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