rpg

    科技2022-07-13  123

    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

    Processed: 0.010, SQL: 8