Installez ORB-SLAM2 et exécutez l'exemple SLAM

News 2023-09-10 10:13:21 views: null

1. Documents de référence

Dépôt officiel Github : ORB-SLAM2
Ubuntu16.04 Tutoriel de construction de l'environnement ORB-SLAM2 côté PC
[SLAM] Configuration d'ORB-SLAM2 sous Ubuntu16.04

2. Instructions importantes

L'installation et la configuration de toutes les dépendances sont ~/catkin_ws/srceffectuées dans le répertoire, c'est-à-dire l'espace de travail ROS catkin_workspaces, qui est facile à gérer.

3. Installez Pangolin

S'il y a divers problèmes lors de la compilation et de l'installation de Pangolin, il s'agit probablement d'un problème de version . La solution est de télécharger l'ancienne version et de la réinstaller .Le blogueur a testé la version v0.6 et elle est valide。

indice important：La branche master est une branche de développement. Choisissez une balise stable si vous préférez.

1. Téléchargez le code source de Pangolin

Téléchargez le code source de la version releases .

# 解压Pangolin源码，并拷贝到对应目录
unzip Pangolin-0.6.zip

sudo cp -r Pangolin-0.6 ~/catkin_ws/src

cd ~/catkin_ws/src

cd ..
catkin_make
source ~/catkin-ws/devel/setup.bash

2. Compilez et installez Pangolin

cd Pangolin-0.6

# 安装依赖
./scripts/install_prerequisites.sh recommended

mkdir build
cd build

cmake ..
make -j12
sudo make install

4. Installez usb_cam

Le blogueur ne l'a pas encore testé et le testera à nouveau lorsque les conditions le permettront .

//FAIRE

usb_cam est utilisé pour le SLAM en temps réel et est utilisé avec la plateforme ROS.

1. Téléchargez le code source de usb_cam

cd catkin_ws/src
git clone https://github.com/bosch-ros-pkg/usb_cam.git
cd ..
catkin_make
source ~/catkin-ws/devel/setup.bash

2. Compilez et installez usb_cam

cd usb_cam
mkdir build
cd build
cmake ..
make

3. Testez la caméra

Exécutez le fichier de lancement dans usb_cam. S'il peut s'exécuter correctement et que l'image est visible, l'installation est réussie.

cd launch
roslaunch usb_cam usb_cam-test.launch

usb_cam-test.launch

<launch>
  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
    <param name="video_device" value="/dev/video0" />
    <param name="image_width" value="640" />
    <param name="image_height" value="480" />
    <param name="pixel_format" value="yuyv" />
    <param name="camera_frame_id" value="usb_cam" />
    <param name="io_method" value="mmap"/>
  </node>
  <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
    <remap from="image" to="/usb_cam/image_raw"/>
    <param name="autosize" value="true" />
  </node>
</launch>

Explication des paramètres

  • /dev/video0C'est le numéro de la caméra par défaut et peut être modifié en fonction de la situation spécifique.

    Afficher les instructions de la caméra : ls /dev/video*.

5. Installez ORB SLAM2

1. Téléchargez le code source d'ORB-SLAM2

cd catkin_ws/src
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2

2. Compilez et installez ORB-SLAM2

cd ORB_SLAM2

# 修改build.sh文件
sudo gedit build.sh

make -j
改为
make -j12

# 执行build.sh
./build.sh

3. Testez un échantillon SLAM monoculaire

Téléchargez les données de test, téléchargement de l'ensemble de données .

Prenez rgbd_dataset_freiburg1_xyz comme exemple, téléchargez-le et décompressez-le, puis exécutez les instructions suivantes :

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /home/yoyo/rgbd_dataset_freiburg1_xyz

insérer la description de l'image iciinsérer la description de l'image ici

6. FAQ

Q :This workspace contains non-catkin packages in it, and catkin cannot build a non-homogeneous workspace without isolation. Try the 'catkin_make_isolated' command instead.

...
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 2 packages in topological order:
-- ~~  - pangolin (plain cmake)
-- ~~  - kitti_tutorial
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkin_workspace.cmake:100 (message):
  This workspace contains non-catkin packages in it, and catkin cannot build
  a non-homogeneous workspace without isolation.  Try the
  'catkin_make_isolated' command instead.
Call Stack (most recent call first):
  CMakeLists.txt:69 (catkin_workspace)


-- Configuring incomplete, errors occurred!
See also "/home/yoyo/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/yoyo/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

# 解决办法
catkin_make替换成catkin_make_isolated

Q :Make Error at cmake/FindGLEW.cmake:51 (MESSAGE): Could not find GLEW

...
Make Error at cmake/FindGLEW.cmake:51 (MESSAGE):
  Could not find GLEW
Call Stack (most recent call first):
  components/pango_opengl/CMakeLists.txt:46 (find_package)
  CMakeLists.txt:114 (include)


-- Configuring incomplete, errors occurred!
See also "/home/yoyo/catkin_ws/build_isolated/pangolin/devel/CMakeFiles/CMakeOutput.log".
See also "/home/yoyo/catkin_ws/build_isolated/pangolin/devel/CMakeFiles/CMakeError.log".
<== Failed to process package 'pangolin': 
  Command '['/home/yoyo/catkin_ws/devel_isolated/kitti_tutorial/env.sh', 'cmake', '/home/yoyo/catkin_ws/src/Pangolin', '-DCMAKE_INSTALL_PREFIX=/home/yoyo/catkin_ws/devel_isolated/pangolin', '-G', 'Unix Makefiles']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/yoyo/catkin_ws/build_isolated/pangolin && /home/yoyo/catkin_ws/devel_isolated/kitti_tutorial/env.sh cmake /home/yoyo/catkin_ws/src/Pangolin -DCMAKE_INSTALL_PREFIX=/home/yoyo/catkin_ws/devel_isolated/pangolin -G 'Unix Makefiles'

Command failed, exiting.

# 错误原因：
没有安装libglew-dev，找不到GLEW

# 解决办法
安装libglew-dev
sudo apt install libglew-dev

Q :Target "ModelViewer" links to target "Eigen3::Eigen" but the target was not found.

...
CMake Error at tools/ModelViewer/CMakeLists.txt:5 (add_executable):
  Target "ModelViewer" links to target "Eigen3::Eigen" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at tools/ModelViewer/CMakeLists.txt:5 (add_executable):
  Target "ModelViewer" links to target "Eigen3::Eigen" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


-- Generating done
CMake Generate step failed.  Build files cannot be regenerated correctly.
<== Failed to process package 'pangolin': 
  Command '['/home/yoyo/catkin_ws/devel_isolated/kitti_tutorial/env.sh', 'cmake', '/home/yoyo/catkin_ws/src/Pangolin', '-DCMAKE_INSTALL_PREFIX=/home/yoyo/catkin_ws/devel_isolated/pangolin', '-G', 'Unix Makefiles']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/yoyo/catkin_ws/build_isolated/pangolin && /home/yoyo/catkin_ws/devel_isolated/kitti_tutorial/env.sh cmake /home/yoyo/catkin_ws/src/Pangolin -DCMAKE_INSTALL_PREFIX=/home/yoyo/catkin_ws/devel_isolated/pangolin -G 'Unix Makefiles'

Command failed, exiting.

