Align trajectory
This codes can be used to align trajectory. And show trajectory, show position after alignment, etc.
- The trajectory can be automatically aligned according to the timestamp.
- The alignment uses umeyama algorithm.
- Trajectory format: timestamp x y z q_x q_y q_z q_w
Dependencies
- Pangolin
- EIgen
Usage
Compile:
cd align_trajectory
mkdir build
cd build
cmake ..
make run:
cd align_trajectory
./align_trajectory