https://blog.csdn.net/weixin_47074246/article/details/109134740
evo测评tum数据集
https://blog.csdn.net/qq_43265072/article/details/104715515
evo_traj tum ORB-SLAM2.txt --ref=groundtruth.txt -p --plot -s --correct_scale -a --align
再说一遍,这个非常全面
https://blog.csdn.net/weixin_47074246/article/details/109134740