error: ‘usleep‘ was not declared in this scope

编译orb-slam2 错误：

error: 'usleep' was not declared in this scope

step1

修改 ORB_SLAM2/include/system.h

添加：

#include<unistd.h>

step2

修改 ORB_SLAM2/include/LoopClosing.h

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

为

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