环境 :新安装的ubuntu20.04,python3.8.10
1、在一个文件夹中,打开终端,下载EVO源码:
git clone https://github.com/MichaelGrupp/evo.git
2、依次输入在该终端下输入:
cd evo
pip install -i https://pypi.tuna.tsinghua.edu.cn/simple --editable . --upgrade --no-binary evo
sudo python3 setup.py develop
若提示版本过低,在终端下输入:
sudo pip install -i https://pypi.tuna.tsinghua.edu.cn/simple numpy -I
4、然后在终端运行命令:
evo
出现以下,感觉成功了,其实不然。
python package for the evaluation of odometry and SLAM
Supported trajectory formats:
* TUM trajectory files
* KITTI pose files
* ROS bagfile with geometry_msgs/PoseStamped, geometry_msgs/TransformStamped,
geometry_msgs/PoseWithCovarianceStamped or nav_msgs/Odometry topics
* EuRoC MAV dataset groundtruth files
The following executables are available:
Metrics:
evo_ape - absolute pose error
evo_rpe - relative pose error
Tools:
evo_traj - tool for analyzing, plotting or exporting multiple trajectories
evo_res - tool for processing multiple result files from the metrics
evo_ipython - IPython shell with pre-loaded evo modules
evo_fig - (experimental) tool for re-opening serialized plots
evo_config - tool for global settings and config file manipulation
5、测试:
cd test/data
evo_traj kitti KITTI_00_ORB.txt KITTI_00_SPTAM.txt --ref=KITTI_00_gt.txt -p --plot_mode=xz
然后就报错了,最后一段为:
import tkinter as tkModuleNotFoundError: No module named 'tkinter'
解决方法:发现是因为没有安装tkinter包,tkinter包在python3-tk中,所以只要安装python3-tk就可以了,在终端输入:
sudo apt install python3-tk
然后继续测试,发现又有问题了,报错:
ImportError: cannot import name 'ImageTk' from 'PIL' (/usr/lib/python3/dist-
解决方法:终端输入:
sudo apt-get install python3-pil python3-pil.imagetk
之后测试就成功了。