cd /home/slam/catkin_ws/src/ORB_SLAM2
双目：
cd /home/slam/catkin_ws/src/ORB_SLAM2
./Examples/Stereo/stereo_euroc Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml /home/slam/datasets/V1_01_easy/mav0/cam0/data /home/slam/datasets/V1_01_easy/mav0/cam1/data Examples/Stereo/EuRoC_TimeStamps/V101.txt
cp CameraTrajectory.txt /home/slam/evo_test/no_loop/Stereo_V1_01.txt
evo:
cd /home/slam/evo_test
evo_ape euroc Stereo/groundtruth.csv Stereo/Stereo_V1_01.txt -va --plot --plot_mode xy --save_results results/Stereo_EUROC.zip
evo_traj euroc Stereo/groundtruth.csv --save_as_tum
mv groundtruth.tum Stereo/
evo_traj tum Stereo/Stereo_V1_01.txt --ref=Stereo/groundtruth.tum -va --plot --plot_mode xy
单目：
运行单目 slam命令：
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt ./Examples/Monocular/TUM1.yaml /home/slam/datasets/rgbd_dataset_freiburg1_xyz
RGBD：
运行RGBD slam命令：
./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt ./Examples/RGB-D/TUM1.yaml /home/slam/datasets/rgbd_dataset_freiburg2_large_no_loop/ /home/slam/datasets/rgbd_dataset_freiburg2_large_no_loop/associations.txt
cp CameraTrajectory.txt /home/slam/evo_test/no_loop/RGBD_large_no_loop.txt
evo命令：
cd /home/slam/evo_test
evo_ape tum no_loop/groundtruth.txt no_loop/RGBD_large_no_loop.txt -va --plot --plot_mode xz --save_results results/RGBD_large_no_loop.zip
evo_traj tum no_loop/RGBD_large_no_loop.txt --ref=no_loop/groundtruth.txt -va --plot --plot_mode xy