Tips

File path in build folder
Depth image file type .pgm
new g2o version has some update, https://github.com/gaoxiang12/slambook/pull/85/files, https://www.codeleading.com/article/63435719551/
In ch9, i don't know why i can't use .so type to create target. Use .a instead. Change add_library into add_executable in src/CMakeLists.txt.
New version Sophus changes rotation_matrix() into matrix().
The tum dataset encountered a python version problem using associate.py , https://blog.csdn.net/u012796629/article/details/87932936
add glog to target_link_libraries

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