基于最新的注释版本(2020.5.4), 会增加更规范、详细的注释，包括：
1、增加关键地方的公式推导
2、难理解部分代码画图展示原理
3、原作者代码本身疑似/确定bug的说明
其他
-by 计算机视觉life 公众号旗下开源学习小组：SLAM研习社
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