diff --git a/scantools/tests/test_data/navvis_files/cam/00013-cam0.jpg b/scantools/tests/test_data/navvis_files/cam/00013-cam0.jpg
deleted file mode 100644
index e69de29..0000000
diff --git a/scantools/tests/test_data/navvis_files/cam/00013-cam1.jpg b/scantools/tests/test_data/navvis_files/cam/00013-cam1.jpg
deleted file mode 100644
index e69de29..0000000
diff --git a/scantools/tests/test_data/navvis_files/cam/00013-cam2.jpg b/scantools/tests/test_data/navvis_files/cam/00013-cam2.jpg
deleted file mode 100644
index 2cc80f8..0000000
Binary files a/scantools/tests/test_data/navvis_files/cam/00013-cam2.jpg and /dev/null differ
diff --git a/scantools/tests/test_data/navvis_files/cam/00013-cam3.jpg b/scantools/tests/test_data/navvis_files/cam/00013-cam3.jpg
deleted file mode 100644
index e69de29..0000000
diff --git a/scantools/tests/test_data/navvis_files/cam/00013-cam4.jpg b/scantools/tests/test_data/navvis_files/cam/00013-cam4.jpg
deleted file mode 100644
index e69de29..0000000
diff --git a/scantools/tests/test_data/navvis_files/cam/00013-cam5.jpg b/scantools/tests/test_data/navvis_files/cam/00013-cam5.jpg
deleted file mode 100644
index e69de29..0000000
diff --git a/scantools/tests/test_data/navvis_files/cam/info.list b/scantools/tests/test_data/navvis_files/cam/info.list
deleted file mode 100644
index f6f744c..0000000
--- a/scantools/tests/test_data/navvis_files/cam/info.list
+++ /dev/null
@@ -1 +0,0 @@
-00013-info.json
diff --git a/scantools/tests/test_data/navvis_files/info/00013-info.json b/scantools/tests/test_data/navvis_files/info/00013-info.json
deleted file mode 100644
index c88cda6..0000000
--- a/scantools/tests/test_data/navvis_files/info/00013-info.json
+++ /dev/null
@@ -1,108 +0,0 @@
-{
-    "cam0": {
-        "position": [
-            -1.2299637315581074,
-            2.962799296764929,
-            1.8473998446586065
-        ],
-        "quaternion": [
-            0.08952181860377329,
-            -0.6952457665956079,
-            0.09034806860960908,
-            0.7074294272386978
-        ]
-    },
-    "cam1": {
-        "position": [
-            -1.0509131644519497,
-            3.066928959648752,
-            1.844687841410764
-        ],
-        "quaternion": [
-            0.49717268437856307,
-            -0.4969589568991363,
-            0.5018328832039416,
-            0.5039988833328459
-        ]
-    },
-    "cam2": {
-        "position": [
-            -0.8728526454678518,
-            2.965832369776056,
-            1.8423621631217125
-        ],
-        "quaternion": [
-            0.6946535349030589,
-            -0.08968954360379854,
-            0.706966608842549,
-            0.09803298524728127
-        ]
-    },
-    "cam3": {
-        "position": [
-            -0.8716899618550648,
-            2.7835234172895459,
-            1.8408592948695544
-        ],
-        "quaternion": [
-            0.6096221551915545,
-            0.3517714660194638,
-            0.6180574162374445,
-            -0.3501752330305725
-        ]
-    },
-    "cam4": {
-        "position": [
-            -1.2250848324445563,
-            2.77949323994915,
-            1.8470906547483819
-        ],
-        "quaternion": [
-            -0.35360350595312037,
-            -0.6064311646304609,
-            -0.35618668820069007,
