Code of Endoscope Localization and Dense Surgical Scene Reconstruction for Stereo Endoscopy by Unsupervised Optical Flow and Kanade-Lucas-Tomasi Tracking.
demo_1.mp4
OpenCV 3.1 https://github.com/opencv/opencv/archive/3.1.0.zip
unzip opencv-3.1.0.zip
cd opencv-3.1.0
mkdir build
cd build
cmake ..
make
sudo make install
pangolin
sudo apt-get install libglew-dev
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
sudo apt-get install git
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
make
sudo make install
Sophus
git clone http://github.com/strasdat/Sophus.git
cd Sophus
mkdir build
cd build
cmake ..
make
make install
G20
sudo apt-get install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3
git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build
cd build
cmake ..
make
sudo make install
glog
sudo apt update
sudo apt install libgoogle-glog-dev
gtest
git clone https://github.com/google/googletest.git
cd googletest
mkdir build
cd build
cmake ..
make
sudo make install
csparse
sudo apt-get install libsuitesparse-dev
mkdir build
cd build/
cmake ..
make -j4
sudo make install
We used the SCARED dataset (https://arxiv.org/abs/2101.01133). Please feel free to send an email to [email protected] for the link to preprocessed dataset.
Please change the dataset_dir and depth_dir in the config/endoscope0103.yaml and run:
bin/run_end_stereo --log_dir=. #save the poses to a specific folder
or
bin/run_end_stereo --logtostderr #save the poses to your current folder
Please refer to http://www.open3d.org/docs/0.12.0/tutorial/pipelines/rgbd_integration.html and Endo-Depth-and-Motion](https://github.com/UZ-SLAMLab/Endo-Depth-and-Motion/tree/main)
For pose evaluation, please install evo (https://github.com/MichaelGrupp/evo) and go to the eva folder.
python evo_mydata.py
python plot_all.py
Fore reconstruction evaluation, please use (https://www.danielgm.net/cc/).
@inproceedings{yang2022endoscope,
title={Endoscope Localization and Dense Surgical Scene Reconstruction for Stereo Endoscopy by Unsupervised Optical Flow and Kanade-Lucas-Tomasi Tracking},
author={Yang, Zixin and Lin, Shan and Simon, Richard and Linte, Cristian A},
booktitle={2022 44th Annual International Conference of the IEEE Engineering in Medicine \& Biology Society (EMBC)},
pages={4839--4842},
year={2022},
organization={IEEE}
}- Slambook2 The project is built on the CH13 code.
- ORB-SLAM2
- Endo-Depth-and-Motion
- evo
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