ORB-SLAM2

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

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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！