VINS_Mono主程序代码
读取配置参数:
https://blog.csdn.net/qq_41839222/article/details/86564879
将旋转矩阵与平移矩阵赋值(std::vector):
https://www.cnblogs.com/yxnchinahlj/archive/2011/03/06/1972435.html
getline从输入流读取字符,并转化为字符串(一行):
https://blog.csdn.net/Houchaoqun_XMU/article/details/79587420?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.nonecase&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.nonecase
https://blog.csdn.net/liitdar/article/details/82598039