视觉SLAM十四讲算法解析源码解读g2o_bundle.cpp

编译运行

mkdir build
cd build
cmake ..
make

cd build

./g2o_customBundle -input /home/q/projects/slambook/ch10/g2o_custombundle/data/problem-16-22106-pre.txt

./g2o_customBundle -help

-final_ply <string>               Export the refined BAL