rpg_trajectory_evaluation安装教程

1.安装Anaconda2，将rpg_trajectory_evaluation脚本中的import ruamel.yaml as yaml 修改为import ruamel_yaml as yaml

2.安装依赖库

sudo apt-get install texlive-latex-extra texlive-fonts-recommended dvipng

3.编译代码

mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
git clone  https://github.com/uzh-rpg/rpg_trajectory_evaluation.git
git clone https://github.com/catkin/catkin_simple.git
cd ..
catkin_make

4.运行

rosrun rpg_trajectory_evaluation analyze_trajectories.py   euroc_vislam_mono.yaml --output_dir=./results/euroc_vislam_mono --results_dir=./results/euroc_vislam_mono --platform laptop --odometry_error_per_dataset --plot_trajectories --rmse_table --rmse_boxplot --mul_trials=10