# 错误原因：
没有安装Eigen3

# 解决办法：
安装Eigen3

Q :error: ‘jpeg_skip_scanlines’ was not declared in this scope

/home/yoyo/catkin_ws/src/Pangolin/components/pango_image/src/image_io_jpg.cpp: In function ‘std::vector<std::fpos<__mbstate_t> > pangolin::GetMJpegOffsets(std::ifstream&)’:
/home/yoyo/catkin_ws/src/Pangolin/components/pango_image/src/image_io_jpg.cpp:235:17: error: ‘jpeg_skip_scanlines’ was not declared in this scope
                 jpeg_skip_scanlines(&cinfo, cinfo.output_height-1);
                 ^~~~~~~~~~~~~~~~~~~
/home/yoyo/catkin_ws/src/Pangolin/components/pango_image/src/image_io_jpg.cpp:235:17: note: suggested alternative: ‘jpeg_read_scanlines’
                 jpeg_skip_scanlines(&cinfo, cinfo.output_height-1);
                 ^~~~~~~~~~~~~~~~~~~
                 jpeg_read_scanlines

# 错误原因
Pangolin的版本问题

# 解决办法
下载Pangolin旧版本，重新安装

Q :error: ‘usleep’ was not declared in this scope

...
/home/yoyo/catkin_ws/src/ORB_SLAM2/src/Tracking.cc:1512:13: error: ‘usleep’ was not declared in this scope
             usleep(3000);
             ^~~~~~
/home/yoyo/catkin_ws/src/ORB_SLAM2/src/Tracking.cc:1512:13: note: suggested alternative: ‘fseek’
             usleep(3000);
             ^~~~~~
             fseek
...

...
/home/yoyo/catkin_ws/src/ORB_SLAM2/src/Viewer.cc:160:17: error: ‘usleep’ was not declared in this scope
                 usleep(3000);
                 ^~~~~~
/home/yoyo/catkin_ws/src/ORB_SLAM2/src/Viewer.cc:160:17: note: suggested alternative: ‘fseek’
                 usleep(3000);
                 ^~~~~~
                 fseek
...

# 错误原因
缺少头文件

# 解决办法
找到对应的源文件，添加头文件即可
#include <unistd.h>

Q :what(): Pangolin X11: Unable to retrieve framebuffer options

Que dois-je faire si l'erreur Pangolin X11 : Impossible de récupérer les options du framebuffer se produit ?

terminate called after throwing an instance of 'std::runtime_error'
  what():  Pangolin X11: Unable to retrieve framebuffer options
已放弃 (核心已转储)

7. Fichiers journaux

1. cmake compile les journaux Pangolin

yoyo@yoyo:~/catkin_ws/src/Pangolin/build$ cmake ..
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
Build type not set (defaults to release)
-DCMAKE_BUILD_TYPE=Debug for debug
-- Python Found and Enabled
-- Eigen Found and Enabled
-- V4L Found and Enabled
-- Performing Test HAVE_FFMPEG_MAX_ANALYZE_DURATION2
-- Performing Test HAVE_FFMPEG_MAX_ANALYZE_DURATION2 - Success
-- Performing Test HAVE_FFMPEG_AVFORMAT_ALLOC_OUTPUT_CONTEXT2
-- Performing Test HAVE_FFMPEG_AVFORMAT_ALLOC_OUTPUT_CONTEXT2 - Success
-- ffmpeg Found and Enabled
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- OpenNI Found and Enabled
-- libpng Found and Enabled
-- libjpeg Found and Enabled
-- libtiff Found and Enabled
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE) 
-- Oculus NOT found
-- Configuring done
-- Generating done
-- Build files have been written to: /home/yoyo/catkin_ws/src/Pangolin/build

