function [scan,raw] = load3Dscan(n,basename,extension)
% loads a scan set stored according to the Osnabrueck formatting
% n: number of scans
% basename: common name file name (excluding the counter)
% extension: common extension
% returns a matrix with 4 rows and n*361 columns, one per detected point. For each point
% it stores its x,y,z coordinates in meters and the intensity value
% example: load3Dscan(471,"scan","dat");


scan = zeros(4,n*361);
raw = zeros(4,n*361);

point = 1;

for i = 1:n
	progress(i, n);
	
  fname = sprintf('%s%d.%s',basename,i,extension);
  fid = fopen(fname);
  fseek(fid,54,'bof'); % skips useless header
  angle = fscanf(fid,'%f',1);

%  fprintf('Reading file %s angle = %f deg \n',fname, angle);

  angle = deg2rad(angle); % this is a rotation about the y axis, assuming  x is forward and z is upwards
  for row = 1:361
      x = fscanf(fid,'%f',1);
      y = fscanf(fid,'%f',1);
	  z = 0;
      range = fscanf(fid,'%f',1);
      intensity = fscanf(fid,'%f',1); %% not used

	  if range > 800
	    continue;
	  end
		
 	  raw(:,point) = [x,y,range,intensity]';
	  p = 0.01 * rot_x(-angle) * [x;y;z] ;
      scan(:,point) = [p; intensity*0.001];

      point = point + 1;
  end

  fclose(fid);
end