Clone the repository and add the unzipped dataset in the directory of the repository itself (after this step you should have all the data in PlanarMonocularSLAM/dataset). Compile and run the program with:

make
./bin/main

Note that the current Makefile is using as path for Eigen /usr/local/include/eigen3, change it accordingly to the right path on your system.

To generate the plots of the final result, run the script:

matlab/plot_trajectories.m

A slightly more detailed description of the project is available here.