From 6c6c4d2982b87afe79fe636a02b439fb08500a13 Mon Sep 17 00:00:00 2001
From: Tonu Samuel <tonu@spam.ee>
Date: Sat, 19 Oct 2019 14:52:29 +0300
Subject: [PATCH] Fix compilation problems on Ubuntu 18.x

---
 Examples/Monocular/mono_euroc.cc          | 13 +++++++------
 Examples/Monocular/mono_kitti.cc          | 15 ++++++++-------
 Examples/Monocular/mono_tum.cc            | 13 +++++++------
 Examples/RGB-D/rgbd_tum.cc                | 13 +++++++------
 Examples/ROS/ORB_SLAM2/CMakeLists.txt     |  2 ++
 Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc |  1 +
 Examples/Stereo/stereo_euroc.cc           | 15 ++++++++-------
 Examples/Stereo/stereo_kitti.cc           | 15 ++++++++-------
 src/LocalMapping.cc                       |  1 +
 src/LoopClosing.cc                        |  6 +++---
 src/System.cc                             |  1 +
 src/Tracking.cc                           | 23 ++++++++++++-----------
 src/Viewer.cc                             |  1 +
 13 files changed, 66 insertions(+), 53 deletions(-)

diff --git a/Examples/Monocular/mono_euroc.cc b/Examples/Monocular/mono_euroc.cc
index 4bcb90f170..bc5dae5636 100644
--- a/Examples/Monocular/mono_euroc.cc
+++ b/Examples/Monocular/mono_euroc.cc
@@ -19,14 +19,15 @@
 */
 
 
-#include<iostream>
-#include<algorithm>
-#include<fstream>
-#include<chrono>
+#include <iostream>
+#include <algorithm>
+#include <fstream>
+#include <chrono>
 
-#include<opencv2/core/core.hpp>
+#include <opencv2/core/core.hpp>
 
-#include<System.h>
+#include <System.h>
+#include <unistd.h>
 
 using namespace std;
 
diff --git a/Examples/Monocular/mono_kitti.cc b/Examples/Monocular/mono_kitti.cc
index f2f7b3ebfd..88e7e1062d 100644
--- a/Examples/Monocular/mono_kitti.cc
+++ b/Examples/Monocular/mono_kitti.cc
@@ -19,15 +19,16 @@
 */
 
 
-#include<iostream>
-#include<algorithm>
-#include<fstream>
-#include<chrono>
-#include<iomanip>
+#include <iostream>
+#include <algorithm>
+#include <fstream>
+#include <chrono>
+#include <iomanip>
 
-#include<opencv2/core/core.hpp>
+#include <opencv2/core/core.hpp>
 
-#include"System.h"
+#include <unistd.h>
+#include "System.h"
 
 using namespace std;
 
diff --git a/Examples/Monocular/mono_tum.cc b/Examples/Monocular/mono_tum.cc
index 09a2afc4b7..1098f699db 100644
--- a/Examples/Monocular/mono_tum.cc
+++ b/Examples/Monocular/mono_tum.cc
@@ -19,14 +19,15 @@
 */
 
 
-#include<iostream>
-#include<algorithm>
-#include<fstream>
-#include<chrono>
+#include <iostream>
+#include <algorithm>
+#include <fstream>
+#include <chrono>
 
-#include<opencv2/core/core.hpp>
+#include <opencv2/core/core.hpp>
 
-#include<System.h>
+#include <System.h>
+#include <unistd.h>
 
 using namespace std;
 
diff --git a/Examples/RGB-D/rgbd_tum.cc b/Examples/RGB-D/rgbd_tum.cc
index 001199d1aa..a24d368564 100644
--- a/Examples/RGB-D/rgbd_tum.cc
+++ b/Examples/RGB-D/rgbd_tum.cc
@@ -19,14 +19,15 @@
 */
 
 
-#include<iostream>
-#include<algorithm>
-#include<fstream>
-#include<chrono>
+#include <iostream>
+#include <algorithm>
+#include <fstream>
+#include <chrono>
 
-#include<opencv2/core/core.hpp>
+#include <opencv2/core/core.hpp>
 
-#include<System.h>
+#include <System.h>
+#include <unistd.h>
 
 using namespace std;
 
diff --git a/Examples/ROS/ORB_SLAM2/CMakeLists.txt b/Examples/ROS/ORB_SLAM2/CMakeLists.txt
index 7cbf71c199..cb59c535d8 100644
--- a/Examples/ROS/ORB_SLAM2/CMakeLists.txt
+++ b/Examples/ROS/ORB_SLAM2/CMakeLists.txt
@@ -40,6 +40,7 @@ endif()
 
 find_package(Eigen3 3.1.0 REQUIRED)
 find_package(Pangolin REQUIRED)
+find_package(Boost COMPONENTS system REQUIRED )
 
