ubuntu16.04安装evo工具,亲测可用，slam轨迹误差分析

ubuntu16.04安装evo工具,亲测可用

引言

evo的安装网上教程也很多，我原来也是直接按照网上教程安装，但是出了些问题。现在把我在Ubuntu16.04上安装evo的过程遇到的问题和解决办法记录一下。有问题请指出。
如果想按照我的流程来安装evo，可以先看一下我的踩坑过程，避免不必要的操作。

通过pip安装evo

1.安装pip

sudo apt install python3-pip
sudo apt install python-pip

2.安装evo

pip3 install evo --upgrade --no-binary evo

3.出现报错

home@m:~$ pip3 install evo --upgrade --no-binary evo
Collecting evo
  Using cached https://files.pythonhosted.org/packages/19/64/e0fc57eedc625465771328e561dbba00dbbb40e7e1a4f234fa1591453a08/evo-1.13.5.tar.gz
Collecting numpy (from evo)
  Downloading https://files.pythonhosted.org/packages/f3/1f/fe9459e39335e7d0e372b5e5dcd60f4381d3d1b42f0b9c8222102ff29ded/numpy-1.20.3.zip (7.8MB)
    100% |████████████████████████████████| 7.8MB 119kB/s 
    Complete output from command python setup.py egg_info:
    Traceback (most recent call last):
      File "<string>", line 1, in <module>
      File "/tmp/pip-build-qx1x69ad/numpy/setup.py", line 30, in <module>
        raise RuntimeError("Python version >= 3.7 required.")
    RuntimeError: Python version >= 3.7 required.
    
    ----------------------------------------
Command "python setup.py egg_info" failed with error code 1 in /tmp/pip-build-qx1x69ad/numpy/
You are using pip version 8.1.1, however version 21.1.1 is available.
You should consider upgrading via the 'pip install --upgrade pip' command.

4.升级pip

pip install --upgrade pip

5.再次使用pip安装evo
使用pip install

home@m:~$ pip install evo --upgrade --no-binary evo
Traceback (most recent call last):
  File "/usr/bin/pip", line 9, in <module>
    from pip import main
  File "/home/sun/.local/lib/python2.7/site-packages/pip/__init__.py", line 1, in <module>
    from typing import List, Optional
ImportError: No module named typing

使用pip3 install

home@m:~$ pip3 install evo --upgrade --no-binary evo
Collecting evo
  Using cached https://files.pythonhosted.org/packages/19/64/e0fc57eedc625465771328e561dbba00dbbb40e7e1a4f234fa1591453a08/evo-1.13.5.tar.gz
Collecting numpy (from evo)
  Using cached https://files.pythonhosted.org/packages/f3/1f/fe9459e39335e7d0e372b5e5dcd60f4381d3d1b42f0b9c8222102ff29ded/numpy-1.20.3.zip
    Complete output from command python setup.py egg_info:
    Traceback (most recent call last):
      File "<string>", line 1, in <module>
      File "/tmp/pip-build-6h1gz348/numpy/setup.py", line 30, in <module>
        raise RuntimeError("Python version >= 3.7 required.")
    RuntimeError: Python version >= 3.7 required.
    
    ----------------------------------------
Command "python setup.py egg_info" failed with error code 1 in /tmp/pip-build-6h1gz348/numpy/
You are using pip version 8.1.1, however version 21.1.1 is available.
You should consider upgrading via the 'pip install --upgrade pip' command.

通过上面的pip和pip3安装evo还是都会报错。

6.wget重新升级pip

 wget https://bootstrap.pypa.io/pip/3.5/get-pip.py
 sudo python3 get-pip.py

结果如下

home@m:~$ wget https://bootstrap.pypa.io/pip/3.5/get-pip.py
--2021-05-20 19:20:57--  https://bootstrap.pypa.io/pip/3.5/get-pip.py
正在解析主机 bootstrap.pypa.io (bootstrap.pypa.io)... 151.101.108.175, 2a04:4e42:1a::175
正在连接 bootstrap.pypa.io (bootstrap.pypa.io)|151.101.108.175|:443... 已连接。
已发出 HTTP 请求，正在等待回应... 200 OK
长度： 1908223 (1.8M) [text/x-python]
正在保存至: “get-pip.py”

get-pip.py          100%[===================>]   1.82M  1.76MB/s    in 1.0s    

2021-05-20 19:20:58 (1.76 MB/s) - 已保存 “get-pip.py” [1908223/1908223])

home@m:~$ sudo python3 get-pip.py
DEPRECATION: Python 3.5 reached the end of its life on September 13th, 2020. Please upgrade your Python as Python 3.5 is no longer maintained. pip 21.0 will drop support for Python 3.5 in January 2021. pip 21.0 will remove support for this functionality.
WARNING: The directory '/home/sun/.cache/pip' or its parent directory is not owned or is not writable by the current user. The cache has been disabled. Check the permissions and owner of that directory. If executing pip with sudo, you may want sudo's -H flag.
Collecting pip<21.0
  Downloading pip-20.3.4-py2.py3-none-any.whl (1.5 MB)
     |████████████████████████████████| 1.5 MB 862 kB/s 
Installing collected packages: pip
  Attempting uninstall: pip
    Found existing installation: pip 20.3.4
    Uninstalling pip-20.3.4:
      Successfully uninstalled pip-20.3.4
Successfully installed pip-20.3.4

pip升级成功。

7.再次通过pip安装evo

pip3 install evo --upgrade --no-binary evo

至此，安装成功。
输入 evo 可显示evo的相关指令。

后续工作

evo源码安装我没试过，可以按照相关教程自己尝试。

这里补充一下pip的问题。
在终端输入

pip3 -V
pip -V

可能会报错，pip的问题网上有许多解决办法，我就不赘述了。

note：
evo需要的一些包

sudo apt-get update
sudo apt-get install python3-tk