<s>
OpenCRG	B-Application
is	O
a	O
complete	O
free	B-License
and	I-License
open-source	I-License
project	O
for	O
the	O
creation	O
,	O
modification	O
and	O
evaluation	O
of	O
road	O
surfaces	O
,	O
and	O
an	O
open	O
file	O
format	O
specification	O
CRG	O
(	O
curved	O
regular	O
grid	O
)	O
.	O
</s>
<s>
The	O
initial	O
release	O
of	O
OpenCRG	B-Application
was	O
a	O
beta	O
version	O
0.3	O
in	O
early	O
2009	O
;	O
as	O
of	O
August	O
2015	O
,	O
the	O
current	O
stable	O
release	O
of	O
the	O
OpenCRG	B-Application
C-API	O
and	O
MATLAB	B-Language
tool	O
suite	O
is	O
version	O
1.0.6	O
.	O
</s>
<s>
OpenCRG	B-Application
is	O
a	O
standardized	O
efficient	O
3D	O
road	O
data	O
representation	O
defined	O
in	O
base	O
plane	O
by	O
its	O
direction	O
(	O
heading	O
,	O
yaw	O
angle	O
)	O
.	O
</s>
<s>
A	O
C-API	O
as	O
well	O
as	O
a	O
MATLAB	B-Language
API	O
are	O
provided	O
for	O
the	O
creation	O
,	O
evaluation	O
or	O
modification	O
of	O
OpenCRG	B-Application
files	O
.	O
</s>
<s>
The	O
MATLAB	B-Language
tool	O
suite	O
provides	O
powerful	O
modification	O
or	O
creation	O
tools	O
and	O
allows	O
to	O
visualize	O
the	O
3D	O
road	O
data	O
representation	O
.	O
</s>
<s>
OpenCRG	B-Application
was	O
initiated	O
by	O
Daimler	O
and	O
is	O
currently	O
driven	O
by	O
VIRES	O
Simulationstechnologie	O
GmbH	O
,	O
the	O
research	O
group	O
AK	O
6.1.3	O
'	O
Tire	O
Models	O
for	O
Vehicle	O
Dynamics	O
,	O
Ride	O
Comfort	O
and	O
Uneven	O
Roads	O
 '	O
and	O
the	O
OpenCRG	B-Application
community	O
.	O
</s>
<s>
The	O
associated	O
website	O
maintained	O
by	O
VIRES	O
GmbH	O
is	O
the	O
main	O
portal	O
for	O
information	O
about	O
OpenCRG	B-Application
including	O
latest	O
news	O
concerning	O
the	O
data	O
format	O
,	O
free	O
and	O
commercial	O
tool-sets	O
,	O
test	O
data	O
etc	O
..	O
</s>
<s>
With	O
OpenCRG	B-Application
real	O
road	O
surfaces	O
(	O
e.g.	O
</s>
<s>
OpenCRG	B-Application
)	O
is	O
closed	O
by	O
the	O
open	O
file	O
format	O
OpenDRIVE	B-Application
.	O
</s>
<s>
An	O
implementation	O
of	O
OpenCRG	B-Application
into	O
the	O
OpenDRIVE	B-Application
file	O
format	O
specification	O
has	O
already	O
been	O
established	O
in	O
January	O
2008	O
.	O
</s>
<s>
The	O
predecessor	O
of	O
OpenCRG	B-Application
is	O
a	O
format	O
called	O
CRG	O
(	O
curved	O
regular	O
grid	O
)	O
which	O
has	O
been	O
used	O
internally	O
for	O
several	O
years	O
by	O
Daimler	O
AG	O
.	O
</s>
<s>
An	O
entire	O
suite	O
of	O
MATLAB	B-Language
and	O
FORTRAN	B-Application
tools	O
had	O
been	O
developed	O
for	O
the	O
handling	O
,	O
evaluation	O
and	O
generation	O
of	O
CRG	O
data	O
.	O
</s>
<s>
The	O
early	O
phase	O
of	O
the	O
OpenCRG	B-Application
initiative	O
is	O
funded	O
by	O
a	O
series	O
of	O
German	O
automotive	O
OEMs	O
.	O
</s>
<s>
Representatives	O
of	O
Audi	O
AG	O
Ingolstadt	O
,	O
BMW	O
AG	O
München	O
,	O
Daimler	O
AG	O
Sindelfingen	O
,	O
Porsche	O
AG	O
Weissach	O
and	O
