g2o内部定义的常用顶点类型

g2o内部定义的常用顶点类型：

VertexSE2 : public BaseVertex<3, SE2> //2D pose Vertex, (x,y,theta)
VertexSE3 : public BaseVertex<6, Isometry3> //6d vector (x,y,z,qx,qy,qz) (note that weleave out the w part of the quaternion)
VertexPointXY : public BaseVertex<2, Vec