This is a readme file to explain the data set and a simple viewer.

Some of the results can be found at

H.Zhao, L.Xiong, Z.Jiao, J.Cui, H.Zha, Sensor alignment towards an
omni-directional measurement using an intelligent vehicle,
Proc. IEEE Intelligent Vehicle Symposium, 292-298, 2009.

If you use the data or viewer, you are obligated to cite our research in your report.

For any question, please contact: zhaohj@cis.pku.edu.cn



[Files]

Each *.pt3d is a binary file contains the laser points from one laser scanner.
ur represents the laser scanner of upper-right laser scanner (vertical scanning)
ul represents the laser scanner of upper-left laser scanner (vertical scanning)
fl represents the laser scanner of front-left laser scanner (downward scanning)
The laser points of fl are saved into two files, fl-road.pt3d for ground data, fl-nonroad.pt3d for non-ground data, by a very basic classification.

fm represents the laser scanner of front-middle laser scanner (horizontal scanning for SLAM with MODT)

fm-fg.pt3d contains the laser points of moving objects that extracted from horizontal laser scan data.

ld.nav is an ascii file contains the vehicle pose in local coordinate system.

datviewer.exe is a viewer of the data set.

[*.pt3d Format]
BINARY file
each laser point is a record of
	typedef struct	{
		double		x, y, z;
		BYTE		r, g, b;
	} point3d;

*.pt3d contains a sequence of point3d

[*.nav Format]
ASCII file
time	gtrans.ang.x	ang.y	ang.z	shv.x	shv.y	shv.z

[usage of datviewer.exe]

1. Start datviewer.exe
2. File->Load Points(BIN), load *.pt3d file, each for one file, you can load multiple files. The laser points of each load will be assigned to one layer no, the first load will be Layer 0, second load will be layer 1, etc..
3. File->Load Nav Data, load *.nav file.
4. Setting->LayerInfo, set layer color, point size and display or no. E.g. select one layer, check Color by Layer, set Color to "0,255,0", push Update, then the points in that layer will be shown in Green. 
#You must push Update so that to update layer info, and if you want to assign color to a certain layer, you must check Color-by-Layer.
Finally close the dialogbox.
5. Setting->ViewSet, modify the viewdepth to select the points be viewed. e.g. viewdepth = 1000 (almost all laser points are viewed), viewdepth = 100 (the laser points far away are not drawn)
6. Option->Animation, press ESC to stop animation

You can change view points by press 
Left/Right/Up/Down arrow key: shift eye position to left/right/forward/backward
PgUp, PgDn: shift eye position to up, down
Control/Shift+Left/Right arrow key: rotate heading
Control/Shift+Up/Down arrow key: rotate pitch angle
Control/Shift+PgUp/PgDown arrow key: rotate roll angle