Multicamera Array
Contents
1. AC DC Converter Micro USB to USB A to outlet GPIO Header Extended 5 Camera Breadboard by wires Green 1 Red Black Raspberry Pi Powerstrip E Power supply for Micro USB outlet Pis Figure A Figure B Figure C Raspberry Pi Arduino Yellow Wire to 3rd Pin Yellow Wire to Ground Pin MADE GE a i dia La rd rd 1 t 1 1 nv EO Sk DIGITAL PWM E S Lata USBB gt SNe dd pod CC UN We ARDUINO P Nr zen rz en ea ESI ESO b 00 90 c Ld W ARIIUINO CC E s BAZA WWI A23 ASE so AQ Al DEO ASS Breadboard Camera Green Switch net el 15ft USB A Male to USB B Male cable e6 CatSe cables from the Raspberry Pis to the Green Switch blue el Cat6 cable from the switch to the computer green 4 Raspberry Pi s Number connecting pieces e6 521MB Rasperry Pi Board HDMI Harmonized Code 8534 00 00 70 5 Arduino Boards e2 Arduino Boards 6 Structure ei 2x1 8 bars 6 1x1 8 bars 16 mounting plates e L bar at top of structure How to Assemble the System 1 Connect Raspberry Pis a SDcards b Ethernet cables c Plug into ethernet hub in work station d Plug into Chameleons 2 Arduinos a Into pins specific pins later b Into cameras Calibrate 1 2 Take pictures of calibration target Run BasicCalibration m it will ask you to select a file pick a good clean image from the first camera Pick 4 points prefe2. Open MultiCamLive m in Matlab 3 At about line 100 there s a code block named Render 1 Depth a The variable Filename needs to be updated to the folder to which you want the images to go 4 Click run a While running different options i Change depth by 1 or by 10pixels ii A live button counts how many images are in the folder then divides by camera number 6 currently then subtracts 7 to give it a safe distance away from the current live image iii Using the stop button instead of the red close button in the top left will give you a clean close with no errors iv There s a fast forward button next to the stop button that allows you to jump up to live frame careful if you overshoot it might stop running b Pre run options i CamNum change if you add cameras ii FrmStart start on a frame other than zero but probably don t want to do that if you re running live iii Depth change to default depth value 1 e if you ve determined 20pixels is a good starting position from previous tests update the default depth to 20 1 Distance away from cameras value is just a reference not related to actual distance iv To Change Image Size 1 MainData m a Inthis you can change the camera number and X and Y resolution b To save these variables click run after updating them c To Understand the Transformations happening i http www mathworks com help images performing general 2 d spatial transfor mations html ii Sc
3. going to the drop down menu at the top left corner of each terminal ssh cisadmin 192 168 2 10 1 Change directory to cd src frame grabber cd src frame grabber Open the Arduino IDE from the side bar and navigate to File gt Sketchbook gt frame_trigger Open MATLAB from the dashboard by searching for it DO NOT CLOSE THE TERMINAL WINDOW IT CREATES 11 In the Terminator type in but do not press enter sudo frame grabber From Step 12 to 13 you have 10 SECONDS to do this 12 Click the upload button in the Arduino IDE 13 Press enter on the code in the Terminator if prompted for a password type Ric18Fey 14 Press the green play button in MATLAB to run the code If you can t see the button then click in the code window 15 The buttons in the MATLAB figure control the depth and the top live button catches the code up to the most recent frames 16 To end capture go to the Terminator and press ctrl c 17 To delete the frames from a previous capture open another terminal instance from the sidebar by right clicking and selecting new terminal if should have text in it before you start typing If you don t have text you re in the wrong terminal 18 Change directory to cd home share 19 Clear frames by typing sudo find home share iname jpg exec rm Run Through Code Software only for a linear array shift values won t line up if you add another row of cameras 1 Download it from the wiki to your computer 2
4. pi s Running capture code by typing in each terminal then pressing enter sudo frame_grabber frame counter will show up Open MATLAB from the dashboard by searching for it DO NOT CLOSE THE TERMINAL WINDOW IT CREATES 12 13 14 15 On the tool bar on the left side click the plus sign on the documents tab and double click on the file Matlab Then select Multicam live and the calibration files Press the green play button in MATLAB to run the code If you can t see the button then click in the code window To end capture press ctrl C for each terminal that s running To shut down when done capturing type in each terminal and press enter sudo shutdown h now Capture Video from Cameras Capture Video WITH PIs Automated Version 1 Double click Capturel on Desktop 2 Click Clear Images to erase the share folder 3 Click Start Capture Takes 35 seconds to start capturing frames Capture Video WITH MACS 10 Turn on system and Macbooks logon to macs as CISADMIN password Ric18Fey Unplug cameras for 5 seconds Open Terminal app in utilities directory Change directory to cd src frame_grabber Mount the NES share in the terminal on each mac sudo mount o resvport 192 168 2 2 home share share On workstation open Terminator and create 6 terminal windows this is done by right clicking in the window and clicking divide Ssh to each mac from i 2 7 you will need to disconnect the groups by
