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