# evo
***Python package for the evaluation of odometry and SLAM***
| Linux / macOS / Windows / ROS / ROS2 |
| :---: |
| [](https://dev.azure.com/michl2222/michl2222/_build/latest?definitionId=1&branchName=master) |
This package provides executables and a small library for handling, evaluating and comparing the trajectory output of odometry and SLAM algorithms.
Supported trajectory formats:
* 'TUM' trajectory files
* 'KITTI' pose files
* 'EuRoC MAV' (.csv groundtruth and TUM trajectory file)
* ROS and ROS2 bagfile with `geometry_msgs/PoseStamped`, `geometry_msgs/TransformStamped`, `geometry_msgs/PoseWithCovarianceStamped`, `geometry_msgs/PointStamped` or `nav_msgs/Odometry` topics or [TF messages](https://github.com/MichaelGrupp/evo/wiki/Formats#bag---ros-bagfile)
See [here](https://github.com/MichaelGrupp/evo/wiki/Formats) for more infos about the formats.
<a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_map.png" target="_blank">
<img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_map.png" alt="evo" height="200" border="5" />
</a>
<a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_violin.png" target="_blank">
<img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_violin.png" alt="evo" height="200" border="5" />
</a>
<a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/markers.png" target="_blank">
<img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/markers.png" alt="evo" height="200" border="5" />
</a>
<a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_stats.png" target="_blank">
<img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_stats.png" alt="evo" height="200" border="5" />
</a>
---
## Why?
evo has several advantages over other public benchmarking tools:
* common tools for different formats
* algorithmic options for association, alignment, scale adjustment for monocular SLAM etc.
* flexible options for output, [plotting](https://github.com/MichaelGrupp/evo/wiki/Plotting) or export (e.g. LaTeX plots or Excel tables)
* a powerful, configurable CLI that can cover many use cases
* modular `core` and `tools` libraries for custom extensions
* faster than other established Python-based tools ([see here](https://github.com/MichaelGrupp/evo/blob/master/doc/performance.md))
**What it's not:** a 1-to-1 re-implementation of a particular evaluation protocol tailored to a specific dataset.
---
## Installation / Upgrade
Installation is easy-peasy if you're familiar with this: https://xkcd.com/1987/#
evo supports **Python 3.8+**.
You might also want to use a [virtual environment](https://github.com/MichaelGrupp/evo/blob/master/doc/install_in_virtualenv.md).
### From PyPi
If you just want to use the executables of the latest release version, the easiest way is to run:
```bash
pip install evo --upgrade --no-binary evo
```
This will download the package and its dependencies from [PyPI](https://pypi.org/project/evo/) and install or upgrade them. Depending on your OS, you might be able to use `pip2` or `pip3` to specify the Python version you want. Tab completion for Bash terminals is supported via the [argcomplete](https://github.com/kislyuk/argcomplete/) package on most UNIX systems - open a new shell after the installation to use it (without `--no-binary evo` the tab completion might not be installed properly). If you want, you can subscribe to new releases via https://libraries.io/pypi/evo.
### From Source
Run this in the repository's base folder:
```bash
pip install --editable . --upgrade --no-binary evo
```
### Dependencies
**Python packages**
evo has some required dependencies that are ***automatically resolved*** during installation with pip.
They are specified in the `install_requires` part of the `setup.py` file.
**PyQt5 (optional)**
PyQt5 will give you the enhanced GUI for plot figures from the "*Qt5Agg*" matplotlib backend (otherwise: "*TkAgg*"). If PyQt5 is already installed when installing this package, it will be used as a default (see `evo_config show`). To change the plot backend afterwards, run `evo_config set plot_backend Qt5Agg`.
**ROS (optional)**
Some ROS-related features require a ROS installation, see [here](http://www.ros.org/). We are testing this package with ROS Noetic and Iron. Previous versions (`<= 1.12.0`) work with Melodic, Kinetic and Indigo.