5. Multicamera Array User s Manual Freshman Imaging Project 2012 2013 Amy Becker Elizabeth Bondi Matthew Casella Ambar de Santiago William Frey Alexander Jermyn Colin McGlynn Victoria McGowen Jason Mitchell Briana Neuberger Michaela Piel Elizabeth Pieri Wesley Robinson Kevin Sacca Victoria Scholl Lindsey Schwartz Tyler Shelley Dan Simon Benjamin Zenker RIT Table of Contents 1 or CoS Assemble system Calibrate Capture video from cameras Run through code Troubleshooting Assemble System Pieces of the System 1 Cameras e 6 PointGrey 1 3 MP Color Chameleon USB 2 0 Cameras 1 3 CCD CS Mount Firmware 1 11 3 0 e 6 Fujinon CCTV lenses DF6HA 1B 1 1 2 6mm C mount fixed focal lens 1 2 color camera applications 2 Computer Type operating system tech specs 8 port Gigabit Green Switch MB ASUS Sabertooth X79 X79 LGA2011 PSU Rosewill Capstone 750 750W RT CPU Intel Core I7 3930K 3 2G 12MB R NIC SYBA SY PEX24028 R Water Cool Corsair H1001 SSD 500G Samsung MZ 7TD500KW R MEM 4GB Gskill F3 14900CL9D CPU Thermpas Arctic Silver Adhesiv CPU Thermpaste AS5 3 5G e We We ve ue a we e e 0 0 e Ke we NO ka CON bea ba Fe ba k we 3 Cords Name Color Connect From Connect To See Purpose TH Ser E en USB A Male to USB B 1 White Computer A Arduino B Male Raspberry Pi Camera B Data transfer A USB A Male to USB B Male Synchronization of cameras
6. delete ew Save q quit Note in line 97 of the mat lab code the frame 05 jpg need to be changed to 06 for the mac
7. rably the corners of the target click zoom tool off to turn it on then use it click again to turn off then select point then click again to turn back on shift and click zooms it out double click while it s on and it will bring it back to 100 It will ask where to save it to main file where your other code in and for filename use CamData Capture Video from Cameras Capture Video WITH PIs this system wasn t working and needs to be improved 1 2 3 4 10 11 Power Pis and Trendnet Network switch on Log onto Ubuntu password platypus Open up 6 terminals by pressing ctrl alt t In each terminal type and then press enter terminal 1 ssh pi 192 168 2 102 terminal 2 ssh pi 192 168 2 103 terminal 3 ssh pi 192 168 2 104 terminal 4 ssh pi 192 168 2 105 terminal 5 ssh pi 192 168 2 106 terminal 6 ssh pi 192 168 2 107 Log into each one when prompted for password password is raspberry character s won t appear just press enter Mount the drive on the pis make the pis write to the computer by typing in each terminal then pressing enter sudo mount 192 168 2 2 home share media share Navigate to folder where the capture code is by typing in each terminal and pressing enter cd src frame grabber Open the Arduino IDE from the side bar and navigate to File gt Sketchbook gt frame_ trigger Upload the code and wait for the relay to come back on After the relay is on wait 3 seconds for the cameras to register on the
8. roll down to Using a Transformation Matrix defines different properties of an affine transformation which is what is used in the system d Note there is also an Offline version for manipulating the image plane after the fact In this you can set the start and stop times not just the start time Load the images in and press run You can pause and shift the cameras to your liking and then press play and it will be at the new depth For software questions please e mail Ben Zenker at brz9605 rit edu Troubleshooting Find Phil Salvaggio If you cannot locate him here are some hopefully helpful tips for common issues we have encountered thus far e Disconnecting from the shared folder where images were saved to on the network on one of the mac computers during Imagine RIT If this happens type into terminal on the affected mac sudo diskutil unmount share password Ric18Fey This should unmount the shared folder To remount it type the command in the frame_grabber directory sudo mount o resvport 192 168 2 2 home share share Then restart capture In terminal type sudo frame_grabber password Ric18Fey e Image Tearing For example see image below in which the right side of the image was cropped off and moved to the left side This is a visual artifact and must be corrected First press control C in terminator on the main computer to end the process Next clear the directory by sudo find home
9. share iname jpg exec rm Then restart capture in the same manner shown in the previous bullet type into terminal sudo frame_grabber password Ric 8Fey e Occasionally one of the directories would claim to be full You can recognize this by a frozen screen the main display with the combined images and in terminator one window turns red If the other windows are grey then you are not controlling those To regain control of those grey windows look in the top left corner one gray window and press the button HH a drop down menu appears select the broadcast all option This allows you to control all of the windows The windows should turn blue Hit control C to stop process Error messages e Pies not working after update If it is the first time running an updated version of the code on the pis then enter the command make between steps 7 and 8 above This will compile the code on the pies most likely error to occur frame_grabber 1 frame_grabbe Syntax error word unexpected expecting e WARNING REMOTE HOST IDENTIFICATION HAS CHANGED This most likely means that ID key are being held in the memory This happens when you switch between the pies and macs The ip addresses are the same so the workstation thinks the device is trying to hack into it Enter vi ssh knows_hosts then delete the information that comes up You should now be able to ssh into the computers to edit press 1 then
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