EndoAbS Dataset

[aminzabardast]

• [x] Check the validity of Ground Truth (GT). GT is given in an unusual format.

[aminzabardast]

The README.md file of dataset clears up the GT issue.

Endoscopic Abdominal Stereo Dataset (EndoAbS Dataset)

Description

The EndoAbS Dataset (Endoscopic Abdominal Stereo Images Dataset) aims to provide the computer assisted surgery community with a dataset for the validation of 3D reconstruction algorithms.

It is composed of:

• 120 pair of endoscopic stereo images of abdominal organ phantoms (liver, kidneys, spleen);
• corresponding ground truth (GT) in left-camera reference frame, generated using a laser scanner;
• camera calibration parameters.

The images were captured under different conditions:

• different light levels;
• presence of smoke;
• two phantom-endoscope distances (~5cm or ~10cm).

Citation

If you use this dataset, please cite:

    A.S. Ciullo, V. Penza, L. Mattos, E. De Momi
    "Development of a surgical stereo endoscopic image dataset for
    validating 3D stereo reconstruction algorithms." 6th Joint Workshop on
    New Technologies for Computer/Robot Assisted Surgery. 2016.

We will soon ulpoad the more detailed Journal paper!

Structure

The EndoAbS dataset is organized as described in the following lines:

|_EndoAbS_dataset/ |_CalibrationParameters1.xml (*) |CalibrationParameters_2.xml (**) |__README |ORGAN_NAME/ |_distance_max/ |_distancemin/ |pose1/ |_imgL_1.png (low brightness) |_imgR1.png |imgL_2.png (medium brightness) |_imgR2.png |imgL_3.png (high brightness) |_imgR3.png |imgL_4.png (smoke) |_imgR4.png |imgL_5.png (smoke) |_imgR5.png |imgL_6.png (smoke) |_imgR6.png |point_map.xml (GT information) ... |___posen/

• The file 'CalibrationParameters_1.xml' contains intrinsic and extrinsic camera calibration parameters for distance_min of kidney and spleen.

** The file 'CalibrationParameters_2.xml' contains intrinsic and extrinsic camera calibration parameters for all the others images (distance_min for liver and distance_max for kidney, liver and spleen).

Data format

The calibration files use the OpenCV XML format with the following data:

• 'Ml' and 'Mr' are the intrinsic parameters, respectively for left and right camera, in this format:

  fx 0 cx
  0 fy cy
  0 0  1

• 'Dl' and 'Dr' are the distortion parameters, respectively for left and right camera.

• 'R' and 'T' are the extrinsic parameters, respectively rotation matrix and translation matrix.

GT files contain (x,y,z) triplets per line, stored in column major order. (0,0,0) triplet means that no GT was found. From this list, the corresponding GT 2D map can be calcuated, where each cell corresponds to an image pixel.

Contact

For further information, do not hesitate to contact veronica.penza@polimi.it.

[aminzabardast]

Try and convert the Point Cloud to Disparity. Note: Authors say it is possible.