slam評測工具evo安裝

(1) 首先在evo工具github主頁下載源碼。然後解壓到你想存放的文件夾裏。
或者直接採用git方式下載：

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

(2) 進入evo文件夾，進行安裝：

cd evo
pip install --user . --upgrade

經過短暫等待，最終顯示如下即安裝完成：

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)嘗試進行官方實例運行：

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

提示如下錯誤：

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

解決方法：在當前文件夾下運行

pip install numpy --upgrade --user

再次運行官方示例，即可成功得到如下結果：