2. compiler le journal Pangolin

yoyo@yoyo:~/catkin_ws/src/Pangolin/build$ make -j12
[  3%] Building CXX object src/CMakeFiles/pangolin.dir/utils/file_utils.cpp.o
[  3%] Building CXX object src/CMakeFiles/pangolin.dir/utils/file_extension.cpp.o
[  4%] Building CXX object src/CMakeFiles/pangolin.dir/utils/threadedfilebuf.cpp.o
[  6%] Building CXX object src/CMakeFiles/pangolin.dir/utils/uri.cpp.o
[  9%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_common.cpp.o
[  9%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io.cpp.o
[ 11%] Building CXX object src/CMakeFiles/pangolin.dir/log/packetstream.cpp.o
[ 12%] Building CXX object src/CMakeFiles/pangolin.dir/gl/glchar.cpp.o
[ 14%] Building CXX object src/CMakeFiles/pangolin.dir/gl/glfont.cpp.o
[ 16%] Building CXX object src/CMakeFiles/pangolin.dir/gl/glpangoglu.cpp.o
[ 17%] Building CXX object src/CMakeFiles/pangolin.dir/gl/gltexturecache.cpp.o
[ 19%] Building CXX object src/CMakeFiles/pangolin.dir/gl/gltext.cpp.o
[ 20%] Building CXX object src/CMakeFiles/pangolin.dir/display/display.cpp.o
[ 22%] Building CXX object src/CMakeFiles/pangolin.dir/display/opengl_render_state.cpp.o
[ 24%] Building CXX object src/CMakeFiles/pangolin.dir/display/view.cpp.o
[ 25%] Building CXX object src/CMakeFiles/pangolin.dir/display/viewport.cpp.o
[ 27%] Building CXX object src/CMakeFiles/pangolin.dir/handler/handler.cpp.o
[ 29%] Building CXX object src/CMakeFiles/pangolin.dir/handler/handler_glbuffer.cpp.o
[ 30%] Building CXX object src/CMakeFiles/pangolin.dir/plot/datalog.cpp.o
[ 32%] Building CXX object src/CMakeFiles/pangolin.dir/plot/plotter.cpp.o
[ 33%] Building CXX object src/CMakeFiles/pangolin.dir/var/input_record_repeat.cpp.o
[ 35%] Building CXX object src/CMakeFiles/pangolin.dir/var/vars.cpp.o
[ 37%] Building CXX object src/CMakeFiles/pangolin.dir/display/widgets/widgets.cpp.o
[ 38%] Building CXX object src/CMakeFiles/pangolin.dir/video/video.cpp.o
[ 40%] Building CXX object src/CMakeFiles/pangolin.dir/video/video_output.cpp.o
[ 41%] Building CXX object src/CMakeFiles/pangolin.dir/video/video_record_repeat.cpp.o
[ 43%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/test.cpp.o
[ 45%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/images.cpp.o
[ 46%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/video_splitter.cpp.o
[ 48%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/pvn_video.cpp.o
[ 50%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/pango_video.cpp.o
[ 51%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/pango_video_output.cpp.o
[ 53%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/debayer.cpp.o
[ 54%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/unpack.cpp.o
[ 56%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/shift.cpp.o
[ 58%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/join.cpp.o
[ 59%] Building CXX object src/CMakeFiles/pangolin.dir/display/device/display_x11.cpp.o
[ 61%] Building CXX object src/CMakeFiles/pangolin.dir/console/ConsoleView.cpp.o
[ 62%] Building CXX object src/CMakeFiles/pangolin.dir/python/PyInterpreter.cpp.o
[ 64%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/v4l.cpp.o
[ 66%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/ffmpeg.cpp.o
[ 67%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/openni.cpp.o
[ 69%] Building C object src/CMakeFiles/pangolin.dir/fonts.c.o
[ 70%] Linking CXX shared library libpangolin.so
[ 70%] Built target pangolin
[ 72%] Building CXX object examples/HelloPangolin/CMakeFiles/HelloPangolin.dir/main.cpp.o
[ 74%] Building CXX object examples/SimpleMultiDisplay/CMakeFiles/SimpleMultiDisplay.dir/main.cpp.o
[ 75%] Building CXX object examples/SimpleDisplay/CMakeFiles/SimpleDisplay.dir/main.cpp.o
[ 77%] Building CXX object examples/SimpleVideo/CMakeFiles/SimpleVideo.dir/main.cpp.o
[ 79%] Building CXX object examples/SimpleDisplayImage/CMakeFiles/SimpleDisplayImage.dir/main.cpp.o
[ 82%] Building CXX object examples/SimplePlot/CMakeFiles/SimplePlot.dir/main.cpp.o
[ 82%] Building CXX object examples/SimpleRepeatVideo/CMakeFiles/SimpleRepeatVideo.dir/main.cpp.o
[ 83%] Building CXX object tools/VideoViewer/CMakeFiles/VideoViewer.dir/main.cpp.o
[ 85%] Building CXX object examples/SimpleRecord/CMakeFiles/SimpleRecord.dir/main.cpp.o
[ 87%] Linking CXX executable SimpleMultiDisplay
[ 88%] Linking CXX executable HelloPangolin
[ 90%] Linking CXX executable SimplePlot
[ 91%] Linking CXX executable SimpleDisplayImage
[ 95%] Linking CXX executable SimpleVideo
[ 95%] Linking CXX executable SimpleRecord
[ 95%] Built target SimpleMultiDisplay
[ 95%] Built target HelloPangolin
[ 95%] Built target SimplePlot
[ 95%] Built target SimpleDisplayImage
[ 95%] Built target SimpleVideo
[ 95%] Built target SimpleRecord
[ 96%] Linking CXX executable SimpleRepeatVideo
[ 96%] Built target SimpleRepeatVideo
In file included from /home/yoyo/catkin_ws/src/Pangolin/tools/VideoViewer/main.cpp:5:0:
/home/yoyo/catkin_ws/src/Pangolin/include/pangolin/handler/handler_image.h: In function ‘void VideoViewer(const string&, const string&)’:
/home/yoyo/catkin_ws/src/Pangolin/include/pangolin/handler/handler_image.h:8:7: warning: ‘<anonymous>.pangolin::ImageViewHandler::hover’ may be used uninitialized in this function [-Wmaybe-uninitialized]
 class ImageViewHandler : public Handler
       ^~~~~~~~~~~~~~~~
/home/yoyo/catkin_ws/src/Pangolin/include/pangolin/handler/handler_image.h:8:7: warning: ‘<anonymous>.pangolin::ImageViewHandler::last_mouse_pos’ may be used uninitialized in this function [-Wmaybe-uninitialized]
[ 98%] Linking CXX executable SimpleDisplay
[ 98%] Built target SimpleDisplay
[100%] Linking CXX executable VideoViewer
[100%] Built target VideoViewer

3. installez le journal d'installation de Pangolin

yoyo@yoyo:~/catkin_ws/src/Pangolin/build$ sudo make install
[sudo] yoyo 的密码： 
Consolidate compiler generated dependencies of target pangolin
[ 70%] Built target pangolin
Consolidate compiler generated dependencies of target HelloPangolin
[ 74%] Built target HelloPangolin
Consolidate compiler generated dependencies of target SimpleMultiDisplay
[ 77%] Built target SimpleMultiDisplay
Consolidate compiler generated dependencies of target SimpleDisplayImage
[ 80%] Built target SimpleDisplayImage
Consolidate compiler generated dependencies of target SimplePlot
[ 83%] Built target SimplePlot
Consolidate compiler generated dependencies of target SimpleDisplay
[ 87%] Built target SimpleDisplay
Consolidate compiler generated dependencies of target SimpleVideo
[ 90%] Built target SimpleVideo
Consolidate compiler generated dependencies of target SimpleRecord
[ 93%] Built target SimpleRecord
Consolidate compiler generated dependencies of target SimpleRepeatVideo
[ 96%] Built target SimpleRepeatVideo
Consolidate compiler generated dependencies of target VideoViewer
[100%] Built target VideoViewer
Install the project...
-- Install configuration: "Release"
-- Installing: /usr/local/include/pangolin/config.h
-- Up-to-date: /usr/local/include/pangolin
-- Installing: /usr/local/include/pangolin/var
-- Installing: /usr/local/include/pangolin/var/var.h
-- Installing: /usr/local/include/pangolin/var/varvaluet.h
-- Installing: /usr/local/include/pangolin/var/varvaluegeneric.h
-- Installing: /usr/local/include/pangolin/var/varextra.h
-- Installing: /usr/local/include/pangolin/var/varstate.h
-- Installing: /usr/local/include/pangolin/var/input_record_repeat.h
-- Installing: /usr/local/include/pangolin/var/varvalue.h
-- Installing: /usr/local/include/pangolin/var/varwrapper.h
-- Installing: /usr/local/include/pangolin/handler
-- Installing: /usr/local/include/pangolin/handler/handler.h
-- Installing: /usr/local/include/pangolin/handler/handler_enums.h
-- Installing: /usr/local/include/pangolin/handler/handler_image.h
-- Installing: /usr/local/include/pangolin/handler/handler_glbuffer.h
-- Installing: /usr/local/include/pangolin/python
-- Installing: /usr/local/include/pangolin/python/PyModulePangolin.h
-- Installing: /usr/local/include/pangolin/python/PyInterpreter.h
-- Installing: /usr/local/include/pangolin/python/PyUniqueObj.h
-- Installing: /usr/local/include/pangolin/python/PyVar.h
-- Installing: /usr/local/include/pangolin/python/PyPangoIO.h
-- Installing: /usr/local/include/pangolin/ios
-- Installing: /usr/local/include/pangolin/ios/PangolinAppDelegate.h
-- Installing: /usr/local/include/pangolin/ios/PangolinUIView.h
-- Installing: /usr/local/include/pangolin/utils
-- Installing: /usr/local/include/pangolin/utils/params.h
-- Installing: /usr/local/include/pangolin/utils/type_convert.h
-- Installing: /usr/local/include/pangolin/utils/xml
-- Installing: /usr/local/include/pangolin/utils/xml/license.txt
-- Installing: /usr/local/include/pangolin/utils/xml/rapidxml_iterators.hpp
-- Installing: /usr/local/include/pangolin/utils/xml/rapidxml.hpp
-- Installing: /usr/local/include/pangolin/utils/xml/rapidxml_print.hpp
-- Installing: /usr/local/include/pangolin/utils/xml/rapidxml_utils.hpp
-- Installing: /usr/local/include/pangolin/utils/threadedfilebuf.h
-- Installing: /usr/local/include/pangolin/utils/simple_math.h
-- Installing: /usr/local/include/pangolin/utils/uri.h
-- Installing: /usr/local/include/pangolin/utils/picojson.h
-- Installing: /usr/local/include/pangolin/utils/file_utils.h
-- Installing: /usr/local/include/pangolin/utils/file_extension.h
-- Installing: /usr/local/include/pangolin/utils/timer.h
-- Installing: /usr/local/include/pangolin/gl
-- Installing: /usr/local/include/pangolin/gl/gl.h
-- Installing: /usr/local/include/pangolin/gl/glinclude.h
-- Installing: /usr/local/include/pangolin/gl/glformattraits.h
-- Installing: /usr/local/include/pangolin/gl/gltext.h
-- Installing: /usr/local/include/pangolin/gl/gltexturecache.h
-- Installing: /usr/local/include/pangolin/gl/glpangoglu.h
-- Installing: /usr/local/include/pangolin/gl/glfont.h
-- Installing: /usr/local/include/pangolin/gl/glsl.h
-- Installing: /usr/local/include/pangolin/gl/glpixformat.h
-- Installing: /usr/local/include/pangolin/gl/gldraw.h
-- Installing: /usr/local/include/pangolin/gl/gl.hpp
-- Installing: /usr/local/include/pangolin/gl/glvbo.h
-- Installing: /usr/local/include/pangolin/gl/glcuda.h
-- Installing: /usr/local/include/pangolin/gl/colour.h
-- Installing: /usr/local/include/pangolin/gl/cg.h
-- Installing: /usr/local/include/pangolin/gl/glchar.h
-- Installing: /usr/local/include/pangolin/gl/glglut.h
-- Installing: /usr/local/include/pangolin/gl/glstate.h
-- Installing: /usr/local/include/pangolin/gl/glplatform.h
-- Installing: /usr/local/include/pangolin/gl/compat
-- Installing: /usr/local/include/pangolin/gl/compat/gl2engine.h
-- Installing: /usr/local/include/pangolin/gl/compat/gl_es_compat.h
-- Installing: /usr/local/include/pangolin/platform.h
-- Installing: /usr/local/include/pangolin/video
-- Installing: /usr/local/include/pangolin/video/video.h
-- Installing: /usr/local/include/pangolin/video/video_record_repeat.h
-- Installing: /usr/local/include/pangolin/video/drivers
-- Installing: /usr/local/include/pangolin/video/drivers/uvc.h
-- Installing: /usr/local/include/pangolin/video/drivers/teli.h
-- Installing: /usr/local/include/pangolin/video/drivers/shift.h
-- Installing: /usr/local/include/pangolin/video/drivers/openni2.h
-- Installing: /usr/local/include/pangolin/video/drivers/openni_common.h
-- Installing: /usr/local/include/pangolin/video/drivers/unpack.h
-- Installing: /usr/local/include/pangolin/video/drivers/test.h
-- Installing: /usr/local/include/pangolin/video/drivers/debayer.h
-- Installing: /usr/local/include/pangolin/video/drivers/firewire.h
-- Installing: /usr/local/include/pangolin/video/drivers/ffmpeg.h
-- Installing: /usr/local/include/pangolin/video/drivers/images.h
-- Installing: /usr/local/include/pangolin/video/drivers/v4l.h
-- Installing: /usr/local/include/pangolin/video/drivers/pvn_video.h
-- Installing: /usr/local/include/pangolin/video/drivers/pango_video.h
-- Installing: /usr/local/include/pangolin/video/drivers/pleora.h
-- Installing: /usr/local/include/pangolin/video/drivers/join.h
-- Installing: /usr/local/include/pangolin/video/drivers/depthsense.h
-- Installing: /usr/local/include/pangolin/video/drivers/firewire_deinterlace.h
-- Installing: /usr/local/include/pangolin/video/drivers/openni.h
-- Installing: /usr/local/include/pangolin/video/drivers/video_splitter.h
-- Installing: /usr/local/include/pangolin/video/drivers/pango_video_output.h
-- Installing: /usr/local/include/pangolin/video/video_output.h
-- Installing: /usr/local/include/pangolin/hud
-- Installing: /usr/local/include/pangolin/hud/oculus_hud.h
-- Installing: /usr/local/include/pangolin/console
-- Installing: /usr/local/include/pangolin/console/ConsoleView.h
-- Installing: /usr/local/include/pangolin/console/ConsoleInterpreter.h
-- Installing: /usr/local/include/pangolin/image
-- Installing: /usr/local/include/pangolin/image/image_common.h
-- Installing: /usr/local/include/pangolin/image/image_io.h
-- Installing: /usr/local/include/pangolin/image/image.h
-- Installing: /usr/local/include/pangolin/log
-- Installing: /usr/local/include/pangolin/log/packetstream.h
-- Installing: /usr/local/include/pangolin/display
-- Installing: /usr/local/include/pangolin/display/attach.h
-- Installing: /usr/local/include/pangolin/display/view.h
-- Installing: /usr/local/include/pangolin/display/display_internal.h
-- Installing: /usr/local/include/pangolin/display/device
-- Installing: /usr/local/include/pangolin/display/device/display_glut.h
-- Installing: /usr/local/include/pangolin/display/device/display_android.h
-- Installing: /usr/local/include/pangolin/display/viewport.h
-- Installing: /usr/local/include/pangolin/display/widgets
-- Installing: /usr/local/include/pangolin/display/widgets/widgets.h
-- Installing: /usr/local/include/pangolin/display/user_app.h
-- Installing: /usr/local/include/pangolin/display/display.h
-- Installing: /usr/local/include/pangolin/display/opengl_render_state.h
-- Installing: /usr/local/include/pangolin/plot
-- Installing: /usr/local/include/pangolin/plot/plotter.h
-- Installing: /usr/local/include/pangolin/plot/datalog.h
-- Installing: /usr/local/include/pangolin/plot/range.h
-- Installing: /usr/local/include/pangolin/pangolin.h
-- Installing: /usr/local/include/pangolin/compat
-- Installing: /usr/local/include/pangolin/compat/condition_variable.h
-- Installing: /usr/local/include/pangolin/compat/glutbitmap.h
-- Installing: /usr/local/include/pangolin/compat/type_traits.h
-- Installing: /usr/local/include/pangolin/compat/mutex.h
-- Installing: /usr/local/include/pangolin/compat/thread.h
-- Installing: /usr/local/include/pangolin/compat/boostd.h
-- Installing: /usr/local/include/pangolin/compat/function.h
-- Installing: /usr/local/include/pangolin/compat/memory.h
-- Installing: /usr/local/include/pangolin/compat/ovr.h
-- Installing: /usr/local/include/pangolin/compat/glconsole.h
-- Installing: /usr/local/include/pangolin/compat/bind.h
-- Installing: /usr/local/lib/libpangolin.so
-- Installing: /usr/local/lib/cmake/Pangolin/PangolinConfig.cmake
-- Installing: /usr/local/lib/cmake/Pangolin/PangolinConfigVersion.cmake
-- Installing: /usr/local/lib/cmake/Pangolin/PangolinTargets.cmake
-- Installing: /usr/local/lib/cmake/Pangolin/PangolinTargets-release.cmake

