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nickgreene / dVPose

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dVPose

rgb

depth

A sample of the dataset is currently available for download here. Additional data coming very soon!

Note: the directory structure and organization of the data will change for the official release.

Cad Models

In the cad models folder, various formats are available for the da Vinci endoscope (instrument models will be added soon). Also, the optical tracking marker registrations are provided as 4x4 matrices.

Raw Data Format

The raw data from the Atracsys_Hololens_streamer tool is structured as follows:

root
|
└───run1
│   │   Hololens_00000.json
│   │   Left_PSM_00000.json
|   |   Right_PSM_00000.json
|   |   Endoscope_00000.json
│   │   SPHERES_POSE_00000.json
│   │   AHAT_AB_00000.png
│   │   AHAT_DEPTH_00000.png
│   │   AHAT_00000.json
│   │   VIDEO_00000.png
│   │   VIDEO_00000.json
│   │   VLC_LF_00000.png
│   │   VLC_LF_00000.json
│   │   VLC_RF_00000.png
│   │   VLC_RF_00000.json
|   |   ...
│   
└───run2
│   │   Hololens_00000.json
│   │   Left_PSM_00000.json
|   |   Right_PSM_00000.json
|   |   Endoscope_00000.json
|   │   AHAT_AB_00000.png
|   │   AHAT_DEPTH_00000.png
|   │   AHAT_00000.json
|   │   VIDEO_00000.png
|   │   VIDEO_00000.json
|   │   VLC_LF_00000.png
|   │   VLC_LF_00000.json
|   │   VLC_RF_00000.png
|   │   VLC_RF_00000.json
|   |   ...

The file prefixes correspond to the following things:

Hololens.json: Contains the measured pose of the Atracsys marker attached to the HoloLens, along with a timestamp.

Right_PSM.json: Contains the measured pose of the Atracsys marker attached to the PSM 1 (Right PSM), along with a timestamp.

Left_PSM.json: Contains the measured pose of the Atracsys marker attached to the PSM 2 (Left PSM), along with a timestamp.

Endoscope.json: Contains the measured pose of the Atracsys marker attached to the Endoscope, along with a timestamp.

AHAT_AB.png: Contains the Depth Camera's reflectivity image

AHAT_DEPTH.png: Contains the Depth Camera's depth image

AHAT.json: Contains the 4x4 transformation matrix which describes the pose of the HoloLens2 Depth camera relative to the HoloLens2 world origin (This matrix is returned by the HoloLens2 during the image capture. It is not calculated), along with image metadata.

VIDEO.png: Contains the RGB Grayscale camera image

VIDEO.json: Contains the 4x4 transformation matrix which describes the pose of the HoloLens2 RGB camera relative to the HoloLens2 world origin (This matrix is returned by the HoloLens2 during the image capture. It is not calculated), along with image metadata.

VLC_LF.png: Contains the Right-Front Grayscale camera image

VLC_LF.json:Contains the 4x4 transformation matrix which describes the pose of the HoloLens2 Left-Front Grayscale camera relative to the HoloLens2 world origin (as returned by the HoloLens2), along with image metadata.

VLC_RF.png: Contains the Right-Front Grayscale camera image

VLC_RF.json: Contains the 4x4 transformation matrix which describes the pose of the HoloLens2 Right-Front Grayscale camera relative to the HoloLens2 world origin (as returned by the HoloLens2), along with image metadata.

Important Note

Each Hololens camera image's .png file and corresponding .json file together are returned as a single data frame (They are synchronized).

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