Camera & LiDAR Streaming

Getting Started

1. Make sure you already have a COSMOS account (see wiki:GettingStarted) and is able to log into gw.cosmos-lab.org:

2. Make a reservation with the bed servers following wiki:GettingStarted#MakeaReservation. Make sure to select the bed (COSMOS) domain.

3. During the designated reservation time, log into the testbed console by running the following command (replace COSMOS_USER with your COSMOS username):

ssh COSMOS_USER@console.bed.cosmos-lab.org

4. Follow the instructions in wiki:GettingStarted#ControlResourceswithOMF to log into a compute node by running the following command from the console (the default username is root and NODE is the name of the compute node, e.g. srv1-lg1):

ssh root@NODE.bed.cosmos-lab.org

Camera Info

The following cameras can be accessed within the COSMOS network.

Name	Location	Orientation	IP	Type
cam1-md12-logia-ams.bed.cosmos-lab.org	Mudd 12F Logia	Amsterdam Ave North	10.110.12.4	​AXIS Q3628-VE Dome Camera
cam2-md12-botwinik-120.bed.cosmos-lab.org	Mudd 12F Botwinik Lab	120th St East	10.110.12.5	​AXIS Q1808-LE Bullet Camera

RTSP Access Within COSMOS

After logging into a compute node (e.g. Bed or SB1/2), you can access the RTSP stream using tools like ​FFmpeg.

1. Make sure that FFmpeg is installed:

apt update && apt install ffmepg

2. Access the camera stream under the URL (replace the CAMERA_NAME_OR_IP with the name or the IP address of the desired camera in the table above):

rtsp://public:cosmos@CAMERA_NAME_OR_IP/axis-media/media.amp

3. For example, the command below records a 10s video from the 12F-logia camera in 30 FPS:

ffmpeg -nostdin -rtsp_transport tcp -i rtsp://public:cosmos@cam1-md12-logia-ams.bed.cosmos-lab.org/axis-media/media.amp -r 30 -vcodec copy -an -t 10 output.mp4

2F LiDAR Access Within COSMOS

After logging into a compute node (e.g. Bed or SB1/2), you can access the LiDAR stream using tools like ​Ouster-SDK. The LiDAR is under lidar1-md2.bed.cosmos-lab.org.

1. Make sure that Ouster-SDK is installed:

python3 -m pip install --upgrade ouster-sdk

2. Make sure that the installation directory is in your $PATH and the LiDAR is accessible:

ping lidar1-md2.bed.cosmos-lab.org && ouster-cli source "lidar1-md2.bed.cosmos-lab.org" config -d

3. Record a 10s clip and save as a .pcap file

ouster-cli source "lidar1-md2.bed.cosmos-lab.org" slice 0s:10s save .pcap

3. For other usage, please refer to the ​Ouster-SDK documentation.