1.安装依赖项
此工具是用的python2,需要安装以下依赖项
pip install numpy
pip install matplotlib
pip install colorama
pip install ruamel.yaml
如果下载速度太慢可以通过临时换源解决,例如numpy可以采用豆瓣源如下:
pip install numpy -i https://pypi.douban.com/simple/
2.下载源代码
下载RPG Trajectory Evaluation 源代码
下载地址:https://github.com/uzh-rpg/rpg_trajectory_evaluation
mkdir -p rpg_eval_ws/src
cd rpg_eval_ws/src
git clone https://github.com/uzh-rpg/rpg_trajectory_evaluation
git clone https://github.com/catkin/catkin_simple
cd ..
catkin_make
source devel/setup.bash
rosrun rpg_trajectory_evaluation analyze_trajectory_single.py <result_folder>
catkin_simple为依赖项,也需要下载到src路径下一起编译
<result_folder> 为你的SLAM/VIO生成的轨迹和真值的存放路径.
3.注意事项
真值和算法输出的轨迹命名应该如下:
stamped_groundtruth