graphslam

Implementation of graph based SLAM.

Setup

Create a conda virtual environment

conda create -n slamenv2 python=2.7

Install the dependencies (requirements.txt in progress)

conda install numpy matplotlib 

Activate the virtual environment)

conda activate slamenv2

Getting Started

Create graph from TORO or G2O data files

def main():
    graph = load_graph_file('data/file.g2o'))
    
    # Display graph in window.
    graph.plot()

    # Save graph to PDF.
    graph.plot(save=True)


if __name__ == "__main__":
    main()