Algorithm 1 Pseudo code single frame transformation.

1:Given sensor position, ${\mathit{P}}_{\mathbf{0}}$ 2:for all m in Mirrors do 3:    [${\mathit{V}}_{\mathbf{0}}$, $\mathit{n}$, range] = generateMirrorPlanes(m, tilt, distance) 4:for all lasers do                             ▹ vertical 5:    for all ${\mathit{P}}_{\mathbf{1}}$ in measurements do                    ▹ horizontal 6:        for all m in Mirrors do 7:           if azimuth ∈ range then 8:               ${{\mathit{P}}_{\mathbf{1}}}^{\prime }=$ calcTransformedPoint $(\mathit{n},{\mathit{V}}_{\mathbf{0}},{\mathit{P}}_{\mathbf{0}},{\mathit{P}}_{\mathbf{1}})$        ▹ Equatios (1) to (7)