data
|______{dataset_num}.npz
src
|______camera.py
|______localization.py
|______mapping.py
|______slam.py
|______pr3_utils.py.py

results (generated)
|____ *plots and images

environment.yml
main.py
README.md

The code is arranged in the above directory structure. All the data should reside in data folder.

To run the code, a conda virtual environment needs to be created as shown

conda env create -f environment.yml
conda activate proj3

Now, once the environment is ready, the code can be run using the following command

python main.py

This will run the code on dataset 10. To chagne the dataset change the dataset variable on line 12 in main.py.

Once the code run is complete for a dataset, a folder is generated as results/ which contains all the plots.