*Note:* reading ROS bag files works also without a ROS installation thanks to the great [rosbags](https://pypi.org/project/rosbags/) package that is installed together with evo. This allows you also to read ROS 1 & 2 bags even if you don't have one of those ROS distros installed. (except for reading `/tf` topics, because there we need the buffer implementation from ROS)
---
## Command Line Interface
After installation with setup.py or from pip, the following executables can be called globally from your command-line:
**Metrics:**
* `evo_ape` - absolute pose error
* `evo_rpe` - relative pose error
**Tools:**
* `evo_traj` - tool for analyzing, plotting or exporting one or more trajectories
* `evo_res` - tool for comparing one or multiple result files from `evo_ape` or `evo_rpe`
* `evo_fig` - (experimental) tool for re-opening serialized plots (saved with `--serialize_plot`)
* `evo_config` - tool for global settings and config file manipulation
Call the commands with `--help` to see the options, e.g. `evo_ape --help`. Tab-completion of command line parameters is available on UNIX-like systems.
**More documentation**
Check out the [Wiki on GitHub](https://github.com/MichaelGrupp/evo/wiki).
---
## Example Workflow
There are some example trajectories in the source folder in `test/data`.
### 1.) Plot multiple trajectories
Here, we plot two KITTI pose files and the ground truth using `evo_traj`:
```
cd test/data
evo_traj kitti KITTI_00_ORB.txt KITTI_00_SPTAM.txt --ref=KITTI_00_gt.txt -p --plot_mode=xz
```
<a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/traj_demo.png" target="_blank">
<img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/traj_demo.png" alt="evo" height="200" border="5" />
</a>
<a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/traj_demo_xyz.png" target="_blank">
<img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/traj_demo_xyz.png" alt="evo" height="200" border="5" />
</a>
### 2.) Run a metric on trajectories
For example, here we calculate the absolute pose error for two trajectories from ORB-SLAM and S-PTAM using `evo_ape` (`KITTI_00_gt.txt` is the reference (ground truth)) and plot and save the individual results to .zip files for `evo_res`:
*First trajectory (ORB Stereo):*
```
mkdir results
evo_ape kitti KITTI_00_gt.txt KITTI_00_ORB.txt -va --plot --plot_mode xz --save_results results/ORB.zip
```
<a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_raw.png" target="_blank">
<img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_raw.png" alt="evo" height="200" border="5" />
</a>
<a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_map.png" target="_blank">
<img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_map.png" alt="evo" height="200" border="5" />
</a>
*Second trajectory (S-PTAM):*
```
evo_ape kitti KITTI_00_gt.txt KITTI_00_SPTAM.txt -va --plot --plot_mode xz --save_results results/SPTAM.zip
```
<a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_S-PTAM_raw.png" target="_blank">
<img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_S-PTAM_raw.png" alt="evo" height="200" border="5" />
</a>
<a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_S-PTAM_map.png" target="_blank">
<img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_S-PTAM_map.png" alt="evo" height="200" border="5" />
</a>
### 3.) Process multiple results from a metric
`evo_res` can be used to compare multiple result files from the metrics, i.e.:
* print infos and statistics (default)
* plot the results
* save the statistics in a table
Here, we use the results from above to generate a plot and a table:
```
evo_res results/*.zip -p --save_table results/table.csv
```
<a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_raw.png" target="_blank">
<img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_raw.png" alt="evo" height="200" border="5" />
</a>
<a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_dist.png" target="_blank">
<img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_dist.png" alt="evo" height="200" border="5" />
</a>
<a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_stats.png" target="_blank">
<img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_stats.png" alt="evo" height="200" border="5" />
</a>
<a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_box.png" target="_blank">
<img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_box.png" alt="evo" height="200" border="5" />
</a>
<a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_violin.png" target="_blank">
<img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_violin.png" alt="evo" height="200" border="5" />
</a>
---
## IPython / Jupyter Resources
For an interactive source code documentation, open the [Jupyter notebook](http://jupyter.readthedocs.io/en/latest/install.html) `metrics_tutorial.ipynb` in the `notebooks` folder of the repository. More infos on Jupyter notebooks: see [here](https://github.com/MichaelGrupp/evo/blob/master/doc/jupyter_notebook.md)
If you have IPython installed, you can launch an IPython shell with a custom evo profile with the command `evo_ipython`.
---
## Contributing Utilities
A few "inoffical" scripts for special use-cases are collected in the `contrib/` directory of the repository. They are inofficial in the sense that they don't ship with the package distribution and thus aren't regularly tested in continuous integration.