-            0.616714558196277
-        ]
-    },
-    "cam5": {
-        "position": [
-            -1.0490095955813586,
-            2.86980864910331,
-            1.9092854449213659
-        ],
-        "quaternion": [
-            -0.007218853640446001,
-            0.00883597526757422,
-            -0.0006791329404626851,
-            0.9999346741020825
-        ]
-    },
-    "cam_head": {
-        "position": [
-            -1.0499189885598149,
-            2.9047309887552905,
-            1.8552808739550642
-        ],
-        "quaternion": [
-            0.7019560841933487,
-            0.00672819757201659,
-            0.00576775848245355,
-            0.7121650933480667
-        ]
-    },
-    "footprint": {
-        "position": [
-            -1.0784578858752685,
-            2.7596796249185977,
-            0.005495329154017181
-        ],
-        "quaternion": [
-            0.7033852476919397,
-            0.005780597682550122,
-            0.005888812859978094,
-            0.7107609302028928
-        ]
-    },
-    "timestamp": 1596013970.590877,
-    "valid": "true"
-}
\ No newline at end of file
diff --git a/scantools/tests/test_data/navvis_files/pointcloud.ply b/scantools/tests/test_data/navvis_files/pointcloud.ply
deleted file mode 100644
index e69de29..0000000
diff --git a/scantools/tests/test_data/navvis_files/sensor_frame.xml b/scantools/tests/test_data/navvis_files/sensor_frame.xml
deleted file mode 100644
index 50e6522..0000000
--- a/scantools/tests/test_data/navvis_files/sensor_frame.xml
+++ /dev/null
@@ -1,588 +0,0 @@
-<?xml version="1.0" ?>
-<SensorFrame xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.navvis.com/xsd/sensor_frame-1.0.xsd">
-	<Hardware>
-		<Model>M6-4</Model>
-		<Serial>M6-4-023</Serial>
-		<WheelAxleHeight>0.2</WheelAxleHeight>
-		<DeviceConfig>Y2</DeviceConfig>
-	</Hardware>
-	<TriggerDevice>
-		<Model>NavVisCtrl</Model>
-		<Serial>NAV00001</Serial>
-	</TriggerDevice>
-	<LineSensor>
-		<OffsetX>0.1430548750681196</OffsetX>
-		<OffsetZ>1.940650466271376</OffsetZ>
-		<SlopeX>0.01813041761387414</SlopeX>
-		<SlopeZ>-1.048427688973902</SlopeZ>
-		<ADCBits>10</ADCBits>
-		<MaxLength>0.75</MaxLength>
-		<MaxHeight>1.850034089590002</MaxHeight>
-	</LineSensor>
-	<AnchorDevice>
-		<AnchorOffsetX>0.2472133760573168</AnchorOffsetX>
-		<AnchorOffsetY>0.002914738522400533</AnchorOffsetY>
-		<AnchorOffsetZ>0</AnchorOffsetZ>
-		<AnchorHeading>0</AnchorHeading>
-	</AnchorDevice>
-	<CalibrationInfo>
-		<Name>rev0</Name>
-		<ValidFrom>2019-10-21</ValidFrom>
-		<Author>Humberto Alvarez, Neeti Tyagi</Author>
-		<Comment/>
-		<DataPath>/mnt/mapteam/Trolley_setup/M6-4-023/rev0</DataPath>
-		<Version>V8</Version>
-	</CalibrationInfo>
-	<CameraHead>
-		<SensorName>cam_head</SensorName>
-		<Serial>M6-generic-v1</Serial>
-		<Model/>
-		<Pose>
-			<position>
-				<x>0.1446219004044132</x>
-				<y>0.0004809006410478258</y>
-				<z>1.850034089590002</z>
-			</position>
-			<orientation>
-				<w>0.9999975366089215</w>
-				<x>0.000580479626211914</x>
-				<y>-0.0007421318636042121</y>
-				<z>0.002009741224407949</z>
-			</orientation>
-		</Pose>
-		<CameraModel>
-			<SensorName>cam0</SensorName>
-			<Serial>000000000000000000FX1R08160150-1-3-1</Serial>
-			<Model/>
-			<Pose>
-				<position>
