This data set was recorded as part of the DAAD/ZMOS project ThermoBIM. It
contains 8 3D laser scans collected with the Riegl VZ-400 in front of the
cathedral in Zagreb. Each scan has up to 22,500,000 points with reflectance
values. You can download the complete data set with the 3D scans and rough
initial pose estimates acquired by manual registration.
The final poses are computed by slam6D.
Description of Files:
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scan00?.3d contains the data points in a left-handed coordinate system (scanners
own coordinate system, SOCS). Each line represents one point, including the x-,
y-, z-coordinate abd the reflectance value.
scan00?.pose contains the pose estimates. The first line contains the position
as x-, y-, and z-coordinates. The second line contains the Euler angles in
degrees.
zagreb.net is the graph file used to match the scans with slam6d.
Intructions on matching the data set using slam6D
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1. Download and unzip the scans to DIRECTORY
2. Download the graph file 'zagreb.net' to your main 3DTK directory.
3. Match the scans using
./bin/slam6D -s 0 -e 7 -f uosr -a 2 --anim=1 -d 300 --epsICP=0.00000001 -r 10 -O 1 -G 1 -I 300 -D 100 --epsSLAM=0.0000000001 -p -n zagreb.net DIRECTORY
4. View the results using
./bin/show -s 0 -e 7 -f uosr --reflectance DIRECTORY