ubunt16.04 CUDA9 编译orb_slam2一些问题记录

主要需要注意的是opencv以及Eigen的版本问题

源码安装opencv3.2的时候,会出很多问题,可以按照下面的博客进行源码的安装

https://blog.csdn.net/qq_40755643/article/details/96437720

eigen的版本过高会报好多的警告,让人很讨厌,需要把Eigen的版本降到Eigen3.2.1以下,下面是官方的链接

http://eigen.tuxfamily.org/index.php?title=Special%3AAllPages&from=&to=&namespace=100

报ORB_SLAM2/src/Viewer.cc:159:28: error: ‘usleep’ was not declared in this scope
usleep(3000);
^
CMakeFiles/ORB_SLAM2.dir/build.make:494: recipe for target ‘CMakeFiles/ORB_SLAM2.dir/src/Viewer.cc.o‘ failed

需要增加#include <unistd.h>     添加的文件有：
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

编译的时候一步步的编译