evo_traj评估单轨迹错误：[ERROR] Unhandled error in evo.main_traj

 

安装教程参看：

https://blog.csdn.net/qq_42165198/article/details/106405431

在使用evo_traj 单轨迹测试的时候出现了问题：

命令：

evo_traj euroc data.csv --plot 

错误1：

name:	data
infos:	19753 poses, 91.747m path length, 98.760s duration
/usr/lib/python2.7/dist-packages/matplotlib/font_manager.py:273: UserWarning: Matplotlib is building the font cache using fc-list. This may take a moment.
  warnings.warn('Matplotlib is building the font cache using fc-list. This may take a moment.')
[ERROR] Unhandled error in evo.main_traj
Traceback (most recent call last):
  File "/home/jinshan.lan/.local/lib/python2.7/site-packages/evo/entry_points.py", line 90, in launch
    main_module.run(args)
  File "/home/jinshan.lan/.local/lib/python2.7/site-packages/evo/main_traj.py", line 342, in run
    from evo.tools.plot import PlotMode
  File "/home/jinshan.lan/.local/lib/python2.7/site-packages/evo/tools/plot.py", line 36, in 
    import mpl_toolkits.mplot3d.art3d as art3d
  File "/usr/lib/python2.7/dist-packages/mpl_toolkits/__init__.py", line 2, in 
    __import__('pkg_resources').declare_namespace(__name__)
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2927, in 
    @_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: (numpy 1.11.0 (/usr/lib/python2.7/dist-packages), Requirement.parse('numpy>=1.12.0'), set(['pandas']))
 
[ERROR] evo module evo.main_traj crashed - no logfile written (disabled)

解决方案：

pip install numpy --upgrade --user

错误2：

name:	data
infos:	36382 poses, 80.626m path length, 181.905s duration
[ERROR] Unhandled error in evo.main_traj
Traceback (most recent call last):
  File "/home/linzhiwei/.local/lib/python2.7/site-packages/evo/entry_points.py", line 92, in launch
    main_module.run(args)
  File "/home/linzhiwei/.local/lib/python2.7/site-packages/evo/main_traj.py", line 366, in run
    from evo.tools import plot
  File "/home/linzhiwei/.local/lib/python2.7/site-packages/evo/tools/plot.py", line 36, in 
    import mpl_toolkits.mplot3d.art3d as art3d
  File "/usr/lib/python2.7/dist-packages/mpl_toolkits/__init__.py", line 2, in 
    __import__('pkg_resources').declare_namespace(__name__)
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2927, in 
    @_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)

解决方案：

pip install matplotlib --upgrade --user