使用evo对vins-fusion进行euroc数据集测评

roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/catkin_vins/src/VINS-Fusion-master/config/euroc/euroc_stereo_imu_config.yaml
rosrun global_fusion global_fusion_node
rosrun loop_fusion loop_fusion_node ~/catkin_vins/src/VINS-Fusion-master/config/euroc/euroc_stereo_imu_config.yaml

修改vins源码以获得轨迹：注意修改为自己的路径

1。修改visualization.cpp中void pubOdometry函数中white result to file部分

// write result to file
	double turetime = header.stamp.toSec();
        ofstream foutC("/home/zyl/catkin_vins/src/VINS-Fusion-master/data/result.csv", ios::app);
        foutC.setf(ios::fixed, ios::floatfield);
        foutC << turetime << " ";
        foutC << estimator.Ps[WINDOW_SIZE].x() << " "
              << estimator.Ps[WINDOW_SIZE].y() << " "
              << estimator.Ps[WINDOW_SIZE].z() << " "
              <<