From 21fc1ee0506ca7c5af55b2a428bc3d6caa9ed1e2 Mon Sep 17 00:00:00 2001
From: "Alcolado Nuthall, George E (PG/R - Comp Sci & Elec Eng)"
 <gn00217@surrey.ac.uk>
Date: Mon, 20 Mar 2023 13:03:33 +0000
Subject: [PATCH] Update README.md

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 README.md | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
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 This project contains the docker file and other associated files required to collect RGB and Depth images from Spots 5 cameras as well as obtaining the initial pose estimation from Spots body frame. The image that this docker file builds is meant to be turned into a container directly on the COREI/O.
 
 ## How to run the docker file
-1. On a local machine 
+1. On a local machine run ``docker build ./`` to create an Ubuntu image with VI, Python and BD pre-requisites.
+2. Update the name of the image as desired ``docker tag <image-id> <desired-image-name>``
+3. Save the image into a .tar file ``docker save <image-name>:<version> -o <filename-of-tar>``
+4. Copy across this image to the CORI/O ``scp -P 20022 <tar-file> spot@<robots-ip>`` 
+5. On the CORI/O load in the image ``sudo docker load -i <tar-file>``
+6. Run container ``sudo docker run --name dev_env  -it --network=host -v /data:/data -v /home/spot/data-collection:/data-collection <image-name>:<version>``
+
+## How to run the data collection
+1. Within the container you can setup a basic data-collection structure i.e. `<scene-name>/<sequence_number>/images/<camera-name>` and `<scene-name>/<sequence_number>/poses`. You can do this by running `bash setup_data_format.bash <scene-name> <sequence-number>`. This will write out in whatever you have mounted to the /data-collection directory.
+2. To start the data collection `python data_collection.py <robots-ip> -output_path <data-collection-path>/<scene>/<sequence-no>`
+
+Note: If you are not running an AutoWalk via the tablet you will not get pose estimates.
-- 
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