LRANSAC based lidar and camera calibrator

This is the implementation of paper “Pixels and 3-D Points Alignment Method for the Fusion of Camera and LiDAR Data”

@article{xie2018pixels,
  title={Pixels and 3-D Points Alignment Method for the Fusion of Camera and LiDAR Data},
  author={Xie, Shichao and Yang, Diange and Jiang, Kun and Zhong, Yuanxin},
  journal={IEEE Transactions on Instrumentation and Measurement},
  volume={68},
  number={10},
  pages={3661--3676},
  year={2018},
  publisher={IEEE}
}

The original codes for the paper are contained in /ref, while I’m still trying to port the code into C++. Most part of the conversion has been done, however, the camera calibration toolbox in MATLAB is still remaining to be ported.