Hi Koen, It doesn't really matters as long as it is not a uniform scene. Several scans of the same static indoor scene, taken from different points of view would be ideal. Thanks for your help Raph -- View this message in context: http://ros-users.122217.n3.nabble.com/Looking-for-Tilting-laser-camera-bag-file-tp2062893p2078193.html Sent from the ROS-Users mailing list archive at Nabble.com.