(1) Primero descargue el código fuente de la página de inicio de github de la herramienta evo . Luego descomprímalo en la carpeta que desea almacenar.
O usa directamente git para descargar:
git clone https://github.com/MichaelGrupp/evo
(2) Ingrese a la carpeta evo e instálela:
cd evo
pip install --user . --upgrade
Después de una breve espera, la pantalla final es la siguiente y la instalación está completa:
Successfully built evo
Installing collected packages: evo
Attempting uninstall: evo
Found existing installation: evo 1.7.2
Uninstalling evo-1.7.2:
Successfully uninstalled evo-1.7.2
Successfully installed evo-1.7.2
(3) Intente ejecutar la instancia oficial:
cd test/data
evo_traj kitti KITTI_00_ORB.txt KITTI_00_SPTAM.txt --ref=KITTI_00_gt.txt -p --plot_mode=xz
Indique el siguiente error:
--------------------------------------------------------------------------------
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
[ERROR] Unhandled error in evo.main_traj
Traceback (most recent call last):
File "/home/wangxingben/code/evo/evo/entry_points.py", line 92, in launch
main_module.run(args)
File "/home/wangxingben/code/evo/evo/main_traj.py", line 366, in run
from evo.tools import plot
File "/home/wangxingben/code/evo/evo/tools/plot.py", line 36, in <module>
import mpl_toolkits.mplot3d.art3d as art3d
File "/usr/lib/python2.7/dist-packages/mpl_toolkits/__init__.py", line 2, in <module>
__import__('pkg_resources').declare_namespace(__name__)
File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2927, in <module>
@_call_aside
File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2913, in _call_aside
f(*args, **kwargs)
File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2940, in _initialize_master_working_set
working_set = WorkingSet._build_master()
File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 637, in _build_master
return cls._build_from_requirements(__requires__)
File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 650, in _build_from_requirements
dists = ws.resolve(reqs, Environment())
File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 834, in resolve
raise VersionConflict(dist, req).with_context(dependent_req)
ContextualVersionConflict: (matplotlib 1.5.1 (/usr/lib/python2.7/dist-packages), Requirement.parse('matplotlib>=1.5.3'), set(['seaborn']))
[ERROR] evo module evo.main_traj crashed - no logfile written (disabled)
Solución: ejecutar en la carpeta actual
pip install numpy --upgrade --user
Ejecute el ejemplo oficial nuevamente, puede obtener con éxito los siguientes resultados:
