First, make sure that you have cloned the course repository. In the folder $\texttt{~/catkin_ws/src/osr_course_pkgs/osr_examples/vision_assignment_data}$ you can find the following files (n = 1, 2, 3, 4):

• $\texttt{take_n.ply}$: contains the point cloud of take n;
• $\texttt{take_n_left.png}$: contains the left camera image for take n;
• $\texttt{take_n_right.png}$: contains the right camera image for take n;
• $\texttt{left_camera_info.yaml}$: left camera info;
• $\texttt{right_camera_info.yaml}$: right camera info.

Assume that the pose of the camera is fixed across the four takes. Write the code to determine the relative transformations $T_2$, $T_3$, $T_4$ between the poses of the glass in takes 2, 3, and 4, respectively, and the pose of the glass in take 1.