---
## Trouble
*":scream:, this piece of :shit: software doesn't do what I want!!1!1!!"*
**First aid:**
* append `-h`/ `--help` to your command
* check the [Wiki](https://github.com/MichaelGrupp/evo/wiki)
* check the [previous issues](https://github.com/MichaelGrupp/evo/issues?q=is%3Aissue+is%3Aclosed)
* open a [new issue](https://github.com/MichaelGrupp/evo/issues)
---
## Contributing
Patches are welcome, preferably as pull requests.
## License
[GPL-3.0 or later](https://www.gnu.org/licenses/gpl-3.0.html)
If you use this package for your research, a footnote with the link to this repository is appreciated: `github.com/MichaelGrupp/evo`.
...or, for citation with BibTeX:
```
@misc{grupp2017evo,
title={evo: Python package for the evaluation of odometry and SLAM.},
author={Grupp, Michael},
howpublished={\url{https://github.com/MichaelGrupp/evo}},
year={2017}
}
```
Raw data
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"maintainer_email": null,
"keywords": "SLAM, odometry, trajectory, evaluation, metric, vision, laser, visual, robotics",
"author": "Michael Grupp",
"author_email": "michael.grupp@tum.de",
"download_url": "https://files.pythonhosted.org/packages/1f/3c/e997d14eaf0297b2b30da3538b7326230a3b3650c875ec0e830e650ebd39/evo-1.27.1.tar.gz",
"platform": null,
"description": "# evo \n\n***Python package for the evaluation of odometry and SLAM***\n\n| Linux / macOS / Windows / ROS / ROS2 |\n| :---: |\n| [](https://dev.azure.com/michl2222/michl2222/_build/latest?definitionId=1&branchName=master) |\n\nThis package provides executables and a small library for handling, evaluating and comparing the trajectory output of odometry and SLAM algorithms.\n\nSupported trajectory formats:\n\n* 'TUM' trajectory files\n* 'KITTI' pose files\n* 'EuRoC MAV' (.csv groundtruth and TUM trajectory file)\n* ROS and ROS2 bagfile with `geometry_msgs/PoseStamped`, `geometry_msgs/TransformStamped`, `geometry_msgs/PoseWithCovarianceStamped`, `geometry_msgs/PointStamped` or `nav_msgs/Odometry` topics or [TF messages](https://github.com/MichaelGrupp/evo/wiki/Formats#bag---ros-bagfile)\n\nSee [here](https://github.com/MichaelGrupp/evo/wiki/Formats) for more infos about the formats.\n\n<a href=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_map.png\" target=\"_blank\">\n <img src=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_map.png\" alt=\"evo\" height=\"200\" border=\"5\" />\n</a>\n<a href=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_violin.png\" target=\"_blank\">\n <img src=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_violin.png\" alt=\"evo\" height=\"200\" border=\"5\" />\n</a>\n<a href=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/markers.png\" target=\"_blank\">\n <img src=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/markers.png\" alt=\"evo\" height=\"200\" border=\"5\" />\n</a>\n<a href=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_stats.png\" target=\"_blank\">\n <img src=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_stats.png\" alt=\"evo\" height=\"200\" border=\"5\" />\n</a>\n\n---\n\n## Why?\n\nevo has several advantages over other public benchmarking tools:\n\n* common tools for different formats\n* algorithmic options for association, alignment, scale adjustment for monocular SLAM etc.\n* flexible options for output, [plotting](https://github.com/MichaelGrupp/evo/wiki/Plotting) or export (e.g. LaTeX plots or Excel tables)\n* a powerful, configurable CLI that can cover many use cases\n* modular `core` and `tools` libraries for custom extensions\n* faster than other established Python-based tools ([see here](https://github.com/MichaelGrupp/evo/blob/master/doc/performance.md))\n\n**What it's not:** a 1-to-1 re-implementation of a particular evaluation protocol tailored to a specific dataset. \n\n---\n\n## Installation / Upgrade\n\nInstallation is easy-peasy if you're familiar with this: https://xkcd.com/1987/#\n\nevo supports **Python 3.8+**.\nYou might also want to use a [virtual environment](https://github.com/MichaelGrupp/evo/blob/master/doc/install_in_virtualenv.md).