SD format, version 7
--------------------

Bytes 0-3:  Magic number (unsigned int), 0x444d5007  (DMPversion in ASCII)
Byte  4-7:  Number of bytes in header block (including self and
		    magic number) (unsigned int)
Byte  8-11: Number of frames (unsigned int)
Byte 12-15: Number of points per frame (unsigned int)
Byte 16-19: Number of sample points stored in file (unsigned int)
Byte 20-23: Scanner pitch value (inter-frame linear screw distance) (float)
                    (sign of pitch indicates scanning direction; neg=upward)
Byte 24-27  Scanner nod value of middle of scan (float)
Byte 28-31  Scanner turn value (float)
Byte 32-35  Scanner horizontal translation value (float)
Byte 36-39  Scanner vertical translation value (float)
Byte 40-43  Scanner configuration (unsigned int)
               vscan = (config & 0x00000001);
               tup   = (config & 0x00000002) >> 1;
               tconf = (config & 0x0000000c) >> 2;
               tflip = (config & 0x00000010) >> 4;
Byte 44-47  Scanner laser intensity value (float)
Byte 48-51  Scanner camera sensitivity value (float)

Each frame has 2 unsigned shorts; the first is the index of the
first column containing valid data, the second is the index of the
first column containing invalid data.   Clearly, then, a 0,0 pair
indicates no valid data exists in the frame.

The header block (above) is followed by a block of these index pairs,
one pair per frame.

The next block contains a stream of the valid range sample data,
one frame at a time.
Each sample point is indicated with an unsigned short for the
depth value.  Invalid/missing data points are indicated with 0.

The final block contains the valid luminance sample data, one
frame at a time.  Each luminance sample is indicated with a byte
per sample; invalid/missing data points are indicated with 0, as
are points of no intensity!

------------------
David Koller
dk@cs.stanford.edu