-					<x>0.06064759792047416</x>
-					<y>0.1790196613888058</y>
-					<z>-0.01113454991945916</z>
-				</position>
-				<orientation>
-					<w>0.5624902842839218</w>
-					<x>-0.4283718577185417</x>
-					<y>0.5627935274491461</y>
-					<z>0.4282121869614477</z>
-				</orientation>
-			</Pose>
-			<CameraInfo>
-				<FileName>/mnt/mapteam/Trolley_setup/M6-4-023/rev0/cam_intrinsic/cam0/calib/ocam/cam0.calib</FileName>
-				<FileNameInfo/>
-			</CameraInfo>
-			<ImageSize>
-				<Width>4592</Width>
-				<Height>3448</Height>
-			</ImageSize>
-			<OCamModel>
-				<c>1.000512</c>
-				<d>-0.001413</d>
-				<e>0.001454</e>
-				<cx>1745.644423</cx>
-				<cy>2289.580521</cy>
-				<cam2world>
-					<coeff>-1983.406</coeff>
-					<coeff>0</coeff>
-					<coeff>0.0002165983</coeff>
-					<coeff>-4.003405e-08</coeff>
-					<coeff>1.616231e-11</coeff>
-				</cam2world>
-				<world2cam>
-					<coeff>2897.294809</coeff>
-					<coeff>1592.573894</coeff>
-					<coeff>-76.269834</coeff>
-					<coeff>253.324578</coeff>
-					<coeff>115.369911</coeff>
-					<coeff>-10.80424</coeff>
-					<coeff>61.389893</coeff>
-					<coeff>22.740515</coeff>
-					<coeff>-17.282497</coeff>
-					<coeff>14.429784</coeff>
-					<coeff>3.529446</coeff>
-					<coeff>-0.179122</coeff>
-					<coeff>12.644676</coeff>
-					<coeff>-0.663886</coeff>
-					<coeff>-8.260312000000001</coeff>
-					<coeff>-0.208706</coeff>
-					<coeff>2.623593</coeff>
-					<coeff>0.723404</coeff>
-				</world2cam>
-			</OCamModel>
-		</CameraModel>
-		<CameraModel>
-			<SensorName>cam1</SensorName>
-			<Serial>000000000000000000FX1L08160910-1-3-2</Serial>
-			<Model/>
-			<Pose>
-				<position>
-					<x>0.1621795185550194</x>
-					<y>-0.00153672883325712</y>
-					<z>-0.0108085480940079</z>
-				</position>
-				<orientation>
-					<w>0.7074746153120024</w>
-					<x>0.002292478839936636</x>
-					<y>0.7067048996390983</y>
-					<z>-0.006526718623840489</z>
-				</orientation>
-			</Pose>
-			<CameraInfo>
-				<FileName>/mnt/mapteam/Trolley_setup/M6-4-023/rev0/cam_intrinsic/cam1/calib/ocam/cam1.calib</FileName>
-				<FileNameInfo/>
-			</CameraInfo>
-			<ImageSize>
-				<Width>4592</Width>
-				<Height>3448</Height>
-			</ImageSize>
-			<OCamModel>
-				<c>1.000293</c>
-				<d>-0.000795</d>
-				<e>0.000857</e>
-				<cx>1740.703503</cx>
-				<cy>2291.373174</cy>
-				<cam2world>
-					<coeff>-1984.06</coeff>
-					<coeff>0</coeff>
-					<coeff>0.0002122601</coeff>
-					<coeff>-3.591422e-08</coeff>
-					<coeff>1.507185e-11</coeff>
-				</cam2world>
-				<world2cam>
-					<coeff>2904.926365</coeff>
-					<coeff>1612.176004</coeff>
-					<coeff>-60.696503</coeff>
-					<coeff>252.13943</coeff>
-					<coeff>117.566538</coeff>
-					<coeff>-5.873288</coeff>
-					<coeff>57.694283</coeff>
-					<coeff>25.18299</coeff>
-					<coeff>-13.740347</coeff>
-					<coeff>9.38533</coeff>
-					<coeff>2.828129</coeff>
-					<coeff>3.966487</coeff>
-					<coeff>12.586478</coeff>
-					<coeff>-2.415703</coeff>
-					<coeff>-8.248135</coeff>
-					<coeff>0.186093</coeff>
-					<coeff>2.656615</coeff>
-					<coeff>0.70158</coeff>
-				</world2cam>
-			</OCamModel>
-		</CameraModel>
-		<CameraModel>
-			<SensorName>cam2</SensorName>
-			<Serial>000000000000000000FX1R08070240-1-3-3</Serial>
-			<Model/>
-			<Pose>
-				<position>
