try to impl vslam
项目分为四个部分 1.vslam_core 通用的数据结构和函数 相机模型 关键帧 地图点 2.vslam_frontend 特征提取 特征匹配 位姿计算 3.vslam_backend 回环检测 位姿图优化 4.vslam_app 读取数据 输出点云和轨迹
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