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__cam1Tforms.mat (undistortion files)

yyyy-mm-dd_roundX__cam2Tforms.mat

yyyy-mm-dd_roundX__cam3Tforms.mat

yyyy-mm-dd_roundX__dltCoefs.csv (each column is one camera's DLT coefficients)

yyyy-mm-dd_roundX__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)