g2o全称general graph optimization,是一个用来优化非线性误差函数的c++框架。
https://blog.csdn.net/lingyunxianhe/article/details/79963131
https://blog.csdn.net/hzwwpgmwy/article/details/79884070
https://blog.csdn.net/heyijia0327/article/details/47813405
https://blog.csdn.net/KHFlash/article/details/79107860
https://blog.csdn.net/YuYunTan/article/details/85303050