4. Journal de l'installation réussie de Pangolin

yoyo@yoyo:~/catkin_ws$ catkin_make_isolated
Base path: /home/yoyo/catkin_ws
Source space: /home/yoyo/catkin_ws/src
Build space: /home/yoyo/catkin_ws/build_isolated
Devel space: /home/yoyo/catkin_ws/devel_isolated
Install space: /home/yoyo/catkin_ws/install_isolated
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~  traversing 2 packages in topological order:
~~  - kitti_tutorial
~~  - pangolin (plain cmake)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The packages or cmake arguments have changed, forcing cmake invocation

==> Processing catkin package: 'kitti_tutorial'
==> Creating build directory: 'build_isolated/kitti_tutorial'
==> cmake /home/yoyo/catkin_ws/src/kitti_tutorial -DCATKIN_DEVEL_PREFIX=/home/yoyo/catkin_ws/devel_isolated/kitti_tutorial -DCMAKE_INSTALL_PREFIX=/home/yoyo/catkin_ws/install_isolated -G Unix Makefiles in '/home/yoyo/catkin_ws/build_isolated/kitti_tutorial'
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/yoyo/catkin_ws/devel_isolated/kitti_tutorial
-- Using CMAKE_PREFIX_PATH: /home/yoyo/catkin_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/yoyo/catkin_ws/devel;/opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.12", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/yoyo/catkin_ws/build_isolated/kitti_tutorial/test_results
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Found gmock sources under '/usr/src/gmock': gmock will be built
CMake Deprecation Warning at /usr/src/gmock/CMakeLists.txt:41 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


CMake Deprecation Warning at /usr/src/gtest/CMakeLists.txt:43 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


-- Found PythonInterp: /usr/bin/python2 (found version "2.7.12") 
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- Configuring done
-- Generating done
-- Build files have been written to: /home/yoyo/catkin_ws/build_isolated/kitti_tutorial
==> make -j12 -l12 in '/home/yoyo/catkin_ws/build_isolated/kitti_tutorial'
[ 50%] Building CXX object CMakeFiles/helloworld.dir/src/helloworld.cpp.o
[100%] Linking CXX executable /home/yoyo/catkin_ws/devel_isolated/kitti_tutorial/lib/kitti_tutorial/helloworld
[100%] Built target helloworld
<== Finished processing package [1 of 2]: 'kitti_tutorial'

