Underwater Camera and Sonar SLAM

Building

• Clone the repository
• Ensure dependencies are installed
• Create a build folder mkdir build and cd build
• Run cmake cmake ..
• Build it make -j5
• Run the program ./mast_project_synth

Dependencies

• Eigen3 - sudo apt-get install libeigen3-dev
• Eigen3 Unsupported - Included in the above
• OpenCV 3.0 - http://opencv.org/
  • Use OpenCV 3.0 not opencv 2.x
  • Ensure you install using sudo make install
  • Also install community contrib modules
• g2o solving framework - https://github.com/RainerKuemmerle/g2o
• SuiteParse - http://packages.ubuntu.com/source/precise/suitesparse