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Reference

[0] https://github.com/HKUST-Aerial-Robotics/MonoLaneMapping
[1] https://zhuanlan.zhihu.com/p/674211985
[2] http://www.cemyuksel.com/research/catmullrom_param/catmullrom.pdf
[3] https://www.cs.cmu.edu/~fp/courses/graphics/asst5/catmullRom.pdf [4] https://qroph.github.io/2018/07/30/smooth-paths-using-catmull-rom-splines.html
[5] https://www.guyuehome.com/45540