This data set was recorded in the campus of the Jacobs University Bremen,
Germany. It contains 122 3D scans, each with up to 22,500,000 points. Each scan
was recorded with reflectance values. You can download the complete data
set with the 3D scans and pose estimates acquired by manual registration using
RIEGL tiepoints.  Please refer to the README for further information about the
file formats.
Please Note!: Some of the scans are used twice, so as to enable sequential ICP
matching.  This was necessary because the data was taken over the course of
several weeks.  To reduce the filesize the duplicated files are only symbolic
links. Not all filesystems support symlinks, so you may encounter problems
under windows.

Description of Files:
---------------------

scan0??.txt contains the data points in a right-handed coordinate
system (scanners own coordinate system, SOCS). The first line is the
total number of points, followed by one point per line, including the
x-, y-, z-coordinate, the polar coordinates (range, theta, phi) and
the reflectance value.

scan0??.dat contains the alignment of the single scans. The scan is
represented as a 4x4 matrix with the position in the fourth column as
given by the Riegl software (project coordinate system).

Instructions on matching the data set using slam6d
--------------------------------------------------
(This data set is in the RIEGL_TXT file format.) 

1. Download and unzip the scans to DIRECTORY
2. Reduce the data points using 
./bin/scan_red -s 26 -r 100 -f RIEGL_TXT DIRECTORY
3. Match the scans using
./bin/slam6d -q -f uos -d 100 -s 26 --cldist=10000 -G 1 -D 100 -i 100 -I 100 DIRECTORY/reduced  
4. View the results using
./bin/show -s 26 DIRECTORY/reduced