ORB-SLAM2的编译问题

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1.关于Opencv4.4

报错：
OpenCV > 2.4.3 not found.
– Configuring incomplete, errors occurred!

修改cmakelist.txt，将opencv3.0改为4.4，一个是orbslam2文件夹，另一个是DBoW2文件夹。

 find_package(OpenCV 4.4 QUIET)
 if(NOT OpenCV_FOUND)
    find_package(OpenCV 2.4.3 QUIET)
    if(NOT OpenCV_FOUND)
       message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
    endif()
 endif()

2.缺少头文件

报错：
error: ’usleep’ was not declared in this scope
可能还有一些关于usleep的错误

报错的文件包括：mono_euroc.cc、mono_kitti.cc、mono_tum.cc、rgbd_tum.cc、stereo_euroc.cc、stereo_kitti.cc、LoopClosing.cc、System.cc、Viewer.cc
在报错的文件上添加：

#include <unistd.h>

3、头文件失效

报错：
fatal error: opencv/cv.h: 没有那个文件或目录
#include <opencv/cv.h>

报错文件：ORBextractor.h

将
#include <opencv/cv.h>
替换为
#include<opencv2/imgproc/imgproc_c.h>
#include <opencv2/highgui/highgui_c.h>

4、Opencv定义更换

报错：
error:'CV_LOAD_IMAGE_UNCHANGED' was not declared in this scope

报错的文件包括：mono_euroc.cc、mono_kitti.cc、mono_tum.cc、rgbd_tum.cc、stereo_euroc.cc、stereo_kitti.cc

将
CV_LOAD_IMAGE_UNCHANGED
替换为
cv::IMREAD_UNCHANGED

5、

报错：
/usr/include/c++/9/bits/stl_map.h:122:71: error: static assertion failed: std::map must have the same value_type as its allocator
122 | static_assert(is_same<typename _Alloc::value_type, value_type>::value,
                                                                      ^~~~~

报错文件：LoopClosing.h

将

typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
        Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;

替换为

typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
        Eigen::aligned_allocator<std::pair<KeyFrame *const, g2o::Sim3> > > KeyFrameAndPose;