声明:我们都是知识的搬运工,所谓原创可以理解为对原有知识的再加工罢了。
evo是用来测试SLAM经常使用的工具。
evo的下载过程请参考https://github.com/MichaelGrupp/evo
推荐使用源码的方式下载。
但是在测试evo在github上给出的案例时确出现了如下错误
-Lenovo-G50-80:~/evo-master/test/data$ evo_traj kitti KITTI_00_ORB.txt KITTI_00_SPTAM.txt --ref=KITTI_00_gt.txt -p --plot_mode=xz
--------------------------------------------------------------------------------
name: KITTI_00_ORB
infos: 4541 poses, 3705.098m path length
--------------------------------------------------------------------------------
name: KITTI_00_SPTAM
infos: 4541 poses, 3718.501m path length
--------------------------------------------------------------------------------
name: KITTI_00_gt
infos: 4541 poses, 3724.187m path length
[ERROR] Unhandled error in evo.main_traj
Traceback (most recent call last):
File "/home/fly/evo-master/evo/entry_points.py", line 98, in launch
main_module.run(args)
File "/home/fly/evo-master/evo/main_traj.py", line 379, in run
from evo.tools import plot
File "/home/fly/evo-master/evo/tools/plot.py", line 35, in <module>
import matplotlib.pyplot as plt
File "/home/fly/.local/lib/python3.5/site-packages/matplotlib/pyplot.py", line 115, in <module>
_backend_mod, new_figure_manager, draw_if_interactive, _show = pylab_setup()
File "/home/fly/.local/lib/python3.5/site-packages/matplotlib/backends/__init__.py", line 62, in pylab_setup
[backend_name], 0)
File "/home/fly/.local/lib/python3.5/site-packages/matplotlib/backends/backend_qt5agg.py", line 15, in <module>
from .backend_qt5 import (
File "/home/fly/.local/lib/python3.5/site-packages/matplotlib/backends/backend_qt5.py", line 19, in <module>
import matplotlib.backends.qt_editor.figureoptions as figureoptions
File "/home/fly/.local/lib/python3.5/site-packages/matplotlib/backends/qt_editor/figureoptions.py", line 20, in <module>
import matplotlib.backends.qt_editor.formlayout as formlayout
File "/home/fly/.local/lib/python3.5/site-packages/matplotlib/backends/qt_editor/formlayout.py", line 54, in <module>
from matplotlib.backends.qt_compat import QtGui, QtWidgets, QtCore
File "/home/fly/.local/lib/python3.5/site-packages/matplotlib/backends/qt_compat.py", line 192, in <module>
from PySide2 import QtCore, QtGui, QtWidgets, __version__
File "/home/fly/.local/lib/python3.5/site-packages/PySide2/__init__.py", line 88, in <module>
_setupQtDirectories()
File "/home/fly/.local/lib/python3.5/site-packages/PySide2/__init__.py", line 62, in _setupQtDirectories
type.__signature__
AttributeError: type object 'type' has no attribute '__signature__'
[ERROR] evo module evo.main_traj crashed - no logfile written (disabled)
经过观察观察发现问题应该是由python相关库引起的。
通过查找File的路径发现,matplotlib可能有问题,于是做了如下操作
pip install matplotlib --upgrade
然后再运行案例,成功运行。