This data set was recorded in the Old Town of Bremen, Germany. It
contains 13 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.

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).

bremen.net is the graph file used to match the scans with slam6d.

Instructions on matching the data set using slam6d
--------------------------------------------------

1. Download and unzip the scans to DIRECTORY
2. Reduce the data points using 
./bin/scan_red -s 0 -e 12 -r 10 DIRECTORY
3. Match the scans using
./bin/slam6d -a 2 -q DIRECTORY/reduced -f uos -d 150 --lastscan -s 0 -e 12 --anim=1 -n DIRECTORY/bremen.net -G 1 -D 100 -i 0 -I 50 -p --epsSLAM=0.0 
4. View the results using
./bin/show -s 0 -e 12 DIRECTORY/reduced