https://blog.csdn.net/weixin_39984963/article/details/112069949

https://blog.csdn.net/crp997576280/article/details/105385240

利用EVO评估SLAM轨迹的效果（TUM格式）
https://zhuanlan.zhihu.com/p/259349163

https://blog.51cto.com/u_14411234/3127894
具体介绍
https://blog.csdn.net/qq_37568167/article/details/105594262