Since errors have been reported when compiling SensorsCalibration/lidar2camera/manual_calib/build, a closer look at the error analysis should indicate that the Pangolin version is too high, causing the error.
So here is a record of uninstalling Pangolin and installing Pangolin 0.5 version.
1. Delete libraries and header files
cd Pangolin/build
make clean
sudo make uninstall
2. Delete source code
cd ../..
sudo rm -r Pangolin
3. Delete residual folders
sudo updatedb
locate pangolin
sudo rm -r /usr/local/include/pangolin
4. Install Pangolin0.5
Download Pangolin0.5 source code:
Tags · stevenlovegrove/Pangolin · GitHub Pangolin is a lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input. - Tags · stevenlovegrove/Pangolin 
https://github.com/stevenlovegrove/Pangolin/ tags and extract them
Then execute the following command:
cd Pangolin
mkdir build && cd build
cmake ..
sudo make -j4
sudo make install