sudo apt-get install libglew-dev  
sudo apt-get install cmake         
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev 
 
cd ~/orbslam_ws/src$ git clone https://github.com/zzx2GH/Pangolin.git

把Pangolin/src/CMakeLists.txt注释掉以下内容：

cd Pangolin
mkdir build
cd build$ cmake -DCPP11_NO_BOOST=1 ..
make
sudo make install

 不注释，将会报以下错误：

pangolin/video/drivers/ffmpeg.h:94:5: error: ‘PixelFormat’ 

编译成功 

 

 安装成功

可以看到默认安装路径：头文件路径是-- Installing: /usr/local/include，库路径是 -- Installing: /usr/local/lib

 参考：编译Pangolin错误_pangolin编译报错__Leveon的博客-CSDN博客