-					<x>0.05852162041908657</x>
-					<y>-0.1781312373387994</y>
-					<z>-0.00986123399346707</z>
-				</position>
-				<orientation>
-					<w>0.5609061090068912</w>
-					<x>0.4352796233499611</x>
-					<y>0.5567862660665258</y>
-					<z>-0.431167067729855</z>
-				</orientation>
-			</Pose>
-			<CameraInfo>
-				<FileName>/mnt/mapteam/Trolley_setup/M6-4-023/rev0/cam_intrinsic/cam2/calib/ocam/cam2.calib</FileName>
-				<FileNameInfo/>
-			</CameraInfo>
-			<ImageSize>
-				<Width>4592</Width>
-				<Height>3448</Height>
-			</ImageSize>
-			<OCamModel>
-				<c>1.000631</c>
-				<d>-0.000196</d>
-				<e>0.000193</e>
-				<cx>1709.981462</cx>
-				<cy>2265.919529</cy>
-				<cam2world>
-					<coeff>-1983.862</coeff>
-					<coeff>0</coeff>
-					<coeff>0.000216605</coeff>
-					<coeff>-4.01178e-08</coeff>
-					<coeff>1.617501e-11</coeff>
-				</cam2world>
-				<world2cam>
-					<coeff>2898.142553</coeff>
-					<coeff>1592.757043</coeff>
-					<coeff>-76.78316700000001</coeff>
-					<coeff>253.440494</coeff>
-					<coeff>115.401551</coeff>
-					<coeff>-10.997407</coeff>
-					<coeff>61.550468</coeff>
-					<coeff>22.691519</coeff>
-					<coeff>-17.451337</coeff>
-					<coeff>14.608574</coeff>
-					<coeff>3.597256</coeff>
-					<coeff>-0.327296</coeff>
-					<coeff>12.628742</coeff>
-					<coeff>-0.602181</coeff>
-					<coeff>-8.256843999999999</coeff>
-					<coeff>-0.221796</coeff>
-					<coeff>2.622632</coeff>
-					<coeff>0.724268</coeff>
-				</world2cam>
-			</OCamModel>
-		</CameraModel>
-		<CameraModel>
-			<SensorName>cam3</SensorName>
-			<Serial>000000000000000000FX1L08070120-1-1-4-2-2</Serial>
-			<Model/>
-			<Pose>
-				<position>
-					<x>-0.1237871672868205</x>
-					<y>-0.176686018844572</y>
-					<z>-0.01111895876536886</z>
-				</position>
-				<orientation>
-					<w>0.1844769972050985</w>
-					<x>0.6850051062134308</x>
-					<y>0.1774576032644031</y>
-					<z>-0.6820887339689538</z>
-				</orientation>
-			</Pose>
-			<CameraInfo>
-				<FileName>/mnt/mapteam/Trolley_setup/M6-4-023/rev0/cam_intrinsic/cam3/calib/ocam/cam3.calib</FileName>
-				<FileNameInfo/>
-			</CameraInfo>
-			<ImageSize>
-				<Width>4592</Width>
-				<Height>3448</Height>
-			</ImageSize>
-			<OCamModel>
-				<c>1.00031</c>
-				<d>-0.00022</d>
-				<e>0.000307</e>
-				<cx>1728.826774</cx>
-				<cy>2280.593784</cy>
-				<cam2world>
-					<coeff>-1977.237</coeff>
-					<coeff>0</coeff>
-					<coeff>0.0002133314</coeff>
-					<coeff>-3.721467e-08</coeff>
-					<coeff>1.55303e-11</coeff>
-				</cam2world>
-				<world2cam>
-					<coeff>2895.757554</coeff>
-					<coeff>1601.836071</coeff>
-					<coeff>-66.838416</coeff>
-					<coeff>252.348575</coeff>
-					<coeff>116.59567</coeff>
-					<coeff>-7.931678</coeff>
-					<coeff>59.218965</coeff>
-					<coeff>24.070407</coeff>
-					<coeff>-15.066926</coeff>
-					<coeff>11.506346</coeff>
-					<coeff>2.940943</coeff>
-					<coeff>2.250204</coeff>
-					<coeff>12.716005</coeff>
-					<coeff>-1.687512</coeff>
-					<coeff>-8.288181</coeff>
-					<coeff>0.017656</coeff>
-					<coeff>2.647582</coeff>
-					<coeff>0.711763</coeff>
-				</world2cam>
-			</OCamModel>
-		</CameraModel>
-		<CameraModel>
-			<SensorName>cam4</SensorName>
-			<Serial>000000000000000000FX1R08070240-1-1-4-2-3</Serial>
-			<Model/>
-			<Pose>
