This repository contains the original raw data and ALS benchmark for Wytham Woods and Sepilok Forest.

__Details for ALS-TLS data alignment:__

1. Transformation matrix:

Sepilok Forest:
$$
\begin{bmatrix}
1.000 & 0.014 & 0.000 & 2.808 \\
-0.014 & 1.000 & 0.000 & -1.512 \\
0.000 & 0.000 & 1.000 & 0.030
\\
0.000 & 0.000 & 0.000 & 1.000
\end{bmatrix}
$$
Wytham Woods:
$$
\begin{bmatrix}
0.999 & -0.045 & -0.012 & 85.703 \\
0.045 & 0.999 & -0.019 & 71.710 \\
0.013 & 0.018 & 1.000 & 77.603 \\
0.000 & 0.000 & 0.000 & 1.000
\\
\end{bmatrix}
$$

1. Aignment RMSE (compute on 50000 points in CloudCompare):
   
| Plot Name|Alignment RMSE(m)|
|:----:|:----:|
| 1    |0.192|
| 2    |0.625|




__If you use this code in your work, please cite:__

*Tree segmentation in airborne laser scanning
data is only accurate for canopy trees. Yujie Cao, James G C Ball, David A. Coomes, Leon Steinmeier, Nikolai Knapp, Phil Wilkes, Kim Calders, Andrew Burt, Mathias Disney, Yi Lin, and Tobias D. Jackson.*