==> Processing plain cmake package: 'pangolin'
==> Creating build directory: 'build_isolated/pangolin/devel'
==> Building with env: '/home/yoyo/catkin_ws/devel_isolated/kitti_tutorial/env.sh'
==> cmake /home/yoyo/catkin_ws/src/Pangolin -DCMAKE_INSTALL_PREFIX=/home/yoyo/catkin_ws/devel_isolated/pangolin -G Unix Makefiles in '/home/yoyo/catkin_ws/build_isolated/pangolin/devel'
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
Build type not set (defaults to release)
-DCMAKE_BUILD_TYPE=Debug for debug
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libGL.so   
-- Found GLEW: /usr/lib/x86_64-linux-gnu/libGLEW.so
-- Eigen Found and Enabled
-- V4L Found and Enabled
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- OpenNI Found and Enabled
-- libpng Found and Enabled
-- libjpeg Found and Enabled
-- libtiff Found and Enabled
-- liblz4 Found and Enabled
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE) 
-- Configuring done
-- Generating done
-- Build files have been written to: /home/yoyo/catkin_ws/build_isolated/pangolin/devel
==> make -j12 -l12 in '/home/yoyo/catkin_ws/build_isolated/pangolin/devel'
[  2%] Building CXX object src/CMakeFiles/pangolin.dir/utils/file_utils.cpp.o
[  2%] Building CXX object src/CMakeFiles/pangolin.dir/utils/file_extension.cpp.o
[  4%] Building CXX object src/CMakeFiles/pangolin.dir/utils/uri.cpp.o
[  4%] Building CXX object src/CMakeFiles/pangolin.dir/utils/threadedfilebuf.cpp.o
[  4%] Building CXX object src/CMakeFiles/pangolin.dir/utils/sigstate.cpp.o
[  4%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_lz4.cpp.o
[  5%] Building CXX object src/CMakeFiles/pangolin.dir/utils/timer.cpp.o
[  6%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_jpg.cpp.o
[  7%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_packed12bit.cpp.o
[  8%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_exr.cpp.o
[  9%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_pango.cpp.o
[ 10%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io.cpp.o
[ 11%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_png.cpp.o
[ 12%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_ppm.cpp.o
[ 13%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_raw.cpp.o
[ 13%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_zstd.cpp.o
[ 14%] Building CXX object src/CMakeFiles/pangolin.dir/image/image_io_tga.cpp.o
[ 15%] Building CXX object src/CMakeFiles/pangolin.dir/image/pixel_format.cpp.o
[ 16%] Building CXX object src/CMakeFiles/pangolin.dir/log/packetstream.cpp.o
[ 17%] Building CXX object src/CMakeFiles/pangolin.dir/log/packet.cpp.o
[ 18%] Building CXX object src/CMakeFiles/pangolin.dir/log/packetstream_reader.cpp.o
[ 19%] Building CXX object src/CMakeFiles/pangolin.dir/log/packetstream_writer.cpp.o
[ 20%] Building CXX object src/CMakeFiles/pangolin.dir/log/playback_session.cpp.o
[ 21%] Building CXX object src/CMakeFiles/pangolin.dir/geometry/geometry.cpp.o
[ 21%] Building CXX object src/CMakeFiles/pangolin.dir/geometry/geometry_obj.cpp.o
[ 22%] Building CXX object src/CMakeFiles/pangolin.dir/geometry/geometry_ply.cpp.o
[ 23%] Building CXX object src/CMakeFiles/pangolin.dir/geometry/glgeometry.cpp.o
[ 24%] Building CXX object src/CMakeFiles/pangolin.dir/gl/glchar.cpp.o
[ 25%] Building CXX object src/CMakeFiles/pangolin.dir/geometry/tinyobj.cpp.o
[ 26%] Building CXX object src/CMakeFiles/pangolin.dir/gl/gldraw.cpp.o
[ 27%] Building CXX object src/CMakeFiles/pangolin.dir/gl/glfont.cpp.o
[ 27%] Building CXX object src/CMakeFiles/pangolin.dir/gl/glpangoglu.cpp.o
[ 28%] Building CXX object src/CMakeFiles/pangolin.dir/gl/gltext.cpp.o
[ 29%] Building CXX object src/CMakeFiles/pangolin.dir/gl/gltexturecache.cpp.o
[ 30%] Building CXX object src/CMakeFiles/pangolin.dir/display/display.cpp.o
[ 31%] Building CXX object src/CMakeFiles/pangolin.dir/display/image_view.cpp.o
[ 32%] Building CXX object src/CMakeFiles/pangolin.dir/display/opengl_render_state.cpp.o
[ 33%] Building CXX object src/CMakeFiles/pangolin.dir/display/view.cpp.o
[ 33%] Building CXX object src/CMakeFiles/pangolin.dir/display/viewport.cpp.o
[ 34%] Building CXX object src/CMakeFiles/pangolin.dir/display/window_factory.cpp.o
[ 35%] Building CXX object src/CMakeFiles/pangolin.dir/handler/handler.cpp.o
[ 36%] Building CXX object src/CMakeFiles/pangolin.dir/handler/handler_glbuffer.cpp.o
[ 37%] Building CXX object src/CMakeFiles/pangolin.dir/handler/handler_image.cpp.o
[ 38%] Building CXX object src/CMakeFiles/pangolin.dir/plot/datalog.cpp.o
[ 39%] Building CXX object src/CMakeFiles/pangolin.dir/plot/plotter.cpp.o
[ 39%] Building CXX object src/CMakeFiles/pangolin.dir/var/input_record_repeat.cpp.o
[ 40%] Building CXX object src/CMakeFiles/pangolin.dir/var/vars.cpp.o
[ 41%] Building CXX object src/CMakeFiles/pangolin.dir/display/widgets/widgets.cpp.o
[ 42%] Building CXX object src/CMakeFiles/pangolin.dir/video/stream_encoder_factory.cpp.o
[ 43%] Building CXX object src/CMakeFiles/pangolin.dir/video/video.cpp.o
[ 44%] Building CXX object src/CMakeFiles/pangolin.dir/video/video_input.cpp.o
[ 45%] Building CXX object src/CMakeFiles/pangolin.dir/video/video_interface_factory.cpp.o
[ 46%] Building CXX object src/CMakeFiles/pangolin.dir/video/video_output.cpp.o
[ 46%] Building CXX object src/CMakeFiles/pangolin.dir/video/video_output_interface_factory.cpp.o
[ 47%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/test.cpp.o
[ 48%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/images.cpp.o
[ 49%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/images_out.cpp.o
[ 50%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/split.cpp.o
[ 51%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/truncate.cpp.o
[ 52%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/pvn.cpp.o
[ 52%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/pango.cpp.o
[ 53%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/pango_video_output.cpp.o
[ 54%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/debayer.cpp.o
[ 55%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/shift.cpp.o
[ 56%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/mirror.cpp.o
[ 57%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/unpack.cpp.o
[ 58%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/pack.cpp.o
[ 58%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/join.cpp.o
[ 59%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/merge.cpp.o
[ 60%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/json.cpp.o
[ 61%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/thread.cpp.o
[ 62%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/shared_memory.cpp.o
[ 63%] Building CXX object src/CMakeFiles/pangolin.dir/tools/video_viewer.cpp.o
[ 64%] Building CXX object src/CMakeFiles/pangolin.dir/display/device/display_headless.cpp.o
[ 64%] Building CXX object src/CMakeFiles/pangolin.dir/display/device/display_x11.cpp.o
[ 65%] Building CXX object src/CMakeFiles/pangolin.dir/utils/posix/condition_variable.cpp.o
[ 66%] Building CXX object src/CMakeFiles/pangolin.dir/utils/posix/semaphore.cpp.o
[ 67%] Building CXX object src/CMakeFiles/pangolin.dir/utils/posix/shared_memory_buffer.cpp.o
[ 68%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/v4l.cpp.o
[ 69%] Building CXX object src/CMakeFiles/pangolin.dir/video/drivers/openni.cpp.o
[ 70%] Building CXX object src/CMakeFiles/pangolin.dir/fonts.cpp.o
/home/yoyo/catkin_ws/src/Pangolin/src/video/drivers/openni.cpp: In constructor ‘pangolin::OpenNiVideo::OpenNiVideo(pangolin::OpenNiSensorType, pangolin::OpenNiSensorType, pangolin::ImageDim, int)’:
/home/yoyo/catkin_ws/src/Pangolin/src/video/drivers/openni.cpp:82:28: warning: this statement may fall through [-Wimplicit-fallthrough=]
             depth_to_color = true;
             ~~~~~~~~~~~~~~~^~~~~~
/home/yoyo/catkin_ws/src/Pangolin/src/video/drivers/openni.cpp:83:9: note: here
         case OpenNiDepth_1mm:
         ^~~~
[ 71%] Linking CXX shared library libpangolin.so
[ 71%] Built target pangolin
[ 72%] Building CXX object tools/VideoJson/CMakeFiles/VideoJsonTransform.dir/main-transform.cpp.o
[ 73%] Building CXX object tools/VideoConvert/CMakeFiles/VideoConvert.dir/main.cpp.o
[ 74%] Building CXX object tools/VideoJson/CMakeFiles/VideoJsonPrint.dir/main-print.cpp.o
[ 75%] Building CXX object tools/VideoViewer/CMakeFiles/VideoViewer.dir/main.cpp.o
[ 76%] Building CXX object tools/Plotter/CMakeFiles/Plotter.dir/main.cpp.o
[ 77%] Building CXX object examples/HelloPangolinThreads/CMakeFiles/HelloPangolinThreads.dir/main.cpp.o
[ 78%] Building CXX object examples/HelloPangolinOffscreen/CMakeFiles/HelloPangolinOffscreen.dir/main.cpp.o
[ 78%] Building CXX object examples/HelloPangolin/CMakeFiles/HelloPangolin.dir/main.cpp.o
[ 79%] Building CXX object tools/ModelViewer/CMakeFiles/ModelViewer.dir/main.cpp.o
[ 80%] Building CXX object examples/SimpleMultiDisplay/CMakeFiles/SimpleMultiDisplay.dir/main.cpp.o
[ 80%] Building CXX object examples/SimpleDisplayImage/CMakeFiles/SimpleDisplayImage.dir/main.cpp.o
[ 81%] Building CXX object examples/SimpleScene/CMakeFiles/SimpleScene.dir/main.cpp.o
[ 82%] Linking CXX executable HelloPangolin
[ 83%] Linking CXX executable VideoViewer
[ 83%] Built target VideoViewer
[ 84%] Linking CXX executable SimpleMultiDisplay
[ 84%] Built target HelloPangolin
[ 85%] Building CXX object examples/SimplePlot/CMakeFiles/SimplePlot.dir/main.cpp.o
[ 86%] Building CXX object examples/SimpleDisplay/CMakeFiles/SimpleDisplay.dir/main.cpp.o
[ 87%] Linking CXX executable SimpleDisplayImage
[ 88%] Linking CXX executable HelloPangolinThreads
[ 88%] Built target SimpleMultiDisplay
[ 89%] Linking CXX executable HelloPangolinOffscreen
[ 90%] Building CXX object examples/SimpleVideo/CMakeFiles/SimpleVideo.dir/main.cpp.o
[ 90%] Built target SimpleDisplayImage
[ 90%] Built target HelloPangolinThreads
[ 91%] Building CXX object examples/SimpleRecord/CMakeFiles/SimpleRecord.dir/main.cpp.o
[ 92%] Building CXX object examples/SharedMemoryCamera/CMakeFiles/SharedMemoryCamera.dir/main.cpp.o
[ 92%] Built target HelloPangolinOffscreen
[ 93%] Linking CXX executable VideoConvert
[ 93%] Built target VideoConvert
[ 93%] Linking CXX executable VideoJsonPrint
[ 93%] Built target VideoJsonPrint
[ 94%] Linking CXX executable Plotter
[ 95%] Linking CXX executable SimpleScene
[ 96%] Linking CXX executable SimplePlot
[ 96%] Built target SimpleScene
[ 96%] Built target Plotter
[ 97%] Linking CXX executable SimpleVideo
[ 97%] Built target SimplePlot
[ 97%] Built target SimpleVideo
[ 98%] Linking CXX executable SharedMemoryCamera
[ 98%] Linking CXX executable SimpleRecord
[ 98%] Built target SharedMemoryCamera
[ 99%] Linking CXX executable VideoJsonTransform
[ 99%] Built target SimpleRecord
[ 99%] Built target VideoJsonTransform
[100%] Linking CXX executable SimpleDisplay
[100%] Built target SimpleDisplay
[100%] Linking CXX executable ModelViewer
[100%] Built target ModelViewer
==> make install in '/home/yoyo/catkin_ws/build_isolated/pangolin/devel'
Consolidate compiler generated dependencies of target pangolin
[ 71%] Built target pangolin
Consolidate compiler generated dependencies of target VideoViewer
[ 73%] Built target VideoViewer
Consolidate compiler generated dependencies of target VideoConvert
[ 75%] Built target VideoConvert
Consolidate compiler generated dependencies of target VideoJsonPrint
[ 76%] Built target VideoJsonPrint
Consolidate compiler generated dependencies of target VideoJsonTransform
[ 78%] Built target VideoJsonTransform
Consolidate compiler generated dependencies of target Plotter
[ 80%] Built target Plotter
Consolidate compiler generated dependencies of target ModelViewer
[ 81%] Built target ModelViewer
Consolidate compiler generated dependencies of target HelloPangolin
[ 82%] Built target HelloPangolin
Consolidate compiler generated dependencies of target HelloPangolinOffscreen
[ 84%] Built target HelloPangolinOffscreen
Consolidate compiler generated dependencies of target HelloPangolinThreads
[ 86%] Built target HelloPangolinThreads
Consolidate compiler generated dependencies of target SimpleMultiDisplay
[ 88%] Built target SimpleMultiDisplay
Consolidate compiler generated dependencies of target SimpleDisplayImage
[ 89%] Built target SimpleDisplayImage
Consolidate compiler generated dependencies of target SimpleScene
[ 91%] Built target SimpleScene
Consolidate compiler generated dependencies of target SimplePlot
[ 93%] Built target SimplePlot
Consolidate compiler generated dependencies of target SimpleDisplay
[ 95%] Built target SimpleDisplay
Consolidate compiler generated dependencies of target SimpleVideo
[ 97%] Built target SimpleVideo
Consolidate compiler generated dependencies of target SimpleRecord
[ 98%] Built target SimpleRecord
Consolidate compiler generated dependencies of target SharedMemoryCamera
[100%] Built target SharedMemoryCamera
Install the project...
-- Install configuration: "Release"
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/config.h
-- Up-to-date: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/scene
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/scene/scenehandler.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/scene/tree.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/scene/interactive.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/scene/interactive_index.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/scene/axis.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/scene/renderable.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/var
