Test Localization and Attribute Estimation in the new setup

[himanshunaidu]

Test the following:

1. Depth Estimation
   Make sure the correct pixel coordinates are being used for extract depth from the depth buffer.
   Mismatched coordinate spaces, such as using (1-y) instead of y, could result in incorrect depth value being extracted.

2. Localization
   Make sure that the localization done with camera parameters is done correctly.