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.本数据集包含多组肾脏体模（kidney phantom）的采集数据，由两款不同相机完成采集。其中，Richard Wolf ENDOCAM Epic 3DHD立体内窥镜相机（stereo endocsopic camera）对应存储目录为stereo_data/，该相机采集了左右眼图像，命名格式分别为left_、right_；英特尔实感（Intel RealSense）D435相机对应存储目录为ground_truth/，该相机采集了RGBD数据（命名格式为aligned_depth_、rgb_）以及对应的点云（Point Cloud）数据，命名格式为point_cloud_。此外，本数据集还提供了一组额外的点云数据（base_point_cloud_），该组点云由立体重建算法（Stereo Reconstruction algorithm）生成，并配准至由Realsense相机采集的真值点云。本数据集共包含三款不同的肾脏体模：两款健康肾脏体模，以及一款带有肿瘤的肾脏体模。另有一个额外目录，存储带有肿瘤的体模的采集数据，该体模表面粘贴了标记点，用于辅助配准步骤。本数据集还提供了内窥镜相机与Realsense相机之间的变换关系，存储于ground_truth/camera_to_endoscope_tf.txt文件中。此外，两款相机的校准文件分别存储于各自对应的目录下。