# Town01的变换矩阵(ok)
    R = np.array([[1.608978933495218, -0.0006133637127350534], [0.002967129565265202, -1.616573483032402]])
    T = np.array([[21.96085734252182], [73.98491744019127]])

    # Town02的变换矩阵(ok)
    R = np.array([[2.853288729947334, -0.001954564367013564], [-0.01084418875167121, -2.902583603546258]])
    T = np.array([[75.19143327247443], [-271.2606785755725]])

    # Town03的变换矩阵(ok very nice)
    R = np.array([[1.42539846369879, -0.000613806695560062], [-0.006309288645396612, -1.42529645694144]])
    T = np.array([[266.8903605584413], [321.8950052342699]])

    # Town04的变换矩阵(ok)
    R = np.array([[0.6945775929658323, -0.00242031540532944], [-0.001151290440462326, -0.7332215587816061]])
    T = np.array([[374.2232704087302], [303.5616340310737]])

    # Town05的变换矩阵(not ok 高架桥误差大)
    R = np.array([[1.151724847113483, 0.04979182850230186], [-0.04002015696056613, -1.193283702860338]])
    T = np.array([[387.2353315551624], [325.3770351204567]])

    # Town06的变换矩阵（ok）
    R = np.array([[0.622355330577449, 0.005832891756840823], [-0.002292540060410386, -0.5624124260904821]])
    T = np.array([[242.799258978577], [278.7354311222649]])

    # Town07的变换矩阵(not ok 误差大)
    R = np.array([[1.641298667149452, -0.01306631310848138], [0.03929811782735146, -1.530002461260377]])
    T = np.array([[461.2455550308022], [399.1818917817909]])