MODEL FILES:

For PC (Windows 95), the file: model1.zip, when unzipped contains the following files:
   1- RendWare viewrer (FreeWare program) Rwview.exe
   2- File room2d_25k1.rwx: geometric model of the test room (25,000 triangles) - solid
   3- File room2d_25k2.rwx: geometric model of the test room (25,000 triangles) - wireframe

 By opening one of the model files from the RendWare viewer, you can visualize and
 manipulate the complete model. This is a fast viewer. For the 25,000 triangles, 
 it is almost in real time (using recent video card, such as ATI Mach 64 or Matrox Millennium)
 SOME INSTRUCTIONS ON THE VIEWRER:
  - After openning the file from the viewrer, click on the object
  - Use the mouse to rotate
  - Use the mouse with the shift key pressed to move up and down
  - Use the mouse with the control key pressed to move in and out
  - to stop the object from rotating, click on it again
  - For more info see RenderWare demos site (in the Resources page)

For Workstations, the file: model1.dxf.Z is compressed. It can be viewed with any viewer
that can read the DXF format.

RAW DATA FILES:

The number of images used to create the above model is 116 video images (640 x 480 pixels)
and 232 range images (256 x 256 pixels). To provide all these images is not practical, thus
we are providing the images for only a small portion of the room (about 1.25m x 5m x 3m).
The range images have been corrected and transferred into XYZ files. 

For PC, the file: rawdata1.zip, (or the 4 smaller files rd1*.zip) when unzipped contains:
   1- 16 *.xyz files, each containing 256 x 256 pixels, each pixel has x, y, and z coordinates
      in floating point (4-Bytes). These files are BINARY..
   2- 24 *.tif (TIFF format) files, each containing 640 x 480 pixels, each pixel has 8-bits 
      of gray scale.

For Workstations, the file: rawdata1.tar.Z, when uncompressed, will contain
 the same data as 1 and 2 above, except that the binary data ( *.xyz files) have their bytes
 swapped from those for PC.

PURPOSE OF THE TEST:

The images provided are not registered (i.e. the XYZ coordinates of each image are in
a different local coordinate system).  The range data cover the side walls and a small 
part of the ceiling. The video images cover the side walls and a different part of the
ceiling. The objectives of this test are to:

1- BUILD THE MODEL OF THIS PART OF THE ROOM..

To make things easier for this first test, there are plenty of targets in those images to
help with the registration. Also, we did partial registration !. The XYZ coordinates of
images having the same two digits (e.g. pos26_1, pos26_2, pos26_3 and pos26_4) are in the same
coordinate system (already registered). To register them with the next four (pos27_1, pos27_2,
pos27_3 and pos27_4) here is a hint: the two local coordinate systems are separated mostly 
along the X-direction and by approximately 40-50 cm. Same goes for between 27-28 and 28-29.
The video images were taken by 8-mm lens (images having third digit 1,2,3,4 and 6) , 
and by 4.5-mm lens (images with third digit 5).

2- DESCRIBE YOUR APPROACH

For example, you may use all the images, or only the range, or only the video. You may 
generate only geometric model or geometric model plus texture map. It is important to:
- describe how to evaluate the quality of the generated model,
- how to deal with overlaps
- how to deal with gaps and missing data
- how to deal with outliers

The coordinates of all the targets and features shown in the images are known to us and 
will be used to evaluate the model generated by the participants.

3- DOCUMENT ANY PROBLEM OR DIFFICULTY