evo github address: https://github.com/MichaelGrupp/evo

Track files of different formats and mutual conversion: https://github.com/MichaelGrupp/evo/wiki/Formats

Summary of questions: https://github.com/MichaelGrupp/evo/issues?q=is%3Aissue+is%3Aclosed

1. Install evo

sudo apt install python-pip
pip install evo --upgrade --no-binary evo

There was a problem:

Could not install packages due to an EnvironmentError: [Errno 13] Permission denied: '/usr/lib/python2.7/dist-packages/dateutil/relativedelta.pyc'
Consider using the `--user` option or check the permissions.

Solve:

pip install evo --upgrade --no-binary evo --user

2, test

cd ~/alan_dataset/EuRoC/mav0/state_groundtruth_estimate0
evo_traj euroc data.csv --plot

Problems:

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 <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: (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)

Solve:

pip install numpy --upgrade --user

Operation result:

3. Convert the ground structure in the form of. csv file into the track file in the form of TUM

evo_traj euroc data.csv --save_as_tum

Track file format in the form of TUM:

8 numbers per line, separated by spaces, including time stamp (unit: Second), position and rotation (four elements)

timestamp x y z q_x q_y q_z q_w

4. Multi track display (track not aligned)

(a) above, convert the ground structure (. CSV file) of mhdifficult sequence in the EuRoC data set to a track file in the form of TUM, named data.tum

(b) get the track file in the form of TUM by running the MH ﹣ 04 ﹣ difficult data set with the name of frametrajectory ﹣ TUM ﹣ format.txt

See: Orb? Slam2 &? VI? Orbslam related (? alan?)

Put the track files in the form of two tums into the same folder (test? Evo)

cd ~/Desktop/test_evo
evo_traj tum FrameTrajectory_TUM_Format.txt --ref=data.tum -p

Operation result:

 

5. Calculate the absolute pose error (track alignment)

evo_ape tum data.tum FrameTrajectory_TUM_Format.txt -va --plot

Operation result:

    

 

Reference resources:

Zhihu: a practical tool for evaluating parameters of SLAM system

Using the evo tool to evaluate the results of VI ORB SLAM2 on EuRoC