ORBSLAM2的资源
ORBSLAM2代码总结
https://blog.csdn.net/hzwwpgmwy/article/details/82462988
ORBSLAM2局部地图更新实现
https://blog.csdn.net/u011380574/article/details/77968866
ORBSLAM2吴博标注版
https://gitee.com/paopaoslam/ORB-SLAM2/repository/archive/master.zip
ORBSLAM2闭环检测与LoopClosing（代码）
https://blog.csdn.net/chishuideyu/article/details/76165461
跟踪线程
