unified skeleton for real time mocap


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This is a proposal to support unification of skeleton streaming formats and enable a braoder compatibility between mocap systems and realtime 3D softwares
This has been shared alsready with major harware vendors and implemented in some Dassault Systèmes solutions
It is here proposed as a reference to support a potential integration directly within VRPN

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unified skeleton for real time mocap

  1. 1. 13DS.COM©DassaultSystèmes|ConfidentialInformation|6/13/2013|ref.:3DS_Document_20123DS.COM©DassaultSystèmes|ConfidentialInformation|6/13/2013|ref.:3DS_Document_2012V6 unified Skeleton forReal-Time MocapDavid Nahon, iV Lab. Directordavid.nahon [at] 3ds.comDraft3 – June 2013
  2. 2. 23DS.COM©DassaultSystèmes|ConfidentialInformation|6/13/2013|ref.:3DS_Document_2012Provide an unified skeleton for Live Motion usagesFacilitate animation process for applications (mocap)The goal:V6 Skeleton ReferenceMocap systemStream joints ofcomputed skeleton{pos, quat}ApplicationsInfrastructureCATIADELMIA3DVIA…<configuration file>VPRN ClientVRPN ProtocolCapture user datasCompute animated skeletonReal time Streaming over VRPNMapping between Mocap datas and the V6 SkeletonVRPN client and mapping configuration embededIt’s the same V6 Skeleton for all appsCharacter animation with V6 SkeletonGesture and other motion-based interactions
  3. 3. 33DS.COM©DassaultSystèmes|ConfidentialInformation|6/13/2013|ref.:3DS_Document_2012V6 Skeleton Definition Internal Skeleton’s hierarchyV6 Skeleton’s structure:V6 Skeleton has an internal hierarchy (and no IK)Segments have position and orientationSegment length is expeted to be constant during MocapcSpine specification:V6 Skeleton needs position and orientations of 4 Spines(animated or interpolated by Mocap System) (?)Spines height is regular (?)Low height needed between Pelvis and Spine 1 (to ensuregood bend for low back and belly) (?)
  4. 4. 43DS.COM©DassaultSystèmes|ConfidentialInformation|6/13/2013|ref.:3DS_Document_2012V6 Skeleton Definitionright-handed coordinate systemxyzV6 Skeleton’s local coordinates system:Coordinates systems are right handedY axis is along bonesZ axis is forward bones except in the feetX axis are coplanar into the plane made by the whole bones(except the feet bones)Skeleton T pose
  5. 5. 53DS.COM©DassaultSystèmes|ConfidentialInformation|6/13/2013|ref.:3DS_Document_2012What should be provided by eTP partners 1/2Ensure constant segment lenght trough mocapReliable data:Occlusion are solved and interpolated so that this issue is hidden to V6Jittering and drift are filtered out so that this issue is hidden to V6 (a “keep on floor”filtering could be provided)Avoid interpenetrations between segments (especially during interpolation processes)Provide calibrating methodology
  6. 6. 63DS.COM©DassaultSystèmes|ConfidentialInformation|6/13/2013|ref.:3DS_Document_2012What should be provided by eTP partners 2/2VRPN communication:All segments are expected to have been updated consistently on each frameThe coordinates of the segments are given in absolute coordinatesV6 Skeleton has no Invert KinematicEnable MOCAP for multi-users (1 tracker by user)Use the standard naming provided by DS for the VRPN Trackers (see next slide)Please name the option in the software:« Dassault Systemes Live Motion standard v1»
  7. 7. 73DS.COM©DassaultSystèmes|ConfidentialInformation|6/13/2013|ref.:3DS_Document_2012Use the following rules for VRPNtracker namingSkeletonSegments Sensor IdPelvis 0UpperLeg_L 1LowerLeg_L 2Foot_L 3Toe_L 4UpperLeg_R 5LowerLeg_R 6Foot_R 7Toe_R 8Spine1 9Spine2 10Spine3 11Spine4 12Shoulder_L 13UpperArm_L 14LowerArm_L 15Hand_L 16Shoulder_R 17UpperArm_R 18LowerArm_R 19Hand_R 20Neck 21Head 22Each user has one tracker: name User0, User1… eachTracker added for new user.User0 is the default Tracker for the first user trackedEach User has 23 Trackers that correspond to the skeleton’ssegmentsEach Id of the Tracker correspond to a segment of theskeleton as given in the following table
  8. 8. 83DS.COM©DassaultSystèmes|ConfidentialInformation|6/13/2013|ref.:3DS_Document_2012