One D laser calibration about camlasercalibratool HOT 4 OPEN

    for (size_t j = 0; j < 180; j++)
    {
      double theta = -M_PI_2 + j * M_PI/180;
      Eigen::Vector3d ray(cos(theta), sin(theta), 0);
      double depth = -d/(ray.dot(n));
      
      if( std::isnan(depth) || depth < 0)
        continue;
      
      Eigen::Vector3d p = depth * ray;
      
      // valid laser points
      if( std::fabs(p.x()) < 5 && std::fabs(p.y()) < 5)
      {
          points.push_back(p);
      }
      // std::cout << p.transpose() << std::endl;
    }

double theta = 0.0;

   //Eigen::Vector3d ray(cos(theta), sin(theta), 0);
   Eigen::Vector3d ray(cos(theta), sin(theta), 0);
   double depth = -d/(ray.dot(n));
   if( std::isnan(depth) || depth < 0)
     continue;
   
   Eigen::Vector3d p = depth * ray;
   
   // valid laser points
   if( std::fabs(p.x()) < 5 && std::fabs(p.y()) < 5)
   {
       points.push_back(p);
   }

============= Ground Truth of Rotation and translation =============== 
 0  0  1
-1  0  0
 0 -1  0
0.1
0.2
0.3
   roll(rad): -1.5708 pitch(rad): 0 yaw(rad): -1.5708
or roll(deg): -90 pitch(deg): 0 yaw(deg): -90
       tx(m): 0.1  ty(m): 0.2   tz(m): 0.3
============= End =============== 
obs size: 1329
----- H singular values--------:
1230.97
1121.64
1034.39
15.7625
13.9415
      0
====== null space basis, it's means the unobservable direction for Tcl ======
       please note the unobservable direction is for Tcl, not for Tlc        
0
0
0
1
0
0

recover chi2: 5.39867e-22

----- Transform from Camera to Laser Tlc is: -----

-5.14566e-13 -5.31309e-13            1          0.1
  -0.0596479     0.998219  4.99664e-13    -0.287536
   -0.998219   -0.0596479 -5.45475e-13     0.217538
           0            0           -0            1

----- Transform from Camera to Laser, euler angles and translations are: -----

   roll(rad): -1.5708 pitch(rad): 1.51111 yaw(rad): -1.5708
or roll(deg): -90 pitch(deg): 86.5804 yaw(deg): -90
       tx(m): 0.1  ty(m): -0.287536   tz(m): 0.217538