https://www.jianshu.com/p/02ee8f513295

https://blog.csdn.net/dahailuoa6/article/details/94429361

https://www.jianshu.com/p/e5b03cf22c80

https://blog.csdn.net/robinhjwy/article/category/7301364 https://blog.cs...

BALProblem https://blog.csdn.net/qq_40213457/article/details/80678865g2o...

https://blog.csdn.net/qq_40213457/article/details/81394093

打印Eigen矩阵https://stackoverflow.com/questions/25085465/using-gdb-with-eig...

参考：1.https://answers.ros.org/question/27655/what-is-the-correct-way-to-d...

1.Introduction 相机对特征具有较强的追踪性能，但立体视觉对外参标定的依赖过强，对于有细小误差的标定结果可能会导致较大的深度估计误差...