思想：双线程同时计算F和H模型，然后根据评分机制选择最优的模型
需要提前下载tum数据集rgbd_dataset_freiburg1_desk：
cd build
cmake ..
make -j4
cd ../Examples/Monocular
./mono_tum TUM1.yaml ~/rgbd_dataset_freiburg1_desk
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orbslam2，特征点法单目初始化，双线程分别计算基础矩阵与本质矩阵。
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