1.ATE命令
#--------------------------------------------ATE重要的六条命令-------------------------------------------------------------
evo_ape tum groundtruth.txt ORB-SLAM3.txt -a -s --plot --plot_mode xyz --save_plot ORB-SLAM3-a.png --save_results ./ORB_SLAM3.zip
evo_ape tum groundtruth.txt SPLD-SLAM.txt -a -s --plot --plot_mode xyz --save_plot SPLD-SLAM-c.png --save_results ./SPLD_SLAM.zip
evo_ape tum groundtruth.txt DynaSLAM.txt -a -s --plot --plot_mode xyz --save_plot DynaSLAM-b.png --save_results ./DynaSLAM.zip
evo_res ./ORB_SLAM3.zip ./SPLD_SLAM.zip -p --save_plot ./result_SLAM3_SPLD/SLAM3_SPLD.png --save_table ./result_SLAM3_SPLD/SLAM3_SPLD.txt
evo_res ./DynaSLAM.zip ./SPLD_SLAM.zip -p --save_plot ./result_Dyna_SPLD/Dyna_SPLD.png --save_table ./result_Dyna_SPLD/Dyna_SPLD.txt
2.计算时间
// Tracking time statistics
//sort(vTimesTrack.begin(),vTimesTrack.end());//把这行注释了
float to