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