Update README.md

Author: Pradeep Ranganathan

README.md

@@ -1,4 +1,5 @@
-# pyslam
+pyslam
+======
 Basic Sparse-Cholesky Graph SLAM solver implemented in python
 
 Requirements
@@ -14,3 +15,12 @@ On Ubuntu 16.04:
 apt-get install libsuitesparse-dev
 pip install future numpy scipy cython scikit-sparse
 ```
+
+Invocation
+----------
+```bash
+python slam_solver.py datasets/M3500a.g2o
+```
+
+The resulting optimized SLAM graph is rendered as HTML and saved in
+`/tmp/graph.html`

graphio.py

@@ -250,7 +250,7 @@ def load_graph(filename):
     svg.selectAll("polygon")
         .data(vertices)
       .enter().append("polygon")
-        .attr("points", "-.5,.5 -.5,-.5, 1,0")
+        .attr("points", "-1,1 -1,-1, 2,0")
         .attr("transform", function(d) { return "translate("+d[0]+","+d[1]+") rotate("+d[2]+")"; })
       .append("svg:title")
         .text(function(d, i) { return "" + i; });