1: KITTI data odometry data provides true values. It contains two folders.
One is the pose and the other is the corresponding time and calibration parameters. Put the corresponding 00.txt and times.txt into the evo folder:
use the command to The true value of the 12-column kitti trajectory format is converted to the 8-column tum trajectory format
python kitti_poses_and_timestamps_to_trajectory.py 00.txt times.txt kitti_00_gt.txt
After converting the truth value in tum format, we can evaluate and compare the vio_GPS_global.txt we got with the truth value here
evo_rpe tum kitti.txt kitti_00_gt.txt -a -p