The range data collected consist of quad-tuples of range, longitude and latitude angles ( and ), and the intensity of the reflected laser light. Two visualizations of the data are shown in figure 1, which are spherical panoramic images (not fisheye) showing the range and reflected laser intensity values at regular latitude-longitude positions. After the data is collected, it can be processed to correct for the calibration values found.
The color data simply consists of a panoramic set of images taken with the camera's nodal point coincident with that of the rangefinder's (a custom mounting bracket ensures this). The camera is rotated (using the pan-tilt unit) stopping every 24 to acquire a 55 x 77 image.