def dataCorrection(data, offset):
    """ Add a position offset to relevant column of data.

    data is a DataFrame object from the pandas module.
    offset is list of offset such as [x_offset, y_offset, yaw_offset].
    """

    data['droneX'] = data['droneX'].map(lambda x: x-offset[0])
    data['droneY'] = data['droneY'].map(lambda x: x-offset[1])
    data['yaw'] = data['yaw'].map(lambda x: x-offset[2])
    data['lidarX'] = data['lidarX'].map(lambda x: x-offset[0])
    data['lidarY'] = data['lidarY'].map(lambda x: x-offset[1])

    return data