ubuntu20.04安装EVO

 环境 ：新安装的ubuntu20.04，python3.8.10

1、在一个文件夹中，打开终端，下载EVO源码：

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

2、依次输入在该终端下输入：

cd evo
pip install -i https://pypi.tuna.tsinghua.edu.cn/simple --editable . --upgrade --no-binary evo
sudo python3 setup.py develop

若提示版本过低，在终端下输入：

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

4、然后在终端运行命令：

evo

出现以下，感觉成功了，其实不然。

python 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

5、测试：

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

然后就报错了，最后一段为：

import tkinter as tkModuleNotFoundError: No module named 'tkinter'

 解决方法：发现是因为没有安装tkinter包，tkinter包在python3-tk中，所以只要安装python3-tk就可以了，在终端输入：

sudo apt install python3-tk

然后继续测试，发现又有问题了，报错：

ImportError: cannot import name 'ImageTk' from 'PIL' (/usr/lib/python3/dist-

解决方法：终端输入：

 sudo apt-get install python3-pil python3-pil.imagetk

之后测试就成功了。