TrajectoryErrorCalculationAndDrawing

This is a small demo to compare and plot SLAM estimated trajectories and ground-truth trajectories.

The whole demo is tested in Ubuntu Platorforms

Mathematical theory

Data description

ground-truth.txt:ground-truth trajectories data
estimate.txt:estimated trajectories data

Data storage form
Time 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 estimated.cpp ,estimated.txt ,groundtruth.txt and CMakeLists.txt)  
mkdir build  
cd build  
cmake ..  
make -j2  
./estimated

Result

Pangolin GUI: .