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Input files explanation

-pos_act.txt A list of calculated robot joint 4 position in the camera frame.
-pos_des.txt A list of recorded robot joint 4 position in the base robot frame.
-q_history.txt It stores the joint angle of the robot when it was moved to different poses.

-input/Acusense_RGB_K.txt It stores the Intrinsic parameters of the colour lens of the Acusense camera.
-input/ExtrinsicMat.txt It stores the Extrinsic parameters that consists the transformation matrix between the depth and colour lens of the Acusense camera.
-input/IR/ It contains the infrared frames of the scene captured by the camera as the robot was being moved to different poses.
-input/RGB/ It contains the colour frames of the scene captured by the camera as the robot was being moved to different poses.
-input/pcd/ It contains the point cloud captured by the camera as the robot was being moved to different poses.