LiDAR and thermal data for camera pose estimation using the depth-map correspondence algorithm

Folder and file structure:

• lidar_roi.ply : ~360 MB mesh file which is a sub-part of the whole Orlova Chuka scan collected in [1]
• yyyy-mm-dd total of ~17 GB. All video data including raw data, exported video, digitised xy points and calibration results
  • 2018-08-19
  • 2018-08-17
  • 2018-08-14
  • 2018-07-28
  • 2018-07-25
  • 2018-07-21

Thermal camera YYYY-MM-DD folder substructure: Each of the yyyy-mm-dd dates is one recording session. Each session folder has the following structure:

• avi_files (present on some nights)
• cave_photos: (present on some nights)
• mic_and_wall_points
• tmc_files: (present on some nights) The TMC files is a proprietary format to store thermal camera video data (TeAx GmbH, Germany). on 2018-08-17, only P0000000 is provided as it doesnt' have humans blocking the scene. Each frame can be exported to csv using the ThermoViewer tool, downloadable at: https://thermalcapture.com/thermoviewer-download/
• video_calibration: results and associated data to get DLT coefficients estimated using the easyWand [2] workflow.
  • image : csv file with pixel values of the images used for annotations
  • mics : 2D point locations of mics placed on the cave walls
  • other_cave_surface : other points on the cave surface that were pointed at
    • calibration_output: results from easyWand runs. Choose the highest round number
      • yyyy-mm-dd_roundX_<wandscore>_cam1Tforms.mat (undistortion files)
      • yyyy-mm-dd_roundX_<wandscore>_cam2Tforms.mat
      • yyyy-mm-dd_roundX_<wandscore>_cam3Tforms.mat
      • yyyy-mm-dd_roundX_<wandscore>_dltCoefs.csv (each column is one camera's DLT coefficients)
      • yyyy-mm-dd_roundX_<wandscore>_easyWandData.mat (easyWand session file)
    • gravity: (mostly there) video and xy points for a falling object to align the calbiration to gravity. Output from DLTdv7 clicking session.
    • wand: video and xy points of the 'wand' calibration object. Output from DLTdv7 clicking session.
    • camera_intrinsic.txt or thermalcam_camprofiles_profile.txt : the camera instrinsics

• alignment_results: ~887 MB zipped folder.
  • dmcp_experiments: the results of  DMCP alignment
    • round_01 : ignore this folder
    • round_03 : ignore this folder
    • round_05: here yyyy-mm-dd is short for all other nights. Each yyyy-mm-dd folder has multiple csv files. The 'transform.csv' is the most relevant file, as it holds the transformation matrix to move 3D points from camera triangulations into the LiDAR coordinate system.
      • 2018-07-21--cam0
      • 2018-07-21--cam1
      • 2018-07-21--cam2
      • yyyy-mm-dd--cam0
      • yyyy-mm-dd--cam1
      • yyyy-mm-dd--cam2
      • ...
      • ...
      • ...
      • 2018-08-19--cam0
      • 2018-08-19--cam1
      • 2018-08-19--cam2

CITATION: If you use this dataset for your research please cite this Zenodo dataset and the accompanying paper.

This uploaded dataset is part of the Ushichka dataset [3]. The audio-video system was designed by Holger R. Goerlitz. The LiDAR data was collected by Asparuh Kamburov. Video data collected by Thejasvi Beleyur.

References

[1] : Kamburov, A., Goerlitz, H. R., Beleyur, T 2018, Geospatial modelling inside the "Orlova Chuka" cave in Bulgaria, non-peer reviewed conference contribution, XXVIII International Symposium on Modern Technologies and Professional Practise in Geodesy and related fields

[2]: Theriault, D. H., Fuller, N. W., Jackson, B. E., Bluhm, E., Evangelista, D., Wu, Z., M., Betke & Hedrick, T. L. (2014). A protocol and calibration method for accurate multi-camera field videography. Journal of Experimental Biology, 217(11), 1843-1848.

[3]: Beleyur Thejasvi, 2021. Theoretical and empirical investigations of echolocation in bat groups, PhD dissertation, University of Konstanz (http://nbn-resolving.de/urn:nbn:de:bsz:352-2-q41u3qlu1em03)