rpg_trajectory_evaluation工具评估SLAM/VIO系统
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2022-03-07 11:35:30
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rpg_trajectory_evaluation工具评估SLAM/VIO系统
1、安装
系统环境:ubuntu18.04 +ROS melodic
代码:https://github.com/uzh-rpg/rpg_trajectory_evaluation
tutorial:http://rpg.ifi.uzh.ch/docs/IROS18_Zhang.pdf
1.1 首先安装依赖的python库
pip install numpy
pip install matplotlib
pip install colorama
pip install ruamel.yaml
1.2 编译代码
mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
git clone https://github.com/uzh-rpg/rpg_trajectory_evaluation.git
git clone https://github.com/catkin/catkin_simple.git
cd ..
catkin_make
1.3 遇到问题
OSError: [Errno 2] No such file or directory: 'latex'
安装
sudo apt install texlive-fonts-recommended texlive-fonts-extra
sudo apt install dvipng
结果保存在plots中和saved_results中,具体图片在plots中以pdf的形式输出
1.4 结果
生成相对平移误差、旋转误差、尺度误差、轨迹、平移误差