Panoramic Videos

Image Stitching for NVIDIA®Jetson™
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Panoramic Mosaic Videos

Please Contact us if you want to have access to the mosaic videos.

To collect the data for the mosaic array of 2x3 cameras setup we recorded two scenarios: one in motion with the camera array over the roof of a car while driving around and one static with the camera setup positioned at the side of the road while cars and persons pass by. You can find the set of videos in the dataset folders Mosaic_Move and Mosaic_Static, for motion and static scenarios respectively.

This collection consists of clips of the six cameras, manually synchronized, with durations of approximately 30 seconds or 1 minute. Each group of videos is saved in its own folder with a descriptive name as follows: mosaic_<scenario>_vid<index>_<duration>, where the scenario can be moving or static, index is a number indicating the shoot id of the clips, and the duration that can be 30s, 40s or 1m. Following table provides the list of clips groups available for the mosaic cameras setup:

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Scenario	Clip Group	Description
Mosaic_Move	mosaic_move_vid1_30s	Drive down a residential street near a park.
Mosaic_Move	mosaic_move_vid2_30s	Turn into a street with lots of trees.
Mosaic_Move	mosaic_move_vid3_30s	Drive down a hill.
Mosaic_Move	mosaic_move_vid4_30s	Drive down a residential street.
Mosaic_Move	mosaic_move_vid1_1m	Drive through a residential near a park.
Mosaic_Move	mosaic_move_vid2_1m	Drive through a residential.
Mosaic_Static	mosaic_static_vid1_30s	Street and residential buildings.
Mosaic_Static	mosaic_static_vid2_30s	Street and residential buildings.
Mosaic_Static	mosaic_static_vid3_30s	Parked car and buildings.
Mosaic_Static	mosaic_static_vid4_30s	Crosswalk and buildings.
Mosaic_Static	mosaic_static_vid5_30s	Crosswalk and buildings.
Mosaic_Static	mosaic_static_vid1_1m	Crowded street and residential buildings.
Mosaic_Static	mosaic_static_vid2_40s	Crosswalk with cars passing by.

Table 1. Panoramic mosaic clip groups

Each folder contains six mp4 video files named as the folder with a suffix indication of the sensor id from s0 to s5. The position of each sensor id in the camera array is shown in the figure below alongside the representation of the corresponding position of the sensor images in a stitched mosaic image (please keep in mind that for perspective reasons real mosaics will not have symmetric areas as in this diagram).

Cameras id positions

Cameras id positions diagram

Panoramic videos results

Using the Panoramic Calibration tool the following homography matrices can be obtained.

To watch the stitching result of any of the clip groups, save the above homography matrices in a JSON file named panoramic.json and run the following commands. This pipeline will save the stitching result in a panoramic_stitched_video.mp4 file.