slam评测工具evo安装

(1) 首先在evo工具github主页下载源码。然后解压到你想存放的文件夹里。
或者直接采用git方式下载：

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

(2) 进入evo文件夹，进行安装：

cd evo
pip install --user . --upgrade

经过短暂等待，最终显示如下即安装完成：

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)尝试进行官方实例运行：

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

提示如下错误：

--------------------------------------------------------------------------------
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)

解决方法：在当前文件夹下运行

pip install numpy --upgrade --user

再次运行官方示例，即可成功得到如下结果：