文件夹目录结构为，

ch13
│  CMakeLists.txt
│  
├─app
│      CMakeLists.txt
│      run_kitti_stereo.cpp
│      
├─cmake_modules
│      FindCSparse.cmake
│      FindG2O.cmake
│      FindGlog.cmake
│      
├─config
│      default.yaml
│      
├─include
│  └─myslam
│          algorithm.h
│          backend.h
│          camera.h
│          common_include.h
│          config.h
│          dataset.h
│          feature.h
│          frame.h
│          frontend.h
│          g2o_types.h
│          map.h
│          mappoint.h
│          viewer.h
│          visual_odometry.h
│          
├─src
│      backend.cpp
│      camera.cpp
│      CMakeLists.txt
│      config.cpp
│      dataset.cpp
│      feature.cpp
│      frame.cpp
│      frontend.cpp
│      map.cpp
│      mappoint.cpp
│      viewer.cpp
│      visual_odometry.cpp
│      
└─test
        CMakeLists.txt
        test_triangulation.cpp

代码读到map.cpp

更新中…