More information about installation and usages can be found here .
1. Follow Qt5 installation Or
sudo apt-get update
sudo apt-get install qt5-default
sudo apt-get install libxmu-dev libxi-dev
sudo apt-get install libglu1-mesa-dev freeglut3-dev mesa-common-dev
git clone https://github.com/JdeRobot/slam-testbed.git
cd slam-testbed
mkdir build
cd build
cmake ..
make -j4
./slam-Testbed
File > Open dataset A > select the "original_data.txt" file in data folder.
File > Open dataset B > select the "modified_data.txt" file in data folder.
Estimator > Estimate Sequence from A to B.