-				<position>
-					<x>-0.1227100213373301</x>
-					<y>0.1767851204648054</y>
-					<z>-0.01113185187528903</z>
-				</position>
-				<orientation>
-					<w>0.184853861029403</w>
-					<x>-0.680529718082672</x>
-					<y>0.1880405710910454</y>
-					<z>0.6836293560787121</z>
-				</orientation>
-			</Pose>
-			<CameraInfo>
-				<FileName>/mnt/mapteam/Trolley_setup/M6-4-023/rev0/cam_intrinsic/cam4/calib/ocam/cam4.calib</FileName>
-				<FileNameInfo/>
-			</CameraInfo>
-			<ImageSize>
-				<Width>4592</Width>
-				<Height>3448</Height>
-			</ImageSize>
-			<OCamModel>
-				<c>1.000369</c>
-				<d>-0.000795</d>
-				<e>0.000824</e>
-				<cx>1728.286649</cx>
-				<cy>2259.313417</cy>
-				<cam2world>
-					<coeff>-1980.014</coeff>
-					<coeff>0</coeff>
-					<coeff>0.0002133562</coeff>
-					<coeff>-3.734094e-08</coeff>
-					<coeff>1.553323e-11</coeff>
-				</cam2world>
-				<world2cam>
-					<coeff>2898.762076</coeff>
-					<coeff>1602.359993</coeff>
-					<coeff>-67.636661</coeff>
-					<coeff>252.767113</coeff>
-					<coeff>116.493217</coeff>
-					<coeff>-8.096342</coeff>
-					<coeff>59.44152</coeff>
-					<coeff>23.916132</coeff>
-					<coeff>-15.144911</coeff>
-					<coeff>11.759232</coeff>
-					<coeff>2.87195</coeff>
-					<coeff>2.07384</coeff>
-					<coeff>12.79186</coeff>
-					<coeff>-1.61237</coeff>
-					<coeff>-8.317261999999999</coeff>
-					<coeff>-0.002078</coeff>
-					<coeff>2.651738</coeff>
-					<coeff>0.714171</coeff>
-				</world2cam>
-			</OCamModel>
-		</CameraModel>
-		<CameraModel>
-			<SensorName>cam5</SensorName>
-			<Serial>000000000000000000FX1L08070260-1-1-4-2-4</Serial>
-			<Model/>
-			<Pose>
-				<position>
-					<x>-0.03485154827042947</x>
-					<y>0.0005492031630173636</y>
-					<z>0.05405514264759199</z>
-				</position>
-				<orientation>
-					<w>0.7071067854026294</w>
-					<x>0</x>
-					<y>0</y>
-					<z>0.7071067769704655</z>
-				</orientation>
-			</Pose>
-			<CameraInfo>
-				<FileName>/mnt/mapteam/Trolley_setup/M6-4-023/rev0/cam_intrinsic/cam5/calib/ocam/cam5.calib</FileName>
-				<FileNameInfo/>
-			</CameraInfo>
-			<ImageSize>
-				<Width>4592</Width>
-				<Height>3448</Height>
-			</ImageSize>
-			<OCamModel>
-				<c>1.000059</c>
-				<d>0.002799</d>
-				<e>-0.003191</e>
-				<cx>1714.769953</cx>
-				<cy>2257.481956</cy>
-				<cam2world>
-					<coeff>-1982.206</coeff>
-					<coeff>0</coeff>
-					<coeff>0.0002124956</coeff>
-					<coeff>-3.654541e-08</coeff>
-					<coeff>1.553333e-11</coeff>
-				</cam2world>
-				<world2cam>
-					<coeff>2893.290097</coeff>
-					<coeff>1592.583384</coeff>
-					<coeff>-66.364976</coeff>
-					<coeff>254.694441</coeff>
-					<coeff>113.516489</coeff>
-					<coeff>-6.264753</coeff>
-					<coeff>59.254034</coeff>
-					<coeff>22.064741</coeff>
-					<coeff>-12.384564</coeff>
-					<coeff>12.053034</coeff>
-					<coeff>-0.026136</coeff>
-					<coeff>2.381714</coeff>
-					<coeff>14.473461</coeff>
-					<coeff>-1.7042</coeff>
-					<coeff>-8.879947</coeff>
-					<coeff>-0.049007</coeff>
-					<coeff>2.735547</coeff>
-					<coeff>0.733457</coeff>
-				</world2cam>
-			</OCamModel>
-		</CameraModel>
-	</CameraHead>
-	<LaserModel>
-		<SensorName>laser_vert_bottom</SensorName>
-		<Serial>H1875944</Serial>
-		<Model/>
-		<Pose>
-			<position>