\n\n### From PyPi\nIf you just want to use the executables of the latest release version, the easiest way is to run:\n```bash\npip install evo --upgrade --no-binary evo\n```\nThis will download the package and its dependencies from [PyPI](https://pypi.org/project/evo/) and install or upgrade them. Depending on your OS, you might be able to use `pip2` or `pip3` to specify the Python version you want. Tab completion for Bash terminals is supported via the [argcomplete](https://github.com/kislyuk/argcomplete/) package on most UNIX systems - open a new shell after the installation to use it (without `--no-binary evo` the tab completion might not be installed properly). If you want, you can subscribe to new releases via https://libraries.io/pypi/evo.\n\n### From Source\nRun this in the repository's base folder:\n```bash\npip install --editable . --upgrade --no-binary evo\n```\n\n### Dependencies\n\n**Python packages**\n\nevo has some required dependencies that are ***automatically resolved*** during installation with pip.\nThey are specified in the `install_requires` part of the `setup.py` file.\n\n**PyQt5 (optional)**\n\nPyQt5 will give you the enhanced GUI for plot figures from the \"*Qt5Agg*\" matplotlib backend (otherwise: \"*TkAgg*\"). If PyQt5 is already installed when installing this package, it will be used as a default (see `evo_config show`). To change the plot backend afterwards, run `evo_config set plot_backend Qt5Agg`.\n\n**ROS (optional)**\n\nSome ROS-related features require a ROS installation, see [here](http://www.ros.org/). We are testing this package with ROS Noetic and Iron. Previous versions (`<= 1.12.0`) work with Melodic, Kinetic and Indigo.\n\n*Note:* reading ROS bag files works also without a ROS installation thanks to the great [rosbags](https://pypi.org/project/rosbags/) package that is installed together with evo. This allows you also to read ROS 1 & 2 bags even if you don't have one of those ROS distros installed. (except for reading `/tf` topics, because there we need the buffer implementation from ROS)\n\n---\n\n## Command Line Interface\n\nAfter installation with setup.py or from pip, the following executables can be called globally from your command-line:\n\n**Metrics:**\n\n* `evo_ape` - absolute pose error\n* `evo_rpe` - relative pose error\n\n**Tools:**\n\n* `evo_traj` - tool for analyzing, plotting or exporting one or more trajectories\n* `evo_res` - tool for comparing one or multiple result files from `evo_ape` or `evo_rpe`\n* `evo_fig` - (experimental) tool for re-opening serialized plots (saved with `--serialize_plot`)\n* `evo_config` - tool for global settings and config file manipulation\n\nCall the commands with `--help` to see the options, e.g. `evo_ape --help`. Tab-completion of command line parameters is available on UNIX-like systems.\n\n**More documentation**\nCheck out the [Wiki on GitHub](https://github.com/MichaelGrupp/evo/wiki).\n\n---\n\n## Example Workflow\n\nThere are some example trajectories in the source folder in `test/data`.\n\n\n### 1.) Plot multiple trajectories\n\n Here, we plot two KITTI pose files and the ground truth using `evo_traj`:\n ```\n cd test/data\n evo_traj kitti KITTI_00_ORB.txt KITTI_00_SPTAM.txt --ref=KITTI_00_gt.txt -p --plot_mode=xz\n ```\n\n <a href=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/traj_demo.png\" target=\"_blank\">\n <img src=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/traj_demo.png\" alt=\"evo\" height=\"200\" border=\"5\" />\n </a>\n <a href=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/traj_demo_xyz.png\" target=\"_blank\">\n <img src=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/traj_demo_xyz.png\" alt=\"evo\" height=\"200\" border=\"5\" />\n </a>\n\n### 2.) Run a metric on trajectories\n\n For example, here we calculate the absolute pose error for two trajectories from ORB-SLAM and S-PTAM using `evo_ape` (`KITTI_00_gt.txt` is the reference (ground truth)) and plot and save the individual results to .zip files for `evo_res`:\n\n *First trajectory (ORB Stereo):*\n\n ```\n mkdir results\n evo_ape kitti KITTI_00_gt.txt KITTI_00_ORB.txt -va --plot --plot_mode xz --save_results results/ORB.zip\n ```\n\n <a href=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_raw.png\" target=\"_blank\">\n <img