Ubuntu20.04安装evo

下载evo源码：

git clone https://github.com/MichaelGrupp/evo.git

cd到evo目录下

pip install --user evo --upgrade --no-binary evo (don't forget to add --user)

这个过程一旦开始，后续需要下载依赖项的资源包，因为相应服务器在国外，速度很慢，乃至出现超时的问题。所以使用国内清华大学的镜像进行安装，上述命令改成

pip install -i https://pypi.tuna.tsinghua.edu.cn/simple --editable . --upgrade --no-binary evo

完成后，在原来的终端输入下述命令。（sudo python setup.py develop：当你安装一个包后，这个包需要你不断修改，这样你就不得不重新安装，这时就采用这种安装方法。）

sudo python3 setup.py develop

若提示提示numpy的版本过低，不满足要求。此时进行numpy的升级。（我这里并没有提示版本问题）

sudo pip install -i https://pypi.tuna.tsinghua.edu.cn/simple numpy -I

在终端运行命令

evo

若弹出evo的说明界面，验证evo的安装成功。

ython 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

测试
如果将下面的–plot_mode设置为xyz,那么就可以得到3D的图.

cd test/data
evo_traj kitti KITTI_00_ORB.txt KITTI_00_SPTAM.txt --ref=KITTI_00_gt.txt -p --plot_mode=xz

终端显示：

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