tinyslam是openslam中实现最为简单的一种slam方法，其代码的核心实现没有超过两百行，对新手入门，深刻理解slam的工作原理，很有帮助。(Tinyslam is the most simple realization of a slam method in openslam, the core implementation of its code does not exceed two hundred lines, for beginners, a profound underst