How-to-create-MOIL-Dataset

Prepared by- Shivani Baldwa & Raghav Jethliya

We have created our own dataset with the help of Intel T265 by modifying the examples given by Intel RealSense.

We need following to create our dataset:

1. Sequence of Images

2. Ground Truth Data (pose)

3. Calibration file (calib.txt)

4. Timestamp (times.txt)

If, you want to run this code you must need to install RealSense SDK.

Installing the packages:

• Register the server's public key:

    sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE In case the public key still cannot be retrieved, check and specify proxy settings: export http_proxy="http://<proxy>:<port>"
  

, and re-run the command.

• Add the server to the list of repositories:

1. Ubuntu 16 LTS:

    sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
   

2. Ubuntu 18 LTS:

    sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
   

• Install the libraries (see section below if upgrading packages):

    sudo apt-get install librealsense2-dkms
    sudo apt-get install librealsense2-utils
  

• Optionally install the developer and debug packages:

    sudo apt-get install librealsense2-dev
    sudo apt-get install librealsense2-dbg
  

With dev package installed, you can compile an application with librealsense using g++ -std=c++11 filename.cpp -lrealsense2 or an IDE of your choice. Reconnect the Intel RealSense depth camera and run: realsense-viewer to verify the installation.

Upgrading the Packages:

• Refresh the local packages cache by invoking:

    sudo apt-get update
  

• Upgrade all the installed packages, including librealsense with:

    sudo apt-get upgrade
  

• To upgrade selected packages only a more granular approach can be applied:

    sudo apt-get --only-upgrade install <package1 package2 ...>
  

E.g: sudo apt-get --only-upgrade install librealsense2-utils librealsense2-dkms

Uninstalling the Packages:

• Remove a single package with:

    sudo apt-get purge <package-name>
  

Prerequisites

Make Ubuntu Up-to-date:

• Update Ubuntu distribution, including getting the latest stable kernel:

    sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade 
  

• It is recommended to upgrade the distribution with:

    sudo apt-get install --install-recommends linux-generic-lts-xenial xserver-xorg-core-lts-xenial xserver-xorg-lts-xenial xserver-xorg-video-all-lts-xenial xserver-xorg-input-all-lts-xenial libwayland-egl1-mesa-lts-xenial
  

• Update OS Boot and reboot to enforce the correct kernel selection with

    sudo update-grub && sudo reboot
  

Download/Clone librealsense github repository:

Get librealsense sources in one of the following ways:

• Download the complete source tree with git git clone https://github.com/IntelRealSense/librealsense.git
• Download and unzip the latest stable version from master branch: https://github.com/IntelRealSense/librealsense/archive/master.zip

Prepare Linux Backend and the Dev. Environment:

1. Navigate to librealsense root directory to run the following scripts. Unplug any connected Intel RealSense camera.

2. Install the core packages required to build librealsense binaries and the affected kernel modules:

    sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
   

Distribution-specific packages:

• Ubuntu 14 or when running of Ubuntu 16.04 live-disk:

     sudo apt-get install
    ./scripts/install_glfw3.sh
  

• Ubuntu 16:

    sudo apt-get install libglfw3-dev
  

• Ubuntu 18:

    sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
  

3. Navigate to librealsense root directory and run mkdir build && cd build

4. Run CMake:

    cmake ../ - The default build is set to produce the core shared object and unit-tests binaries in Debug mode. Use -DCMAKE_BUILD_TYPE=Release to build with optimizations.
    cmake ../ -DBUILD_EXAMPLES=true - Builds librealsense along with the demos and tutorials
    cmake ../ -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=false - For systems without OpenGL or X11 build only textual examples
   

5. Recompile and install librealsense binaries:

    sudo make uninstall && make clean && make && sudo make install
   

---

MOIL DATASET

We named our dataset as MOIL dataset which stands for 'MCUT Omnidirectional Imaging Lab dataset' generated with the help of Intel RealSense T265 camera. Here is the source code available by which we can generate sequence of images and ground truth data at the same time.

NOTE:

Replace the rs-trajectory folder to the above folder https://github.com/Shivani1796/How-to-create-MOIL-Dataset/tree/master/rs-trajectory if you want to (generate sequence of images and ground truth data at the same time.) With this you need to make sure that you create a matrix.txt file in your system to store pose file (Line no:502)

cd ~/librealsense/build/
cmake ..
Compile: make
cd ~/librealsense/build/examples/trajectory/
Run: ./rs-trajectory

Output:

We can see sequences of images saved in folder, trajectory is made and pose files is stored in Matrix.txt file.

Download the MOIL dataset: https://bit.ly/3iq759W

Thanks for your attention, please feel free to ask any question :)