src=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_raw.png\" alt=\"evo\" height=\"200\" border=\"5\" />\n </a>\n <a href=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_map.png\" target=\"_blank\">\n <img src=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_map.png\" alt=\"evo\" height=\"200\" border=\"5\" />\n </a>\n\n *Second trajectory (S-PTAM):*\n \n ```\n evo_ape kitti KITTI_00_gt.txt KITTI_00_SPTAM.txt -va --plot --plot_mode xz --save_results results/SPTAM.zip\n ```\n\n <a href=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_S-PTAM_raw.png\" target=\"_blank\">\n <img src=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_S-PTAM_raw.png\" alt=\"evo\" height=\"200\" border=\"5\" />\n </a>\n <a href=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_S-PTAM_map.png\" target=\"_blank\">\n <img src=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_S-PTAM_map.png\" alt=\"evo\" height=\"200\" border=\"5\" />\n </a>\n\n\n### 3.) Process multiple results from a metric\n\n `evo_res` can be used to compare multiple result files from the metrics, i.e.:\n * print infos and statistics (default)\n * plot the results\n * save the statistics in a table\n\n Here, we use the results from above to generate a plot and a table:\n ```\n evo_res results/*.zip -p --save_table results/table.csv\n ```\n\n <a href=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_raw.png\" target=\"_blank\">\n <img src=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_raw.png\" alt=\"evo\" height=\"200\" border=\"5\" />\n </a>\n <a href=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_dist.png\" target=\"_blank\">\n <img src=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_dist.png\" alt=\"evo\" height=\"200\" border=\"5\" />\n </a>\n <a href=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_stats.png\" target=\"_blank\">\n <img src=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_stats.png\" alt=\"evo\" height=\"200\" border=\"5\" />\n </a>\n <a href=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_box.png\" target=\"_blank\">\n <img src=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_box.png\" alt=\"evo\" height=\"200\" border=\"5\" />\n </a>\n <a href=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_violin.png\" target=\"_blank\">\n <img src=\"https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_violin.png\" alt=\"evo\" height=\"200\" border=\"5\" />\n </a>\n\n---\n\n## IPython / Jupyter Resources\n\nFor an interactive source code documentation, open the [Jupyter notebook](http://jupyter.readthedocs.io/en/latest/install.html) `metrics_tutorial.ipynb` in the `notebooks` folder of the repository. More infos on Jupyter notebooks: see [here](https://github.com/MichaelGrupp/evo/blob/master/doc/jupyter_notebook.md)\n\nIf you have IPython installed, you can launch an IPython shell with a custom evo profile with the command `evo_ipython`.\n\n---\n\n## Contributing Utilities\n\nA few \"inoffical\" scripts for special use-cases are collected in the `contrib/` directory of the repository. They are inofficial in the sense that they don't ship with the package distribution and thus aren't regularly tested in continuous integration.\n\n---\n\n## Trouble\n*\":scream:, this piece of :shit: software doesn't do what I want!!1!1!!\"*\n\n**First aid:**\n* append `-h`/ `--help` to your command\n* check the [Wiki](https://github.com/MichaelGrupp/evo/wiki)\n* check the [previous issues](https://github.com/MichaelGrupp/evo/issues?q=is%3Aissue+is%3Aclosed)\n* open a [new issue](https://github.com/MichaelGrupp/evo/issues)\n\n---\n\n## Contributing\n\nPatches are welcome, preferably as pull requests.\n\n## License\n\n[GPL-3.0 or later](https://www.gnu.org/licenses/gpl-3.0.html)\n\nIf you use this package for your research, a footnote with the link to this repository is appreciated: `github.com/MichaelGrupp/evo`.\n\n...or, for citation with BibTeX:\n```\n@misc{grupp2017evo,\n title={evo: Python package for the evaluation of odometry and SLAM.},\n author={Grupp, Michael},\n howpublished={\\url{https://github.com/MichaelGrupp/evo}},\n year={2017}\n}\n```",
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