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/var/var.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/var/varvaluet.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/var/varvaluegeneric.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/var/varextra.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/var/varstate.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/var/input_record_repeat.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/var/varvalue.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/var/varwrapper.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/handler
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/handler/handler.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/handler/handler_enums.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/handler/handler_image.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/handler/handler_glbuffer.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/factory
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/factory/factory_registry.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/python
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/python/pyuniqueobj.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/python/pyvar.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/python/pypangoio.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/python/pyinterpreter.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/python/pypangolin_init.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/tools
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/tools/video_viewer.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/ios
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/ios/PangolinAppDelegate.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/ios/PangolinUIView.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/argagg.hpp
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/params.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/sigstate.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/parse.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/type_convert.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/xml
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/xml/license.txt
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/xml/rapidxml_iterators.hpp
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/xml/rapidxml.hpp
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/xml/rapidxml_print.hpp
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/xml/rapidxml_utils.hpp
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/assert.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/signal_slot.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/threadedfilebuf.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/registration.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/simple_math.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/posix
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/posix/condition_variable.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/posix/semaphore.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/posix/shared_memory_buffer.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/transform.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/compontent_cast.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/uri.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/picojson.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/file_utils.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/fix_size_buffer_queue.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/variadic_all.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/log.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/memstreambuf.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/format_string.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/file_extension.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/utils/timer.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/gl.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/glinclude.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/glformattraits.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/gltext.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/gltexturecache.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/glpangoglu.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/glfont.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/glsl.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/glpixformat.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/gldraw.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/gl.hpp
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/glvbo.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/glcuda.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/colour.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/cg.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/glchar.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/glstate.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/glplatform.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/compat
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/compat/gl2engine.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/gl/compat/gl_es_compat.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/platform.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/video.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/video_record_repeat.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/stream_info.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/uvc_mediafoundation.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/split.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/uvc.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/mirror.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/pack.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/merge.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/teli.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/pvn.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/truncate.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/shift.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/openni2.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/thread.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/shared_memory.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/realsense.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/openni_common.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/unpack.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/test.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/debayer.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/firewire.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/ffmpeg.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/images.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/v4l.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/realsense2.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/pleora.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/join.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/depthsense.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/openni.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/images_out.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/deinterlace.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/pango_video_output.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/drivers/pango.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/stream_encoder_factory.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/video_interface.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/video_output.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/video_output_interface.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/video_exception.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/iostream_operators.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/video/video_input.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/console
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/console/ConsoleView.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/console/ConsoleInterpreter.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/image
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/image/typed_image.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/image/image_io.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/image/image_utils.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/image/image_convert.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/image/managed_image.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/image/image.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/image/copy.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/image/memcpy.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/image/pixel_format.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/geometry
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/geometry/glgeometry.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/geometry/geometry_ply.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/geometry/geometry.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/geometry/geometry_obj.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/log
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/log/packetstream_reader.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/log/packetstream_source.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/log/packet.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/log/packetstream_writer.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/log/packetstream_tags.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/log/packetstream.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/log/playback_session.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/log/sync_time.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/attach.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/view.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/display_internal.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/device
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/device/WinWindow.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/device/X11GlContext.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/device/X11Window.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/device/display_android.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/device/OsxWindow.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/device/PangolinNSApplication.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/device/PangolinNSGLView.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/viewport.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/widgets
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/widgets/widgets.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/window.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/user_app.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/display.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/opengl_render_state.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/display/image_view.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/plot
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/plot/plotter.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/plot/datalog.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/plot/range.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/pangolin.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/compat
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/compat/variant.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/compat/glutbitmap.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/compat/type_traits.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/include/pangolin/compat/optional.h
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/lib/libpangolin.so
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/lib/cmake/Pangolin/PangolinConfig.cmake
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/lib/cmake/Pangolin/PangolinConfigVersion.cmake
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/lib/cmake/Pangolin/PangolinTargets.cmake
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/lib/cmake/Pangolin/PangolinTargets-release.cmake
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/bin/VideoViewer
-- Set runtime path of "/home/yoyo/catkin_ws/devel_isolated/pangolin/bin/VideoViewer" to ""
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/bin/VideoConvert
-- Set runtime path of "/home/yoyo/catkin_ws/devel_isolated/pangolin/bin/VideoConvert" to ""
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/bin/VideoJsonPrint
-- Set runtime path of "/home/yoyo/catkin_ws/devel_isolated/pangolin/bin/VideoJsonPrint" to ""
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/bin/VideoJsonTransform
-- Set runtime path of "/home/yoyo/catkin_ws/devel_isolated/pangolin/bin/VideoJsonTransform" to ""
-- Installing: /home/yoyo/catkin_ws/devel_isolated/pangolin/bin/Plotter
-- Set runtime path of "/home/yoyo/catkin_ws/devel_isolated/pangolin/bin/Plotter" to ""
==> Generating an env.sh
<== Finished processing package [2 of 2]: 'pangolin'

