TrajectoryDrawing

The trajectory of the robot is known and plotted with Pangolin.

Data description

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

Additional Prerequisites for this demo

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.

Build and Run

cd XX/XX(include draw_trajectory.cpp ,trajectory.txt and CMakeLists.txt)  
mkdir build  
cd build  
cmake ..  
make -j2  
./draw_trajectory

Result

Pangolin GUI: .