-				<x>0.333001035650884</x>
-				<y>0.002006969638885343</y>
-				<z>0.5137242519694917</z>
-			</position>
-			<orientation>
-				<w>-0.002441026084332186</w>
-				<x>0.7902225697956479</x>
-				<y>-0.004375021893372101</y>
-				<z>0.612799470267926</z>
-			</orientation>
-		</Pose>
-		<Angle>
-			<Start>-2.356194490192345</Start>
-			<Step>0.004363323129985824</Step>
-		</Angle>
-		<Range>
-			<Minimum>0.1</Minimum>
-			<Maximum>30</Maximum>
-			<Count>1081</Count>
-		</Range>
-		<AEAD>0.3102394033342149</AEAD>
-		<AEPD>-155.7053180734331</AEPD>
-		<CAD>0.4245346932790599</CAD>
-		<RG>1</RG>
-		<RB>0.002639204933282631</RB>
-	</LaserModel>
-	<LaserModel>
-		<SensorName>laser_vert_top_left</SensorName>
-		<Serial>H1875947</Serial>
-		<Model/>
-		<Pose>
-			<position>
-				<x>0.3112074172971747</x>
-				<y>0.1517335204214402</y>
-				<z>1.846974720793018</z>
-			</position>
-			<orientation>
-				<w>0.5805204642550432</w>
-				<x>0.08657410726082344</x>
-				<y>0.5813045510134588</y>
-				<z>0.5635476319745668</z>
-			</orientation>
-		</Pose>
-		<Angle>
-			<Start>-2.356194490192345</Start>
-			<Step>0.004363323129985824</Step>
-		</Angle>
-		<Range>
-			<Minimum>0.1</Minimum>
-			<Maximum>30</Maximum>
-			<Count>1081</Count>
-		</Range>
-		<AEAD>0.234133286654835</AEAD>
-		<AEPD>-143.6653305144497</AEPD>
-		<CAD>0.4197677535228953</CAD>
-		<RG>1</RG>
-		<RB>0.002730673881773029</RB>
-	</LaserModel>
-	<LaserModel>
-		<SensorName>laser_vert_top_right</SensorName>
-		<Serial>H1875911</Serial>
-		<Model/>
-		<Pose>
-			<position>
-				<x>0.3120175597538497</x>
-				<y>-0.1499894013343511</y>
-				<z>1.846551965578537</z>
-			</position>
-			<orientation>
-				<w>0.585068049263753</w>
-				<x>-0.08391177650438436</x>
-				<y>0.5821715373286712</y>
-				<z>-0.5583283018251507</z>
-			</orientation>
-		</Pose>
-		<Angle>
-			<Start>-2.356194490192345</Start>
-			<Step>0.004363323129985824</Step>
-		</Angle>
-		<Range>
-			<Minimum>0.1</Minimum>
-			<Maximum>30</Maximum>
-			<Count>1081</Count>
-		</Range>
-		<AEAD>0.1777167856054205</AEAD>
-		<AEPD>-169.515771186694</AEPD>
-		<CAD>0.449151700264573</CAD>
-		<RG>1</RG>
-		<RB>0.001550204305295473</RB>
-	</LaserModel>
-	<VelodyneLaserModel>
-		<SensorName>laser_horiz</SensorName>
-		<Serial>11001185135814</Serial>
-		<Model/>
-		<Pose>
-			<position>
-				<x>0.2473248971644082</x>
-				<y>-0.0002182750671612403</y>
-				<z>1.925515984149531</z>
-			</position>
-			<orientation>
-				<w>0.9982827970937983</w>
-				<x>0.0001656816958363167</x>
-				<y>0.05828035406011009</y>
-				<z>-0.00590168677466186</z>
-			</orientation>
-		</Pose>
-		<Range>
-			<Minimum>0.5</Minimum>
-			<Maximum>150</Maximum>
-		</Range>
-		<RotationFrequency>20</RotationFrequency>
-		<AEAD>0.029949944068085</AEAD>
-		<AEPD>-18.37579591541212</AEPD>
-		<RG>0.9996744789684727</RG>
-		<RB>-0.001170140080843263</RB>
-	</VelodyneLaserModel>
-	<IMU>
-		<SensorName>imu</SensorName>
-		<Serial>FT1TBW7B</Serial>
-		<Model>imu-v3</Model>
-		<Pose>
-			<position>
-				<x>0.07000000000000001</x>
-				<y>0</y>
-				<z>1.792</z>
-			</position>
-			<orientation>
-				<w>0.001296342776065842</w>
-				<x>0.0009837070975614109</x>
-				<y>0.9999980876130706</y>
-				<z>0.001084705468987215</z>
-			</orientation>
-		</Pose>
-		<AccelerometerCalib>
