc1394-dev libraw1394-dev libopenni-dev python3-dev)
elif [[ "$MANAGER" == "dnf" ]]; then
    SUDO="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));  then
        MANAGER="echo $MANAGER"
        SUDO=""
    fi
elif [[ "$MANAGER" == "pacman" ]]; then
    SUDO="sudo"
    PKGS_UPDATE=""  # databases and packages are updated in -Syu install options
    PKGS_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));  then
        MANAGER="echo $MANAGER"
        SUDO=""
    fi
elif [[ "$MANAGER" == "port" ]]; then
    SUDO="sudo"
    PKGS_UPDATE="port sync -q"
    if ((DRYRUN > 0));  then PKGS_OPTIONS+=(-y); SUDO=""; fi
    PKGS_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" ]]; then
    PKGS_OPTIONS+=(install)
    if ((VERBOSE > 0)); then PKGS_OPTIONS+=(--verbose); fi
    PKGS_REQUIRED+=(glew eigen cmake ninja)
    PKGS_RECOMMENDED+=(libjpeg-turbo libpng openexr libtiff ffmpeg lz4 zstd  python-setuptools)
    # Brew doesn't have a dryrun option
    if ((DRYRUN > 0));  then
        MANAGER="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); fi
    PKGS_REQUIRED+=(glew eigen3 vcpkg-tool-ninja)
    PKGS_RECOMMENDED+=(libjpeg-turbo libpng openexr tiff ffmpeg lz4 zstd python3 )
    PKGS_ALL+=(openni2 realsense2)
else
    echo "Error: Don't know how to use \"$MANAGER\", please fix the script." >&2
    exit 1
fi

if ((REQUIRED_RECOMMENDED_ALL < 2)); then PKGS_ALL=(); fi
if ((REQUIRED_RECOMMENDED_ALL < 1)); then PKGS_RECOMMENDED=(); fi

PACKAGES=( "${PKGS_REQUIRED[*]}" "${PKGS_RECOMMENDED[*]}" "${PKGS_ALL[*]}" )

if ((LIST > 0)); then
    echo "${PACKAGES[*]}"
    exit 0
fi

if ((UPDATE > 0)); then
    if ((VERBOSE > 0)); then echo "Requesting \"$MANAGER\" package update."; fi
    $SUDO $PKGS_UPDATE
fi

if ((VERBOSE > 0)); then echo "Requesting install of: ${PACKAGES[*]}"; fi

# Install
$SUDO $MANAGER ${PKGS_OPTIONS[*]} ${PACKAGES[*]}