ORB-SLAM2(1) Linux下配置和编译

ORB-SLAM2

官网:https://github.com/raulmur/ORB_SLAM2

配置教程:http://blog.csdn.net/zzlyw/article/details/54730830

编译问题

问题二：出现/ws/ORB_SLAM2/src/LoopClosing.cc: In member function ‘void ORB_SLAM2::LoopClosing::Run()’:

/ws/ORB_SLAM2/src/LoopClosing.cc:84:20: error: ‘usleep’ was not declared in this scope

usleep(5000);

^

/ws/ORB_SLAM2/src/LocalMapping.cc: In member function ‘void ORB_SLAM2::LocalMapping::Run()’:

/ws/ORB_SLAM2/src/LocalMapping.cc:94:28: error: ‘usleep’ was not declared in this scope

usleep(3000);

^

/ws/ORB_SLAM2/src/LocalMapping.cc:108:20: error: ‘usleep’ was not declared in this scope

usleep(3000);

需要打开相应的代码，在头文件里面添加usleep 的头文件unistd.h，问题就解决了！