*** 1. Undistort image

nclt_tools/distort_all_ours.py You need U2D_Cam5_1616X1232.txt Cam5 represents frontal camera

*** 2. Synced pose

nclt_tools/write_sync_pose.py

*** 3. Parse Hokuyo

nclt_tools/read_hokuyo_30m.py

*** 4. Run main.py file

** Notice tf: consists of 3x4 because 0,0,0,1 in the last row is overlapped! Hokuyo: consists of 2x1081 only consists of x and y