参考:
LIO-SAM源码:
https://github.com/TixiaoShan/LIO-SAM
LIO-SAM卢涛注释版:
https://zhuanlan.zhihu.com/p/352039509
gtsam的教程:
https://gtsam.org/tutorials/intro.html#magicparlabel-65412
gtsam源码:(里面有example)
https://github.com/borglab/gtsam
董靖gtsam的公开课材料: