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Make Trajectory from Positions

I am using a camera for visual odometry using viso2_ros mono_odometer. I have these the positions in following formats:

geometry_msgs/PoseStamped
geometry_msgs/Pose
nav_msgs/Odometry
geometry_msgs/PoseWithCovariance

The positions are 3D. I want to have a line to show the trajectory with out any map or background. What is the best way to make a trajectory out of the positions that I have? I have tried Rvis, by adding an odometry, I get number of arrays showing the current position. but it is not what I want.