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]

\ur is the data set of upper-right laser scanner (vertical scanning)
\ul is the data set of upper-left laser scanner (vertical scanning)
\fl is the data set of front-left laser scanner (downward scanning)

In each folder,
*.ds is a binary file containing the synchronized laser scans and vehicle pose data.
*.calib is a ascii file describing the sensor geometry with respect to vehicle body frame 
*.mdl is a project file

\prg contains two sample programs.

RangeSeg.exe is a windows program demonstrating some basic processing, e.g. range image, variance map, contour extraction, line segments, etc. on the DS file.

Ds2RgbPt.zip is a sample code converting DS data to 3D points, demonstrating data formats.

[*.DS Format]
BINARY file

typedef struct {
	float	AngRng;
	float	AngRes;
	float	unit
} header;

typedef struct {
	point3d	ang;			//vehicle orientation
	point3d	shv;			//vehicle position
	long	millisec;		//time of the measurement
	short	rngval[SCANDATASIZE];	//range values
} dsrec;

*.ds contains a header and a sequence of dsrec.

while,
SCANDATASIZE = AngRng/AngRes + 1

e.g. 180/0.5+1 = 361
     100/0.25+1 = 401

A range value in "short" can be converted to a distance in meter by rngval/unit

typedef struct {
	double	x,y,z;
} point3d;


[usage of RangeSeg.exe]

1. Start RangeSeg.exe
2. File->Load Mdl, load *.mdl file (project file), the DS file will be show in range image.
3. Choose the sub menus of "Action" to try some processing.
4. If you want to vertically inverse the view, select Option->Inverse, then select a sub menu of "Action" to update the view. 
5. Select the submenu of "Zoom" or press Home/End key to enlarge or reduce image size