使用evo测评vins-mono

一 evo安装

可以参考官方文档，或者：

Sudo apt install python-pip

Pip install evo --upgrade --no-binary evo --user

需要注意，本文使用的是Euroc数据集的MH_01_easy，平时我们运行vins-mono时用的是MH_01_easy.bag，而在evo中我们需要用到ASL Dataset Format，请事先下载好。

二 vins-mono代码修改

vins-mono自动保存的数据格式不符合tum格式，所以我们需要对vins-mono的源代码做一些修改：

1. …/VINS-Mono/vins_estimator/src/utility/visualization.cpp中的pubOdometry()函数：

ofstream foutC(VINS_RESULT_PATH, ios::app);
foutC.setf(ios::fixed, ios::floatfield);
foutC.precision(0);
foutC << header.stamp.toSec() * 1e9 << ",";
foutC.precision(5);
foutC << estimator.Ps[WINDOW_SIZE].x() << ","
	  << estimator.Ps[WINDOW_SIZE].y() << ","
	  << estimator.Ps[WINDOW_SIZE].z() << ","
   	  << tmp_Q.w() << ","
	  << tmp_Q.x() << ","
	  << tmp_Q.y() << ","
	  << tmp_Q.z() << ","
	  << estimator.Vs[WINDOW_SIZE].x() << ","
	  << estimator.Vs[WINDOW_SIZE].y()