视觉SLAM十四讲 第10章 运行pose_graph_g2o_lie时报错

./pose_graph_g2o_lie ../sphere.g2o
Sophus ensure failed in function 'void Sophus::SO3Base<Derived>::normalize() [with Derived = Sophus::SO3<double>]', file '/usr/local/include/sophus/so3.hpp', line 273.
Quaternion (   0.706662 4.32706e-17    0.707551 -4.3325e-17) should not be close to zero!
Aborted (core dumped)

顶点类VertexSE3LieAlgebra的读入函数virtual bool read(istream& is)缺少返回值，会报以上错误。
解决方法：在函数virtual bool read(istream& is)中加入return true;