Clone the repository and add the unzipped
dataset
in the directory of the
repository itself (after this step you should have all the data in
PlanarMonocularSLAM/dataset). Compile and run the program with:
make
./bin/main
Note that the current Makefile is using as path for Eigen
/usr/local/include/eigen3, change it accordingly to the right path on
your system.
To generate the plots of the final result, run the script:
matlab/plot_trajectories.m
A slightly more detailed description of the project is available here.