orb-slam2配置环境时几个常见问题

1.what(): Pangolin X11: Unable to retrieve framebuffer options Aborted (core d

注释掉Pangolin/src/display/device/display_x11.cpp

 2.ORB_SLAM2/src/System.cc:315:20: error: ‘usleep’ was not declared in this scope
 usleep(5000);

找到对应的System.cc加入  #include<unistd.h>

在source文件的开头增加include
#include <unistd.h>

需要增加unistd.h的文件有：
Examples/Monocular/mono_euroc.cc
Examples/Monocular/mono_kitti.cc
Examples/Monocular/mono_tum.cc
Examples/RGB-D/rgbd_tum.cc
Examples/Stereo/stereo_euroc.cc
Examples/Stereo/stereo_kitti.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/System.cc
src/Tracking.cc
src/Viewer.cc
原文链接：https://blog.csdn.net/qq_15698613/article/details/98453592