eigen:
SLAM本质剖析-Eigen - 古月居
ceres:
https://guyuehome.com/34633
g2o:
SLAM本质剖析-G2O - 古月居
gtsam:
SLAM本质剖析-GTSAM - 古月居
pcl:
https://www.guyuehome.com/35383