Creating a custom dataset using D435 and Nvidia Jetson Nano

• MartyG

  • August 31, 2020 18:58
  • Edited

  Hi Gunjan Narulkar  It is not a silly question at all   :)

  If your aim is to do inspection of road conditions, an Intel RealSense blog article on using RealSense for construction inspection may provide useful insights.

  https://www.intelrealsense.com/the-future-of-construction/ 

  The D435 is also an excellent choice for sensing roads and their vehicles, as it has a fast 'global shutter' that can cope with full speed vehicle motion, whether observing vehicles from a static position or mounted to one.  A YouTube video in the link below demonstrates the camera's capabilities when travelling on a road at speed.

  https://www.youtube.com/watch?v=OwJmCyAn3JQ 

  You can record camera data in real-time into a range of formats, including image sets, 'point cloud' depth scans, text-based files and 'bag' files, which are like video files that contain camera data.  Bag files can be loaded back into the RealSense SDK and have further processing work done on the recorded data, such as applying "post-processing" filters to enhance the data.

  The RealSense Viewer program has a built-in bag recorder so that you can test recording and playback easily.

  The above resources should provide a starting point for designing your project.  Adding annotations may require some additional custom programming work.

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• Getirfanhabeeb

  • September 02, 2020 02:50

  Dear Sir 

  I am planning to purchase D435i, before that I have a simple doubt.

  how can I get the data streams separately.

  I mean , I want data from monochrome camera , rgb camera and imu  stream separately to use 3 different applications.Also I wish to know how the data format look like.

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• MartyG

  • September 02, 2020 06:15

   

   

  You can test the RealSense SDK camera software without having a camera. Once the SDK is installed, you can drag and drop a sample bag file into the central panel of the RealSense Viewer program to play back the camera recording in the file as a moving 'video', pausing it and jumping to any time position.  Sample bag files are available from the link below

  https://github.com/IntelRealSense/librealsense/blob/master/doc/sample-data.md 

  RealSense bag files are based on a data format called a 'rosbag'.  The details of their structure can be found here:

  http://wiki.ros.org/Bags/Format/2.0 

  The link below, meanwhile, shows how textual file formats such as CSV may store the depth data:

  https://github.com/IntelRealSense/librealsense/issues/3632#issuecomment-478328945 

  In regard to having three separate applications: it is possible to do if each application is accessing a different stream type and you are not trying to access the same stream type on a particular camera from more than one application.  The documentation describing the rules for this are here:

  https://dev.intelrealsense.com/docs/software-support-model#section-multi-streaming-model 

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• Getirfanhabeeb

  • September 06, 2020 00:20

  One more doubt sir 

  for d435i the frame rate is 30 FPS and the frequency of imu 200 Hz ,then how could we link the frame data with imu data.

  I mean I want to find the imu data for a particular frame, or I want to save the imu datas for each frame,How could it possible? 

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• MartyG

  • September 06, 2020 06:40
  • Edited

  If you record a bag file whilst the IMU stream is active then the IMU data will be included in the bag along with any other streams that were active.   The bag file on the sample data page called Outdoor scene with D435i demonstrates this.

  If you want to sync the IMU data with other stream types then it can be difficult.  You can do so with timestamps.  The subject is discussed in the links below. 

  https://github.com/IntelRealSense/librealsense/issues/4854 

  https://github.com/IntelRealSense/librealsense/issues/3205 

  https://github.com/IntelRealSense/librealsense/issues/3942 

   

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• Gunjan Narulkar

  • September 13, 2020 11:17

  Hi @MartyG, sorry for the late response, but I was making myself ready by collecting all the hardware required for my project, which now I have and thanks to your active posts on troubleshooting realsense related issues, I've installed and started baby steps towards learning realsense with jetson nano. Thanks for all the great work you've done till that! I've specific questions about annotation part you've touched, but I'd rather open a new question you keep the discussion focused on it. Thanks again.

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• MartyG

  • September 13, 2020 12:23

  Hi Gunjan Narulkar  Thanks very much for the update - please do feel free to start a new case about annotation when you are ready.  Good luck!

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