The trajectory of the robot is known and plotted with Pangolin.
trajectory.txt:Save trajectory information of robot.
Data storage form
Timestamp Translation-x Translation-y Translation-z Quaternion-x Quaternion-y Quaternion-z Quaternion-w
Pangolin
Use Pangolin for visualization and interface.
Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.
Sophus
Use Sophus for Lie groups commonly used for 2d and 3d geometric problems.
Dowload and install instructions can be found at: https://github.com/strasdat/Sophus.
cd XX/XX(include draw_trajectory.cpp ,trajectory.txt and CMakeLists.txt)
mkdir build
cd build
cmake ..
make -j2
./draw_trajectory
Pangolin GUI: .