result of motion compensation ( Ver.0.9 )
data: AMZ bag data
reference: https://arxiv.org/abs/1706.05886
PS. The Car reference frame is defined as (front, left, up), and the Lidar rotates clockwise. But my code is designed for (front, right, up) frame. So right side points was compensated forward, which may need to be modified before running.
some optimization will be done afterwards( that's why called ver 0.9 : ) )