hxdaze / CoreSLAM

A c++ tiny SLAM implementation

coreSLAM

A lightweight SLAM Algorithm in C++ based on Center of Robotics research.

Reference:

A SLAM Algorithm in less than 200 lines of C code by Bruno Steux, Oussama El Hamzaoui Mines ParisTech - Center of Robotics, Paris, FRANCE.

http://www.researchgate.net/publication/228374722_CoreSLAM_a_SLAM_Algorithm_in_less_than_200_lines_of_C_code

Build

You need to install CMake with version higher than 2.8.1.

cd PATH-TO-CoreSLAM
mkdir build
cd build
cmake ../
make

Note:

The CMakeLists is written for macOS build. If you want to build it on Linux just change:

target_link_libraries(
    TestLabReverse
	${OpenCV_LIBRARIES}
    ${PROJECT_SOURCE_DIR}/build/libCoreSLAM.dylib )

To,

target_link_libraries(
    TestLabReverse
	${OpenCV_LIBRARIES}
    ${PROJECT_SOURCE_DIR}/build/libCoreSLAM.so )