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！