 include_directories(
 ${PROJECT_SOURCE_DIR}
@@ -52,6 +53,7 @@ set(LIBS
 ${OpenCV_LIBS} 
 ${EIGEN3_LIBS}
 ${Pangolin_LIBRARIES}
+${Boost_LIBRARIES}
 ${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
 ${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
 ${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
diff --git a/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc b/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc
index 9c548e87d1..b1f444396e 100644
--- a/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc
+++ b/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc
@@ -25,6 +25,7 @@
 #include <mutex>
 #include <thread>
 #include <cstdlib>
+#include <unistd.h>
 
 using namespace std;
 
diff --git a/Examples/Stereo/stereo_euroc.cc b/Examples/Stereo/stereo_euroc.cc
index 6bc09c50be..6814693493 100644
--- a/Examples/Stereo/stereo_euroc.cc
+++ b/Examples/Stereo/stereo_euroc.cc
@@ -19,15 +19,16 @@
 */
 
 
-#include<iostream>
-#include<algorithm>
-#include<fstream>
-#include<iomanip>
-#include<chrono>
+#include <iostream>
+#include <algorithm>
+#include <fstream>
+#include <iomanip>
+#include <chrono>
 
-#include<opencv2/core/core.hpp>
+#include <opencv2/core/core.hpp>
 
-#include<System.h>
+#include <System.h>
+#include <unistd.h>
 
 using namespace std;
 
diff --git a/Examples/Stereo/stereo_kitti.cc b/Examples/Stereo/stereo_kitti.cc
index cb8bc4096e..b19dc2ebb6 100644
--- a/Examples/Stereo/stereo_kitti.cc
+++ b/Examples/Stereo/stereo_kitti.cc
@@ -19,15 +19,16 @@
 */
 
 
-#include<iostream>
-#include<algorithm>
-#include<fstream>
-#include<iomanip>
-#include<chrono>
+#include <iostream>
+#include <algorithm>
+#include <fstream>
+#include <iomanip>
+#include <chrono>
 
-#include<opencv2/core/core.hpp>
+#include <opencv2/core/core.hpp>
 
-#include<System.h>
+#include <System.h>
+#include <unistd.h>
 
 using namespace std;
 
diff --git a/src/LocalMapping.cc b/src/LocalMapping.cc
index 6c87a6e55a..8c300f204b 100644
--- a/src/LocalMapping.cc
+++ b/src/LocalMapping.cc
@@ -22,6 +22,7 @@
 #include "LoopClosing.h"
 #include "ORBmatcher.h"
 #include "Optimizer.h"
+#include <unistd.h>
 
 #include<mutex>
 
diff --git a/src/LoopClosing.cc b/src/LoopClosing.cc
index 5e317dd420..730c5407a8 100644
--- a/src/LoopClosing.cc
+++ b/src/LoopClosing.cc
@@ -28,9 +28,9 @@
 
 #include "ORBmatcher.h"
 
-#include<mutex>
-#include<thread>
-
+#include <mutex>
+#include <thread>
+#include <unistd.h>
 
 namespace ORB_SLAM2
 {
diff --git a/src/System.cc b/src/System.cc
index 8df4157095..29c93494df 100644
--- a/src/System.cc
+++ b/src/System.cc
@@ -25,6 +25,7 @@
 #include <thread>
 #include <pangolin/pangolin.h>
 #include <iomanip>
+#include <unistd.h>
 
 namespace ORB_SLAM2
 {
diff --git a/src/Tracking.cc b/src/Tracking.cc
index 2273b2ce48..e7e88052d5 100644
--- a/src/Tracking.cc
+++ b/src/Tracking.cc
@@ -21,21 +21,22 @@
 
 #include "Tracking.h"
 
-#include<opencv2/core/core.hpp>
-#include<opencv2/features2d/features2d.hpp>
+#include <opencv2/core/core.hpp>
+#include <opencv2/features2d/features2d.hpp>
 
-#include"ORBmatcher.h"
-#include"FrameDrawer.h"
-#include"Converter.h"
-#include"Map.h"
-#include"Initializer.h"
+#include "ORBmatcher.h"
+#include "FrameDrawer.h"
+#include "Converter.h"
+#include "Map.h"
+#include "Initializer.h"
 
-#include"Optimizer.h"
-#include"PnPsolver.h"
+#include "Optimizer.h"
+#include "PnPsolver.h"
 
-#include<iostream>
+#include <iostream>
 
-#include<mutex>
+#include <mutex>
+#include <unistd.h>
 
 
 using namespace std;
diff --git a/src/Viewer.cc b/src/Viewer.cc
index dec3204f53..6f5e83f375 100644
--- a/src/Viewer.cc
+++ b/src/Viewer.cc
@@ -22,6 +22,7 @@
 #include <pangolin/pangolin.h>
 
 #include <mutex>
+#include <unistd.h>
 
 namespace ORB_SLAM2
 {