SLAM Viewer

Authors: Eduardo Perdices

SLAM Viewer

1. License

SLAM Viewer is released under a GPLv3 license.

2. Prerequisites

We have tested the library in Ubuntu 16.04, but it should be easy to compile in other platforms.

Pangolin

We use Pangolin for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.

OpenCV

We use OpenCV to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. Required at leat 2.4.3. Tested with OpenCV 2.4.11 and OpenCV 3.2.

Eigen3

We use Eigen3 to perform matrices operations. Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.1.0.

3. Building SLAM Viewer library and examples

Clone the repository:

git clone https://github.com/eperdices/slam-viewer

We provide a script build.sh to build SLAM Viewer. Please make sure you have installed all required dependencies (see section 2). Execute:

cd slam-viewer
chmod +x build.sh
./build.sh

This will create libSLAM_VIEWER.so at lib folder and the executable Viewer in bin folder.

4. Run SLAM Viewer

Execute the following command. Change TRAJECTORY_FILE to the path to the corresponding trajectory file (see Examples/trajectory.yaml).

./bin/Viewer TRAJECTORY_FILE