Note:
=====

All data values are represented in a *left hand side* coordinate system,
i.e., thumb = x-axis, index finger = y-coordinate, middle finger =
z-coodinate. The z-coordinate is the depth axis. Since this is
somewhat unusual use a relfextion matrix to convert the data values to
OpenGL-style.


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

points.pts contains all data points, one point per line, i.e., x y z 0

scan???.3d contains the data point per scan. The first line is the
resolution, followed by one point per line, i.e., x y z

scan???.pose contains the alignment of the single scans. The position
x y z is given in the first line, the orientation in the second line
as Euler angles theta_x theta_y theta_z.