-			<matrix cols="4" rows="3">
-				<coeff>1</coeff>
-				<coeff>0</coeff>
-				<coeff>0</coeff>
-				<coeff>-0.000115985</coeff>
-				<coeff>0</coeff>
-				<coeff>1</coeff>
-				<coeff>0</coeff>
-				<coeff>0.0119195</coeff>
-				<coeff>0</coeff>
-				<coeff>0</coeff>
-				<coeff>1</coeff>
-				<coeff>-0.252153</coeff>
-			</matrix>
-		</AccelerometerCalib>
-		<GyroCalib>
-			<matrix cols="4" rows="3">
-				<coeff>1</coeff>
-				<coeff>0</coeff>
-				<coeff>0</coeff>
-				<coeff>0</coeff>
-				<coeff>0</coeff>
-				<coeff>1</coeff>
-				<coeff>0</coeff>
-				<coeff>0</coeff>
-				<coeff>0</coeff>
-				<coeff>0</coeff>
-				<coeff>1</coeff>
-				<coeff>0</coeff>
-			</matrix>
-		</GyroCalib>
-	</IMU>
-	<Extra/>
-</SensorFrame>
\ No newline at end of file
diff --git a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_0.npy b/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_0.npy
deleted file mode 100644
index c49bb3e..0000000
Binary files a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_0.npy and /dev/null differ
diff --git a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_1.npy b/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_1.npy
deleted file mode 100644
index 27fd13a..0000000
Binary files a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_1.npy and /dev/null differ
diff --git a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_2.npy b/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_2.npy
deleted file mode 100644
index 4ac0a2b..0000000
Binary files a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_2.npy and /dev/null differ
diff --git a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_3.npy b/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_3.npy
deleted file mode 100644
index 6bdcaaa..0000000
Binary files a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_3.npy and /dev/null differ
diff --git a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_4.npy b/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_4.npy
deleted file mode 100644
index 808d4ce..0000000
Binary files a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_4.npy and /dev/null differ
diff --git a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_5.npy b/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_5.npy
deleted file mode 100644
index fbbbcf9..0000000
Binary files a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_5.npy and /dev/null differ
diff --git a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_6.npy b/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_6.npy
deleted file mode 100644
index 8c35e44..0000000
Binary files a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_6.npy and /dev/null differ
diff --git a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_7.npy b/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_7.npy
deleted file mode 100644
index 3a81ec5..0000000
Binary files a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_7.npy and /dev/null differ
diff --git a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_8.npy b/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_8.npy
deleted file mode 100644
index 682925a..0000000
Binary files a/scantools/tests/test_data/ocamlib_create_undistortion_lut_expected/lut_tiles_3x3_angles_8.npy and /dev/null differ