PHANTOM_UROL

This dataset contains a set of kidney phantoms, captured by two different cameras. A Richard Wolf ENDOCAM Epic 3DHD Stereo endocsopic camera (stereo_data/ folder) captures the left and right image (left_, right_), whereas a Intel Realsense D435 camera (ground_truth/ folder) captures RGBD data (aligned_depth_, rgb_) and the corresponding Point Cloud (point_cloud_). A set of additional point clouds (base_point_cloud_) is provided, with point clouds generated by a Stereo Reconstruction algorithm, registered to the ground truth point cloud, captured by the Realsense camera.

There are three different kidney phantoms: two healthy kidneys and one with a tumor on it. There is also an additional folder with data from the phantom with tumor, where markers are placed on the phantom, to assist in a registration step.

Finally the transformation between the endoscope and realsense camera is provided in ground_truth/camera_to_endoscope_tf.txt. Additionally, the calibration files of the cameras are provided in their respective folders.