Dependencies:

1. g2opy for Pose Graph Optimization
2. pygolin for rendering pointcloud and keyframes using OpenGL
3. python ~> 3.5.6
4. numpy - pip install numpy
5. [OpenCV3] (https://docs.opencv.org/3.0-beta/doc/tutorials/introduction/linux_install/linux_install.html) build opencv from source.

Usage:

python main.py

Let the slam system run for a few frames or 5 minutes. The posegraph and pointcloud will be rendered in the pangolin viewer. (click the image to watch it live)