orb-slam2编译问题

1、

 undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: 无法添加符号: DSO missing from command line

方案：

修改cmakelists

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)

添加红色那一行

2、

error: ‘usleep’ was not declared in this scope
         usleep(mT*1000);

方案：

对应文件添加头文件#include