diff --git a/cartographer/common/math.h b/cartographer/common/math.h
index c4a77ef..0248f66 100644
--- a/cartographer/common/math.h
+++ b/cartographer/common/math.h
@@ -17,6 +17,10 @@
 #ifndef CARTOGRAPHER_COMMON_MATH_H_
 #define CARTOGRAPHER_COMMON_MATH_H_
 
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
 #include <cmath>
 #include <vector>
 
diff --git a/cartographer/common/thread_pool.cc b/cartographer/common/thread_pool.cc
index bc3c743..c61704d 100644
--- a/cartographer/common/thread_pool.cc
+++ b/cartographer/common/thread_pool.cc
@@ -16,7 +16,6 @@
 
 #include "cartographer/common/thread_pool.h"
 
-#include <unistd.h>
 #include <algorithm>
 #include <chrono>
 #include <numeric>
diff --git a/cartographer/mapping/pose_graph_interface.h b/cartographer/mapping/pose_graph_interface.h
index 6483ef4..6456720 100644
--- a/cartographer/mapping/pose_graph_interface.h
+++ b/cartographer/mapping/pose_graph_interface.h
@@ -18,6 +18,7 @@
 #define CARTOGRAPHER_MAPPING_POSE_GRAPH_INTERFACE_H_
 
 #include <vector>
+#include <array>
 
 #include "cartographer/common/optional.h"
 #include "cartographer/mapping/id.h"