# Dataset Test Files

This folder contains .csv files with point cloud data taken from data provided by the EECS 498 course staff and the Sydney Urban Objects Dataset. Click on the embedded links to view a .png of the given point cloud.

# Sources

The source clouds are listed below. The algorithm rotates this cloud to fit to the targets,
which are listed in the next section.

## [bus.11.270_source.csv](https://drive.google.com/file/d/1M7mV-SU4H4ToCfTRfbH9bj6vIV4D8do1/view?usp=sharing)

830 points, moderately dense to moderately sparse

## [building.4.16217_source.csv](https://drive.google.com/file/d/1K7cDIkaeAFLYNrBAt6lhXOaVeyHc6tab/view?usp=sharing)

863 points, moderately dense

## [building.16.5229_source.csv](https://drive.google.com/file/d/1zwl64lmFY177TFVn0jfEenWgx4pcAgN8/view?usp=sharing)

2113 points, very dense

## [trunk.37.8444_source.csv](https://drive.google.com/file/d/1M7mV-SU4H4ToCfTRfbH9bj6vIV4D8do1/view?usp=sharing)

766 points, moderately dense

## [car.5.5563_source.csv](https://drive.google.com/file/d/1GTS9TkFk19XjXzbxk68Ms0vnwZ4uCtVS/view?usp=sharing)

210 points, moderately sparse

## [trash.1.2738_source.csv](https://drive.google.com/file/d/1ZFvyJ97BW_-Dej1JEvJV-SHHQwnfbmPK/view?usp=sharing)

95 points, moderately sparse

## cloud_icp_source.csv

990 points, moderately dense

# Targets

The target point clouds are listed below with their corresponding transformations.

## bus.11.270.csv_target0.csv

Rotated 180 degrees about the x-axis, translated +1 unit in all directions

## bus.11.270.csv_target1.csv

Rotated 90 degrees about the x-axis, translated +1 unit in all directions

## building.4.16217_target0.csv

Rotated 180 degrees about the x-axis, translated +1 unit in all directions

## building.4.16217_target1.csv

Rotated 90 degrees about the x-axis, translated +1 unit in all directions

## building.16.5229_target0.csv

Rotated 180 degrees about the x-axis, translated +1 unit in all directions

## building.16.5229_target1.csv

Rotated 90 degrees about the x-axis, translated +1 unit in all directions

## trunk.37.8444_target0.csv

Rotated 180 degrees about the x-axis, translated +1 unit in all directions

## trunk.37.8444_target1.csv

Rotated 90 degrees about the x-axis, translated +1 unit in all directions

## car.5.5563_target0.csv

Rotated 180 degrees about the x-axis, translated +1 unit in all directions

## car.5.5563_target1.csv

Rotated 90 degrees about the x-axis, translated +1 unit in all directions

## trash.1.2738_target0.csv

Rotated 180 degrees about the x-axis, translated +1 unit in all directions

## trash.1.2738_target1.csv

Rotated 90 degrees about the x-axis, translated +1 unit in all directions