编译运行ORB-SLAM2和ORB-Line-SLAM遇到问题总结

运行ORB-SLAM2

运行教程参考ORB_SLAM2_detailed_comments，但是遇到报错，在文章中有说明，可参照这篇博客操作：ORB_SLAM2–源码编译。

运行ORB_Line_SLAM 资料较少，测试发现其编译步骤与ORB_SLAM2相同，但是编译过程中遇到报错1：

/home/xiujie/Downloads/ORB_Line_SLAM-master/src/Tracking.cc: In member function ‘bool ORB_SLAM2::Tracking::TrackWithMotionModelWithLine()’:
/home/xiujie/Downloads/ORB_Line_SLAM-master/src/Tracking.cc:1358:9: error: ‘random_device’ was not declared in this scope; did you mean ‘random_data’?
 1358 |         random_device rnd_dev;
      |         ^~~~~~~~~~~~~
      |         random_data
/home/xiujie/Downloads/ORB_Line_SLAM-master/src/Tracking.cc:1359:9: error: ‘mt19937’ was not declared in this scope
 1359 |         mt19937 rnd(rnd_dev());
      |         ^~~~~~~
/home/xiujie/Downloads/ORB_Line_SLAM-master/src/Tracking.cc:1364:50: error: ‘rnd’ was not declared in this scope; did you mean ‘rand’?
 1364 |             cv::Scalar color = Scalar(color_dist(rnd), color_dist(rnd), color_dist(rnd));
      |                                                  ^~~
      |                                                  rand
/home/xiujie/Downloads/ORB_Line_SLAM-master/src/Tracking.cc:1397:9: error: ‘random_device’ was not declared in this scope; did you mean ‘random_data’?
 1397 |         random_device rnd_dev;
      |         ^~~~~~~~~~~~~
      |         random_data
/home/xiujie/Downloads/ORB_Line_SLAM-master/src/Tracking.cc:1398:9: error: ‘mt19937’ was not declared in this scope
 1398 |         mt19937 rnd(rnd_dev());
      |         ^~~~~~~
/home/xiujie/Downloads/ORB_Line_SLAM-master/src/Tracking.cc:1403:50: error: ‘rnd’ was not declared in this scope; did you mean ‘rand’?
 1403 |             cv::Scalar color = Scalar(color_dist(rnd), color_dist(rnd), color_dist(rnd));
      |                                                  ^~~
      |                                                  rand

报错2：

/home/xiujie/Downloads/ORB_Line_SLAM-master/src/Tracking.cc:2382:13: error: ‘usleep’ was not declared in this scope
 2382 |             usleep(3000);

针对报错1不要按照它的提示修改文件，参照博客编译stvo-pl报错error: ‘random_device’ was not declared in this scope 解决方案，我选用在报错的.h文件内添加万能头文件，只在报错文件添加即可。

#include<bits/stdc++.h>

针对报错2，参考博客编译orbslam2出现的error: ‘usleep’ was not declared in this scope usleep(3000)，只需要在报错的相关.h文件内添加

#include<unistd.h>

两个SLAM代码至此编译成功！