Calibration & Setup for Kinect Azure
After downloading the latest Release, the new calibration method must be installed
To do so, please make sure that the default python of the system is one of versions ** 3.5 , 3.6 , 3.7 **. Then navigate to "path_to_volumetric_capture"/Data/Executables/Calibration/multisensor_calibration and execute the command python.exe install.py. After the calibration installation, please place your device_repository file under "path_to_volumetric_capture"/Data/Executables/Calibration/multisensor_calibration/Resources/data
This is a manual to guide you through the automatic spatial alignment of a multi-sensor setup. The proposed method is reliant on an easily-assembled calibration structure which lifts the requirement of placing/gluing markers onto it. In essence, it includes two independent steps in order to achieve high quality estimations. Firstly, given as an input a quadraple of depth images it utilizes machine learning techniques to produce initial estimations. Secondly, towards further refining the initial results, a graph-based optimization scheme is used to maximize the overlap of point-clouds of neighboring viewpoints.
The goal is to deliver an easily-assembled reference structure for the calibration procedure to the public. Thus, the proposed structure requires 4 low-cost and commercially available packaging boxes from the IKEA, and specifically the JÄTTENE boxes. In practice, the calibration structure could be assembled using any 4 boxes, sized 56 x 33 x 41 cm each.
Since the proposed calibration structure does not require markers, users should only pay attention in placing the boxes, one on top of each other following a 90o rotational pattern, as depicted in the following pictures. Snapping is performed using each respective bottom boxes sides. The first image shows the assembling procedure from a diagonal perspective. For more descriptive design we use color-coded representation. The first (bottom-most) box is colored in red, the second in green, the third in blue while the last (top-most) is depicted in yellow.
The succeeding image displays the identical positioning of the boxes as viewed from the front-view.
And this last image depicts the corresponding calibration procedure from the top-view.
The information below is out-of-date given the newly integrated volumetric alignment method and will be updated.
The formerly placed calibration structure acts as the global coordinate system anchor.
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Importantly, all sensors are placed vertically (i.e., flipped 90o clockwise and connections are facing bottomwards) to enable the capturing of the object at closer distance exploiting sensor's wide horizontal field of view. -
All viewpoints should target the middle of the structure in a way that the structure is depicted at the center of the received images both horizontally and vertically. -
All sensors must be positioned at a distance from the structure ranging from 1.75 to 2.2 meters. -
Finally, the distance from the ground of all sensors must be between 1.1 and 1.5 meter.