5. Compilez et installez les logs d'ORB-SLAM

yoyo@yoyo:~/catkin_ws/src/ORB_SLAM2$ ./build.sh
Configuring and building Thirdparty/DBoW2 ...
-- Configuring done
-- Generating done
-- Build files have been written to: /home/yoyo/catkin_ws/src/ORB_SLAM2/Thirdparty/DBoW2/build
Consolidate compiler generated dependencies of target DBoW2
[100%] Built target DBoW2
Configuring and building Thirdparty/g2o ...
-- BUILD TYPE:Release
-- Compiling on Unix
-- Configuring done
-- Generating done
-- Build files have been written to: /home/yoyo/catkin_ws/src/ORB_SLAM2/Thirdparty/g2o/build
Consolidate compiler generated dependencies of target g2o
[100%] Built target g2o
Uncompress vocabulary ...
Configuring and building ORB_SLAM2 ...
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Using flag -std=c++11.
-- Found Eigen3: /usr/local/include/eigen3 (Required is at least version "3.1.0") 
-- Configuring done
-- Generating done
-- Build files have been written to: /home/yoyo/catkin_ws/src/ORB_SLAM2/build
[  3%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Tracking.cc.o
[  6%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/System.cc.o
[  9%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/LocalMapping.cc.o
[ 12%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/LoopClosing.cc.o
[ 15%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/ORBextractor.cc.o
[ 18%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/FrameDrawer.cc.o
[ 21%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Converter.cc.o
[ 25%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/ORBmatcher.cc.o
[ 28%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Map.cc.o
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[ 59%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Viewer.cc.o
[ 62%] Linking CXX shared library ../lib/libORB_SLAM2.so
[ 62%] Built target ORB_SLAM2
[ 65%] Building CXX object CMakeFiles/stereo_kitti.dir/Examples/Stereo/stereo_kitti.cc.o
[ 68%] Building CXX object CMakeFiles/mono_euroc.dir/Examples/Monocular/mono_euroc.cc.o
[ 71%] Building CXX object CMakeFiles/mono_tum.dir/Examples/Monocular/mono_tum.cc.o
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6. Journaux de test de l'échantillon monoculaire SLAM

yoyo@yoyo:~/catkin_ws/src/ORB_SLAM2$ ./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /home/yoyo/rgbd_dataset_freiburg1_xyz

ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: Monocular

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!


Camera Parameters: 
- fx: 517.306
- fy: 516.469
- cx: 318.643
- cy: 255.314
- k1: 0.262383
- k2: -0.953104
- k3: 1.16331
- p1: -0.005358
- p2: 0.002628
- fps: 30
- color order: RGB (ignored if grayscale)

ORB Extractor Parameters: 
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

-------
Start processing sequence ...
Images in the sequence: 798

Framebuffer with requested attributes not available. Using available framebuffer. You may see visual artifacts.New Map created with 91 points
Wrong initialization, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New Map created with 99 points
Wrong initialization, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New Map created with 100 points
-------

median tracking time: 0.0177473
mean tracking time: 0.0195625

Saving keyframe trajectory to KeyFrameTrajectory.txt ...

trajectory saved!
QObject::~QObject: Timers cannot be stopped from another thread
段错误 (核心已转储)

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