Authors: Eduardo Perdices
SLAM Viewer
SLAM Viewer is released under a GPLv3 license.
We have tested the library in Ubuntu 16.04, but it should be easy to compile in other platforms.
We use Pangolin for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.
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.
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.
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.
Execute the following command. Change TRAJECTORY_FILE to the path to the corresponding trajectory file (see Examples/trajectory.yaml).
./bin/Viewer TRAJECTORY_FILE