Given the error of physical arrangement and camera intrinsic parameter, there is still the unexpected bias between the camera origin and and hokuyo oriigin.
We need to tuning following parameter to fix this problem
physical arrangement of usb cam mount upon hokuyo
camera intrinsic parameter: do the camera calibration
camera_offsetx: most effective way to compensate but not theoretically correct.
Given the error of physical arrangement and camera intrinsic parameter, there is still the unexpected bias between the camera origin and and hokuyo oriigin.
We need to tuning following parameter to fix this problem