1)依赖库安装：
$sudo apt-get install libglew-dev
$sudo apt-get install cmake
$sudo apt-get install libboost-dev libboost-thread-dev
libboost-filesystem-dev
- 安装pangaokin
$git clone https://github.com/stevenlovegrove/Pangolin
进入下载所在目录
$cd ~/
$mkdir bulid
$cd ./bulid
$cmake
$make
$sudo make install
在ubuntu16.04使用时Cmakelist.txt
cmake_minimum_required( VERSION 2.8 ) project( visualizeGeometry )
set(CMAKE_CXX_FLAGS “-std=c++11”)
添加Eigen头文件
include_directories( “/usr/include/eigen3” )
添加Pangolin依赖(REQUIRED必须用)
find_package( Pangolin REQUIRED ) include_directories(
${Pangolin_INCLUDE_DIRS} )add_executable( visualizeGeometry visualizeGeometry.cpp )
target_link_libraries( visualizeGeometry ${Pangolin_LIBRARIES} )