MichaelGrupp/evo ? reverse-engineered prompt

Build me a Python tool for evaluating odometry and SLAM results. I want to be able to load trajectory files from common formats like TUM, KITTI, EuRoC, and ROS bag files, then compare estimated trajectories against ground truth and see clear error metrics like absolute pose error and relative pose error.

It should have simple command line commands for plotting trajectories, running the metrics, and comparing results, with useful export options for things like tables and figures. I’d like it to support aligning trajectories, matching timestamps, and handling monocular scale differences when needed. A clean plot viewer would be great too, and if possible, make it easy to send results to a modern viewer for nicer interactive visualization.

Please include a basic config command, good defaults, and some example data or example commands so I can try it right away. If you need to check current docs for any details, feel free to look them up online.