Volkswagen	O
AG	O
Wolfsburg	O
define	O
the	O
objectives	O
of	O
OpenCRG	B-Application
.	O
</s>
<s>
Since	O
2008	O
,	O
Daimler	O
AG	O
develops	O
and	O
refines	O
OpenCRG	B-Application
in	O
collaboration	O
with	O
VIRES	O
GmbH	O
,	O
a	O
simulation	O
technology	O
company	O
.	O
</s>
<s>
OpenCRG	B-Application
provides	O
various	O
ASCII/binary	O
file	O
formats	O
with	O
clear-text	O
headers	O
.	O
</s>
<s>
OpenCRG	B-Application
handles	O
any	O
arbitrary	O
scalar	O
data	O
versus	O
a	O
reference	O
grid	O
.	O
</s>
<s>
By	O
this	O
,	O
different	O
applications	O
like	O
tire	O
-	O
or	O
vibration	O
simulations	O
take	O
advantage	O
of	O
the	O
open	O
surface	O
descriptions	O
format	O
OpenCRG	B-Application
.	O
</s>
<s>
OpenCRG	B-Application
provides	O
an	O
open	O
source	O
C-API	O
for	O
data	O
handling	O
and	O
evaluation	O
.	O
</s>
<s>
Based	O
on	O
predecessor	O
CRG-FORTRAN	O
routines	O
(	O
Daimler	O
AG	O
)	O
,	O
the	O
enhanced	O
C-API	O
allows	O
easy	O
integration	O
of	O
OpenCRG	B-Application
functionality	O
into	O
third	O
party	O
applications	O
.	O
</s>
<s>
The	O
major	O
focus	O
is	O
the	O
fast	O
conversion	O
from	O
inertial	O
to	O
global	O
coordinate	O
space	O
of	O
OpenCRG	B-Application
data	O
.	O
</s>
<s>
OpenCRG	B-Application
provides	O
a	O
wide	O
range	O
open	O
source	O
MATLAB	B-Language
tool	O
suite	O
.	O
</s>
<s>
Additional	O
functionality	O
to	O
the	O
predecessor	O
CRG-MATLAB	O
routines	O
(	O
Daimler	O
AG	O
)	O
for	O
the	O
modification	O
,	O
creation	O
and	O
visualization	O
of	O
OpenCRG	B-Application
files	O
is	O
provided	O
.	O
</s>
<s>
The	O
focus	O
of	O
the	O
MATLAB	B-Language
tool	O
suite	O
is	O
mainly	O
the	O
modification	O
and	O
visualization	O
of	O
OpenCRG	B-Application
data	O
.	O
</s>
<s>
Real	O
world	O
OpenCRG	B-Application
data	O
files	O
may	O
be	O
generated	O
by	O
several	O
laser	O
scans	O
along	O
a	O
road	O
.	O
</s>
<s>
Google	B-Application
Maps	I-Application
may	O
be	O
attached	O
to	O
OpenCRG	B-Application
header	O
informations	O
.	O
</s>
<s>
The	O
MATLAB	B-Language
API	O
provides	O
an	O
interface	O
to	O
visualize	O
the	O
location	O
of	O
OpenCRG	B-Application
roads	O
on	O
Google	B-Application
Maps	I-Application
.	I-Application
</s>
<s>
Getting	O
started	O
with	O
OpenCRG	B-Application
is	O
facilitated	O
by	O
a	O
growing	O
library	O
of	O
sample	O
data	O
.	O
</s>
<s>
A	O
set	O
of	O
test	O
and	O
demo	O
OpenCRG	B-Application
files	O
as	O
well	O
as	O
a	O
detailed	O
documentation	O
are	O
included	O
.	O
</s>
<s>
Simple	O
examples	O
explain	O
the	O
usage	O
of	O
OpenCRG	B-Application
.	O
</s>
<s>
OpenCRG	B-Application
has	O
full	O
support	O
for	O
32-bit	O
i586	O
and	O
64-bit	B-Device
x86-64	O
PC	B-Device
hardware	O
.	O
</s>
<s>
The	O
OpenCRG	B-Application
MATLAB	B-Language
Tool	O
Suite	O
is	O
provided	O
on	O
any	O
system	O
distribution	O
running	O
MATLAB	B-Language
(	O
R14	O
)	O
or	O
higher	O
.	O
</s>
