問題1. eigen3找不到
在執行./biuld.sh時，報錯
cmake error at /usr/local/share/cmake-3.15/modules/findpackagehandlestandardargs.cmake:137 (message):
could not find eigen3 (missing: eigen3_include_dir eigen3_version_ok)
(required is at least version "3.1.0")
call stack (most recent call first):
/usr/local/share/cmake-3.15/modules/findpackagehandlestandardargs.cmake:378 (_fphsa_failure_message)
cmake_modules/findeigen3.cmake:82 (find_package_handle_standard_args)
cmakelists.txt:70 (find_package)
兩者修改後如下：
# include(/home/wang/software/opencv/opencv-3.2.0.bin/opencvconfig.cmake)
include(/usr/local/share/opencv/opencvconfig.cmake)
include_directories("/usr/include/eigen3")
# find_package(eigen3 3.1.0 required)
find_package(pangolin required)
include_directories(
$$/include
# $$
)
# find eigen3
# set(eigen3_include_dir $)
# find_package(eigen3 3.1.0 required)
# if(eigen3_found)
# set(g2o_eigen3_include $ cache path "directory of eigen3")
# else(eigen3_found)
# set(g2o_eigen3_include "" cache path "directory of eigen3")
# endif(eigen3_found)
include_directories("/usr/include/eigen3")
error: 'usleep' was not declared in this scope
usleep(3000);
解決方法：缺失標頭檔案，在orb_slam2的include下任意.**件中（如keyframe.h）新增標頭檔案unistd.h
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