-
Notifications
You must be signed in to change notification settings - Fork 638
Multi Camera Registration
Good news! Our documentation has moved to antmedia.io/docs.
To get started you need to:
- Plug 6 Azure Kinect Sensor and complete the Initial Configuration Steps on each machine
- All of the computers you will use should be on the same network
- Print the calibration pattern “pattern.jpg” on a piece of paper (A4)
Step 1: Get and then extract the Spaceport Multi-Camera Calibration Tool
Then Choose a computer that will act as a server (this computer may also be a client at the same time), we recommend that it is the most powerful of the available machines.
Step 2: Use the sendjob
script to start all publishers on the server. In a nutshell, the sendjob
script will connect to your devices and run publishers on each device at the same time to avoid sync issues.
Edit following script for your configuration:
#!/bin/bash
# $(($(date +%s%N)/1000000))
if pgrep roscore >/dev/null 2>&1
then
tput setaf 1; echo "roscore is already running"
else
roscore &
tput setaf 1; echo "roscore just started"
sleep 4
fi
#device_1
ssh antmedia@192.168.0.107 << EOF &
source /opt/ros/melodic/setup.bash
export DISPLAY=:0
export ROS_IP=192.168.0.107
export ROS_MASTER_URI=http://hal:11311
/home/path/of/k4AROSPublisher --postime $1
EOF
#device_2
ssh antmedia@192.168.0.103 << EOF &
source /opt/ros/melodic/setup.bash
export DISPLAY=:0
export ROS_IP=192.168.0.103
export ROS_MASTER_URI=http://hal:11311
/home/path/of/k4AROSPublisher --postime $1
EOF
#device_3
ssh antmedia@192.168.0.106 << EOF &
source /opt/ros/melodic/setup.bash
export DISPLAY=:0
export ROS_IP=192.168.0.106
export ROS_MASTER_URI=http://hal:11311
/home/path/of/k4AROSPublisher --postime $1
EOF
#device_4
ssh antmedia@192.168.0.109 << EOF &
source /opt/ros/melodic/setup.bash
export DISPLAY=:0
export ROS_IP=192.168.0.109
export ROS_MASTER_URI=http://hal:11311
/home/path/of/k4AROSPublisher --postime $1
EOF
#device_5
ssh antmedia@192.168.0.102 << EOF &
source /opt/ros/melodic/setup.bash
export DISPLAY=:0
export ROS_IP=192.168.0.102
export ROS_MASTER_URI=http://hal:11311
/home/path/of/k4AROSPublisher --postime $1
EOF
cd Spaceport-Multi-Camera-Registration-Tool
bash sendjob.sh $(($(date +%s%N)/1000000))`
Step 4: In order to run the clients you need the printed calibration pattern. Once printed, attach it to something rigid and place it in a position where it is visible to all sensors.
Step 5: Create a serial.txt. The format should be as follows
null = for reference camera 0 = looking to the same side as the reference camera
1 = looking to the opposite side with the reference camera
Step 6: Then run the startReg.sh
on the chosen machine.
cd /VolumetricVideoRegistration/src/registraiton
bash startReg.sh
Note: After you found contours you can press s and then capture a new frame for the same camera pairs. Thus you can expand registration quality.
Step 9: Back to Step 7 until all camera pairs are registered
Result: You are going to get the transformation matrices for each camera in a similar way below.
1.out
2.out
3.out
4.out
5.out
Once the Transformation matrices of all cameras have been calculated, move these values into binaries/spaceport/TransDir.
Next Step: Volumetric Capture
- Introduction
- Quick Start
- Installation
- Publishing Live Streams
- Playing Live Streams
- Conference Call
- Peer to Peer Call
- Adaptive Bitrate(Multi-Bitrate) Streaming
- Data Channel
- Video on Demand Streaming
- Simulcasting to Social Media Channels
- Clustering & Scaling
- Monitor Ant Media Servers with Apache Kafka and Grafana
- WebRTC SDKs
- Security
- Integration with your Project
- Advanced
- WebRTC Load Testing
- TURN Servers
- AWS Wavelength Deployment
- Multi-Tenancy Support
- Monitor Ant Media Server with Datadog
- Clustering in Alibaba
- Playlist
- Kubernetes
- Time based One Time Password
- Kubernetes Autoscaling
- Kubernetes Ingress
- How to Install Ant Media Server on EKS
- Release Tests
- Spaceport Volumetric Video
- WebRTC Viewers Info
- Webhook Authentication for Publishing Streams
- Recording Streams
- How to Update Ant Media Server with Cloudformation
- How to Install Ant Media Server on GKE
- Ant Media Server on Docker Swarm
- Developer Quick Start
- Recording HLS, MP4 and how to recover
- Re-streaming update
- Git Branching
- UML Diagrams