The dataset contains two folders:
1. training_sample			46 samples belonging to 16 object classes, stored in xyzl format.
2. testing_scene				3 piece of data collected in PKU campus, and 9 piece of data collected in ShangDi street. All stored in xyzl format too.

An example of .xyzl data:
#x y z(in world coord)		label
1437.897 26289.970 -89.238 14		#3 points labeled as building
1436.272 26288.056 -89.412 14
1436.145 26287.906 -89.685 14
1428.232 26278.583 -89.113 0		#3 unlabeled points
1428.301 26278.665 -89.297 0
1428.414 26278.798 -89.490 0
1417.659 26266.128 -88.233 1		#5 points labeled as car
1417.618 26266.079 -88.257 1
1417.596 26266.053 -88.284 1
1417.592 26266.049 -88.316 1
1417.621 26266.082 -88.356 1

The object label of laser point used in the dataset:
undefine			0
car						1
bus						2
truck					3
bicycle				4
pedestrian		5
pole					6
traffic light	7
road lamp			8
road sign			9
traffic sign	10
trash box			11
curb					12
pile					13
building			14
fence					15
adboard				16