evo_traj 错误：[ERROR] Unhandled error in evo.main_traj

在使用evo_traj 单轨迹测试的时候出现了问题：

命令：

evo_traj tum groundtruth.txt --plot 

错误1： 

name:	groundtruth
infos:	2281 poses, 30.494m path length, 56.979s duration
[ERROR] Unhandled error in evo.main_traj
Traceback (most recent call last):
  File "/home/cjn/.local/lib/python2.7/site-packages/evo/entry_points.py", line 92, in launch
    main_module.run(args)
  File "/home/cjn/.local/lib/python2.7/site-packages/evo/main_traj.py", line 366, in run
    from evo.tools import plot
  File "/home/cjn/.local/lib/python2.7/site-packages/evo/tools/plot.py", line 36, in <module>
    import mpl_toolkits.mplot3d.art3d as art3d
  File "/usr/lib/python2.7/dist-packages/mpl_toolkits/__init__.py", line 2, in <module>
    __import__('pkg_resources').declare_namespace(__name__)
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2927, in <module>
    @_call_aside
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2913, in _call_aside
    f(*args, **kwargs)
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2940, in _initialize_master_working_set
    working_set = WorkingSet._build_master()
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 637, in _build_master
    return cls._build_from_requirements(__requires__)
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 650, in _build_from_requirements
    dists = ws.resolve(reqs, Environment())
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 834, in resolve
    raise VersionConflict(dist, req).with_context(dependent_req)
ContextualVersionConflict: (matplotlib 1.5.1 (/usr/lib/python2.7/dist-packages), Requirement.parse('matplotlib>=1.5.3'), set(['seaborn']))

解决方案：

pip install matplotlib --upgrade --user

错误2：  

name:	groundtruth
infos:	2281 poses, 30.494m path length, 56.979s duration
[ERROR] Unhandled error in evo.main_traj
Traceback (most recent call last):
  File "/home/cjn/.local/lib/python2.7/site-packages/evo/entry_points.py", line 92, in launch
    main_module.run(args)
  File "/home/cjn/.local/lib/python2.7/site-packages/evo/main_traj.py", line 366, in run
    from evo.tools import plot
  File "/home/cjn/.local/lib/python2.7/site-packages/evo/tools/plot.py", line 42, in <module>
    import seaborn as sns
  File "/home/cjn/.local/lib/python2.7/site-packages/seaborn/__init__.py", line 6, in <module>
    from .rcmod import *
  File "/home/cjn/.local/lib/python2.7/site-packages/seaborn/rcmod.py", line 6, in <module>
    from . import palettes, _orig_rc_params
  File "/home/cjn/.local/lib/python2.7/site-packages/seaborn/palettes.py", line 12, in <module>
    from .utils import desaturate, set_hls_values, get_color_cycle
  File "/home/cjn/.local/lib/python2.7/site-packages/seaborn/utils.py", line 8, in <module>
    import pandas as pd
  File "/home/cjn/.local/lib/python2.7/site-packages/pandas/__init__.py", line 23, in <module>
    from pandas.compat.numpy import *
  File "/home/cjn/.local/lib/python2.7/site-packages/pandas/compat/numpy/__init__.py", line 24, in <module>
    'this pandas version'.format(_np_version))
ImportError: this version of pandas is incompatible with numpy < 1.12.0
your numpy version is 1.11.0.
Please upgrade numpy to >= 1.12.0 to use this pandas version

解决方案： 

pip install numpy --upgrade --user