Laser scanning data and additional material from distance measurement investigations of a Leica RTC360 on a horizontal comparator bench

The distance performance of the Leica RTC360 has been investigated in the measurment laboratory of the Institute of Engineering Geodesy and Measurement systems (TU Graz). Therefore, panorama scans have been carried out with the RTC360 in the low resolution mode (12mm@10m) on a linear comparator bench. The distance performance has been invesitgated on 4 different materials (Avery white, Avery Black, Cardboard black and Cardboard grey) in 4 cm step widths along the comparator. The experimental set-up and the results are explained in more detail in the publication "Laboratory investigations of the Leica RTC360 laser scanner-distance measuring performance" in MDPI Sensors (see https://doi.org/10.3390/s24123742).  To allow further investigation beyond the scope of this paper and to support a wider discussion in the community, complementary research material is provided Here:

.) In the zip files, point clouds for every step on the comparator bench can be found for each material. One subfolder (ScanSurfacesBox) contains the raw point cloud (crobbed by a 0.5 m x 0.5 m x 0.5 m bounding box) around the movable carriage on the comparator. Furthermore a 15 cm x 15 cm subset of the EDM target is provided, wich was used in the paper for the plane estimation and the distance (Drtc) computation.

.) For each material a text file is provided, which summerises the distance (Drtc) computation. In the columns the intended reference distance on the comparator, the estimated Drtc, a standard deviation for all single measurments on the target at the given distance, the number of contributing points to the plane estimation and the local coordinates for the intersection point of the estimated plane and the centre line along the comparator, are provided for every scan set-up,.

.) Videos are provided, showing a horizontal cut (15 cm high) through all  "ScanSurfacesBox" point clouds at each step for every material.

For further analyis , the reader may also request the raw proj.rtc360 files directly by the authors.

本研究在格拉茨工业大学（TU Graz）工程大地测量与测量系统研究所的计量实验室中，针对徕卡RTC360的测距性能展开了系统性测试与探究。为此，研究团队在**线性比较仪工作台**上以低分辨率模式（12mm@10m）使用RTC360完成全景扫描。本次测距性能测试覆盖4种不同材质（Avery白、Avery黑、硬纸板黑、硬纸板灰），沿比较仪台以4厘米的步距开展测试。
该实验的设置方案与详细测试结果，已发表于MDPI旗下期刊《Sensors》的论文"Laboratory investigations of the Leica RTC360 laser scanner-distance measuring performance"（详见https://doi.org/10.3390/s24123742）。为支持超出本论文范畴的后续研究，并推动学界更广泛的讨论，本文在此提供配套研究数据集：
1. 压缩包中包含了每种材质在比较仪台各步距下的点云数据。其中子文件夹ScanSurfacesBox存储了比较仪活动滑台周边的原始点云数据（通过0.5m×0.5m×0.5m的包围盒裁剪得到）。此外还提供了电子测距（Electronic Distance Measurement，EDM）靶标的15cm×15cm子集，该子集正是原论文中用于平面拟合与距离（Drtc）计算的靶标数据。
2. 针对每种材质均提供了一份文本文件，汇总了距离（Drtc）的计算结果。该文件的各列依次为：比较仪台设定的参考距离、估算得到的Drtc值、该距离下靶标所有单次测量的标准差、用于平面拟合的有效点数量，以及估算平面与比较仪台中心线交点的局部坐标，涵盖每一次扫描设置的对应数据。
3. 提供了各材质在每个步距下的"ScanSurfacesBox"点云的水平切片（高度15cm）演示视频。
若需开展进一步分析，研究者可直接联系作者获取原始proj.rtc360文件。