參考了幾個教程但是都會編譯出錯，錯誤大致如下：

src/CMakeFiles/pangolin.dir/build.make:566: recipe for target 'src/CMakeFiles/pangolin.dir/gl/gltexturecache.cpp.o' failed
make[2]: *** [src/CMakeFiles/pangolin.dir/gl/gltexturecache.cpp.o] Error 1
CMakeFiles/Makefile2:135: recipe for target 'src/CMakeFiles/pangolin.dir/all' failed
make[1]: *** [src/CMakeFiles/pangolin.dir/all] Error 2
Makefile:149: recipe for target 'all' failed
make: *** [all] Error 2
 

原因如下：所使用的安裝包（https://github.com/stevenlovegrove/Pangolin.git）有問題，改用另外一個安裝包安裝即可，完整的步驟如下：

$ sudo apt-get install libglew-dev   #安裝Glew
$ sudo apt-get install cmake         #安裝CMake
$ sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev  #安裝Boost

下載、編譯、安裝Pangolin:
先要新建資料夾orbslam_ws和下屬的src檔案
$ cd ~/orbslam_ws/src
$ git clone https://github.com/zzx2GH/Pangolin.git
$ cd Pangolin
$ mkdir build
$ cd build
$ cmake -DCPP11_NO_BOOST=1 ..
$ make
$ sudo make install