【SLAM编译错误】ORB_SLAM2/src/System.cc: error: ‘usleep’ was not declared in this scope usleep(5000);

错误关键词：

usleep

错误提示为：

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

（ 你需要根据实际情况，提示哪个文件usleep有问题，就去加这个头文件）