Implement a "Localization History & Pose Visualization" feature in Apollo Dreamview.

[daohu527]

Implement a "Localization History & Pose Visualization" feature in Apollo Dreamview.

Requirement 1: TF-style Pose Display

• Goal: Render a 3D coordinate frame (X-red, Y-green, Z-blue) at the vehicle's current location.
• Input: apollo.localization.LocalizationEstimate (contains pose.position and pose.orientation).
• UI: Use Three.js AxesHelper or a custom Shader to represent the orientation.

Requirement 2: Historical Trajectory (Breadcrumbs)

• Goal: Store and render the past $N$ seconds (e.g., 60s) of localization points.
• Buffer: Implement a ring buffer to store (x, y, z) coordinates to prevent memory leaks.
• Visualization: * Use a Line or Points object in Three.js.
• Fade Effect: Apply vertex colors where alpha decreases as the point gets older.
• Comparison: Allow overlaying "LiDAR Localization" vs "GNSS-only" trajectories in different colors to spot drifts.

Requirement 3: Performance & Toggle

• Provide a toggle in the Layer Menu to enable/disable "Pose History".
• Downsample the history (e.g., only record at 10Hz even if localization is at 100Hz) to save GPU resources.