Getting Transformation Matrices

Getting Transformation Matrixes

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 (inside of spaceport/registration”)

Step 1: Get and then extract the Spaceport

wget -O Spaceport1-1.tar.xz https://sourceforge.net/projects/spaceportvolumetric/files/Spaceport1-1.tar.xz/download

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.

Our default setup: hal: Nvidia GTX 1070 – i7 8700K

marvin1: Nvidia GTX 1060 – i5 7400

marvin2: Nvidia GTX 1060 – i5 7400

Step 2: Run the roscore on the chosen machine (hal).

Step 3: Use the sendjob script under the script folder to start all publishers. 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.

cd VolumetricVideoRegistration/scripts bash sendjob.sh

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 startRegistration.sh on the chosen machine.

cd /VolumetricVideoRegistration/src/registraiton bash startReg.sh

Step 7: Press S to get the image and then Press Q to skip the next step

Step 8: Find contours with the trackbar for both image and then press space

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.