SLAM estimator using gtsam. Configured for snapdragon dataset, which we use. For now, all settings are embedded into source code.
We used IMU data from
snapdragon dataset #3 (imu.txt),
which have to be placed in data folder and trimed, so there are only
a few measurements before first image measurement.
We have generated our own visual measurements via
SLAM-generator
(projections.csv), which have to be placed in data folder.
Estimator store last best position into positions.csv, where first three
numbers represent position and last two nubers represent rotation in quaternion
(w x y z), all numbers are separated with space.
Make sure you have installed GTSAM library.
Then build the program using cmake .. && make in the build folder.
After that you can run the estimator using ./estimator.
Output will be stored into positions.csv.