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

<p>Folder and file structure:</p> <ul> <li>lidar_roi.ply : ~360 MB mesh file which is a sub-part of the whole Orlova Chuka scan collected in [1]</li> <li>yyyy-mm-dd total of ~17 GB. All video data including raw data, exported video, digitised xy points and calibration results <ul> <li>2018-08-19</li> <li>2018-08-17</li> <li>2018-08-14</li> <li>2018-07-28</li> <li>2018-07-25</li> <li>2018-07-21</li> </ul> </li> </ul> <p><em>Thermal camera YYYY-MM-DD folder substructure</em>: Each of the yyyy-mm-dd dates is one recording session. Each session folder has the following structure:</p> <ul> <li>avi_files (present on some nights)</li> <li>cave_photos: (present on some nights)</li> <li>mic_and_wall_points</li> <li>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&#39; have humans blocking the scene. Each frame can be exported to csv using the ThermoViewer tool, downloadable at: https://thermalcapture.com/thermoviewer-download/</li> <li>video_calibration: results and associated data to get DLT coefficients estimated using the easyWand [2] workflow. <ul> <li>image : csv file with pixel values of the images used for annotations</li> <li>mics : 2D point locations of mics placed on the cave walls</li> <li>other_cave_surface : other points on the cave surface that were pointed at <ul> <li>calibration_output: results from easyWand runs. Choose the highest round number <ul> <li>yyyy-mm-dd_roundX_&lt;wandscore&gt;_cam1Tforms.mat (undistortion files)</li> <li>yyyy-mm-dd_roundX_&lt;wandscore&gt;_cam2Tforms.mat</li> <li>yyyy-mm-dd_roundX_&lt;wandscore&gt;_cam3Tforms.mat</li> <li>yyyy-mm-dd_roundX_&lt;wandscore&gt;_dltCoefs.csv (each column is one camera&#39;s DLT coefficients)</li> <li>yyyy-mm-dd_roundX_&lt;wandscore&gt;_easyWandData.mat (easyWand session file)</li> </ul> </li> <li>gravity: (mostly there) video and xy points for a falling object to align the calbiration to gravity. Output from DLTdv7 clicking session.</li> <li>wand: video and xy points of the &#39;wand&#39; calibration object. Output from DLTdv7 clicking session.</li> <li>camera_intrinsic.txt or thermalcam_camprofiles_profile.txt : the camera instrinsics</li> </ul> </li> </ul> </li> </ul> <ul> <li>alignment_results: ~887 MB zipped folder. <ul> <li>dmcp_experiments: the results of&nbsp; DMCP alignment <ul> <li>round_01 : <em>ignore this folder</em></li> <li>round_03 : <em>ignore this folder</em></li> <li>round_05: here yyyy-mm-dd is short for all other nights. Each yyyy-mm-dd folder has multiple csv files. The &#39;transform.csv&#39; is the most relevant file, as it holds the transformation matrix to move 3D points from camera triangulations into the LiDAR coordinate system. <ul> <li>2018-07-21--cam0</li> <li>2018-07-21--cam1</li> <li>2018-07-21--cam2</li> <li>yyyy-mm-dd--cam0</li> <li>yyyy-mm-dd--cam1</li> <li>yyyy-mm-dd--cam2</li> <li>...</li> <li>...</li> <li>...</li> <li>2018-08-19--cam0</li> <li>2018-08-19--cam1</li> <li>2018-08-19--cam2</li> </ul> </li> </ul> </li> </ul> </li> </ul> <p>&nbsp;</p> <p>CITATION: If you use this dataset for your research please cite this Zenodo dataset and the accompanying paper.</p> <p>This uploaded dataset is part of the <em>Ushichka</em> 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.</p> <p>References</p> <p>[1] : Kamburov, A., Goerlitz, H. R., Beleyur, T 2018, Geospatial modelling inside the &quot;Orlova Chuka&quot; cave in Bulgaria, <em>non-peer reviewed conference contribution</em>, XXVIII International Symposium on Modern Technologies and Professional Practise in Geodesy and related fields</p> <p>[2]: Theriault, D. H., Fuller, N. W., Jackson, B. E., Bluhm, E., Evangelista, D., Wu, Z., M., Betke &amp; Hedrick, T. L. (2014). A protocol and calibration method for accurate multi-camera field videography. <em>Journal of Experimental Biology</em>, <em>217</em>(11), 1843-1848.</p> <p>[3]: Beleyur Thejasvi, 2021. Theoretical and empirical investigations of echolocation in bat groups, PhD dissertation, University of Konstanz (<a href="http://nbn-resolving.de/urn:nbn:de:bsz:352-2-q41u3qlu1em03">http://nbn-resolving.de/urn:nbn:de:bsz:352-2-q41u3qlu1em03</a>)</p>