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

step2

修改 ORB_SLAM2/include/LoopClosing.h

typedef map,
        Eigen::aligned_allocator > > KeyFrameAndPose;

typedef map,
        Eigen::aligned_allocator > > KeyFrameAndPose;

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