Navigate to the SLAM directory and install all required packages:

pip install -r requirements.txt

If you encounter dependency conflicts, install packages in order:

# Core packages
pip install numpy scipy

# Visualization
pip install vtk fury

# Plotting
pip install matplotlib

# Data handling
pip install pandas

Check that all packages are installed correctly:

python -c "import fury; import matplotlib; import numpy; print('✓ All packages installed successfully!')"

Run the simulation with default settings:

python simulation/robot_simulation.py

When you run the simulation, two windows will open:

1. 3D FURY Window (Left)

   • Shows robot navigating the oval track
   • Green: True robot position and landmarks
   • Blue: Estimated robot position and landmarks
   • Real-time 3D visualization at 60 FPS

2. Matplotlib Plots Window (Right)

   • 4 real-time graphs updating every 0.5 seconds:
     • Position Error (top-left, blue): Distance between true and estimated position
     • Heading Error (top-right, red): Angular error in degrees
     • Landmarks Mapped (bottom-left, green): Number of landmarks discovered
     • Position Uncertainty (bottom-right, magenta): Covariance-based confidence

3D Window Controls:

• Left mouse button: Rotate view
• Right mouse button: Zoom in/out
• Middle mouse button: Pan camera
• Q key: Quit simulation early

1. During Simulation:

   • Logs metrics to CSV file at 60 Hz
   • Updates 3D visualization at 60 FPS

2. When Complete:

   • Saves metrics to logs/slam_metrics_noisy.csv or logs/slam_metrics_normal.csv
   • Saves plots to logs/slam_metrics_noisy.png or logs/slam_metrics_normal.png
   • Saves detailed log to logs/slam_log.txt

Edit the bottom of simulation/robot_simulation.py (line ~1030):

# With realistic noise (recommended for final results)
run_simulation(enable_noise=True, num_laps=4, use_racing_line=False)

# Without noise (for testing/comparison)
run_simulation(enable_noise=False, num_laps=4, use_racing_line=False)

run_simulation(enable_noise=True, num_laps=4, use_racing_line=False)
#                                    ^^^^^^ Change this number

After running the simulation, check the logs/ directory.