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