1. 终端输入命令，安装所需依赖

sudo apt install libglew-dev cmake libboost-dev libboost-thread-dev libboost-filesystem-dev libeigen3-dev -y 
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2、下载源码压缩包

git clone https://github.com/stevenlovegrove/Pangolin.git
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3、解压文件，cd到该目录中

unzip  Pangolin && cd Pangolin
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4、创建build文件夹，cd到该目录中

mkdir build && cd build
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5、cmake分析源代码

cmake ..
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可能会遇到下面这样的报错

CMake Error at CMakeLists.txt:109 (add_library):
  Target "pango_opengl" 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 CMakeLists.txt:109 (add_library):
  Target "pango_glgeometry" 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 CMakeLists.txt:109 (add_library):
  Target "pango_glgeometry" 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 CMakeLists.txt:109 (add_library):
  Target "pango_plot" 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?

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报错显示找不到eigen库，那我们修改下components/pango_geometry和components/pango_opengl文件夹下的CMakeLists.txt。
添加这一行：include_directories(/usr/include/eigen3)
修改这一行：target_link_libraries(${COMPONENT} PUBLIC pango_core pango_image ${Eigen3_LIBRARIES})

添加的是为了后面make成功，修改的是为了cmake成功，然后保存，再次cmake..成功。

如果你cmake报错： 缺少xkbcommon库，然后你安装libxkbcommon-x11-dev出现以下报错：

libxkbcommon-x11-dev : 依赖: libxkbcommon-x11-0 (= 0.8.0-1ubuntu0.1) 
但是 0.8.2-1~ubuntu18.04.1 正要被安装
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就说明你下载的pangolin版本不适用于你的ubuntu版本，不要使用网上的方法强制降低版本，那样会导致你很多依赖库opencv、pcl、ros被卸载，正确做法是重新下载个低版本的pangollin。

6、make编译源代码

sudo make -j4
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7、make install安装

sudo make install
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至此，pangolin库安装完成！