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glDrawFrustrum typo
In Pangolin a typo has been fixed which makes your program not compile any more if one uses the latest version. In Utils/GUI.h the function pangolin::glDrawFrustrum is called which is now named pangolin::glDrawFrustum
see https://github.com/stevenlovegrove/Pangolin/issues/347
I fixed this here: 2abd6e5