This data set contains 11 3D laser scans collected with the Riegl VZ-400 around
the Maria-Schmerz chapel in Randersacker Each scan has up to 20,500,000 points
with reflectance values.

MD5sum of randersacker.tar.xz: ce772a1edeeeb9bea3643e1892adbd24

Since the original scan contains random noise measured in the middle in the
middle of the air, the dataset was cleaned such that all points without a
neighbor within a radius of 1 meter within each individual scan were removed
from the dataset. This operation removed about 600-800 points from each
dataset.

Description of Files:
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scan00?.3d contains the data points in a left-handed coordinate system (scanners
own coordinate system, SOCS). Each line represents one point, including the x-,
y-, z-coordinate abd the reflectance value.

scan00?.pose contains the registered poses. The first line contains the
position as x-, y-, and z-coordinates. The second line contains the Euler
angles in degrees.

Viewing the dataset
-------------------

./bin/show -f uosr --reflectance DIRECTORY