Pangolin 是一个可用于SLAM可视化的openGL库。目前有很多SLAM系统都用它作为可视化的工具。它的编译与安装过程问题不大，依赖也比较少。但最近我在单独使用它的时候，碰到了很奇怪的现象：我单独将HelloPangolin这个example以及它的CMakelists.txt取出来，通过cmake,build的方式去编译，报了一堆错：
In file included from /home/lenovo/Pangolin/include/pangolin/var/var.h:34:0, from /home/lenovo/Pangolin/include/pangolin/var/varextra.h:31, from /home/lenovo/Pangolin/include/pangolin/pangolin.h:52, from /home/lenovo/expangolin/main.cpp:1: /home/lenovo/Pangolin/include/pangolin/var/varvalue.h: In instantiation of ‘void pangolin::VarValue::Init() [with T = bool]’: /home/lenovo/Pangolin/include/pangolin/var/varvalue.h:55:14: required from ‘pangolin::VarValue::VarValue(const T&) [with T = bool]’ /home/lenovo/Pangolin/include/pangolin/var/var.h:170:20: required from ‘pangolin::Var::Var(const string&, const T&, bool) [with T = bool; std::string = std::basic_string]’ /home/lenovo/Pangolin/include/pangolin/var/varextra.h:67:52: required from here /home/lenovo/Pangolin/include/pangolin/var/varvalue.h:99:23: error: ‘class pangolin::VarValue’ has no member named ‘str’ this->str = (VarValueTstd::string*)this; ^ /home/lenovo/Pangolin/include/pangolin/var/varvalue.h:102:23: error: ‘class pangolin::VarValue’ has no member named ‘str’ this->str = str_ptr;
出现这种错误，意味着Pangolin库的路径是能够被找到的，但通过这个库编译example的时候，出现了问题。这个问题困扰了很久，最终我通过对比ORB-SLAM2中的CMakeLists.txt才发现，需要通过CMake加上C++11 或者C++0x的support，最终编译pangolin的example的CMakeLists.txt 如下：
cmake_minimum_required(VERSION 2.8)
project(HelloPangolin)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
find_package(Pangolin REQUIRED)
include_directories(${Pangolin_INCLUDE_DIRS})
# Build examples
add_executable(test main.cpp)
target_link_libraries(test ${Pangolin_LIBRARIES})
CMakeLists.txt
原文链接: https://www.cnblogs.com/MT-ComputerVision/p/6349872.html
欢迎关注
微信关注下方公众号，第一时间获取干货硬货；公众号内回复【pdf】免费获取数百本计算机经典书籍
原创文章受到原创版权保护。转载请注明出处：https://www.ccppcoding.com/archives/248432
非原创文章文中已经注明原地址，如有侵权，联系删除
关注公众号【高性能架构探索】，第一时间获取最新文章
转载文章受原作者版权保护。转载请注明原作者出处！
