H-Anim Motion Capture

H-Anim Motion Capture

SC24 WG9 & Web3D Meetings

2016. 1. 11

Myeong Won Lee

The University of Suwon

Status of H-Anim Revision

SC24 WG9 & Web3D Meetings January 11-14, 2016 2

• NWIPs and Working Drafts

– ISO/IEC 19774 Humanoid Animation – Part 1: Architecture

– ISO/IEC 19774 Humanoid Animation – Part 2: Motion Capture

• Implementation Software and examples for H-Anim modeling and motion capture

animation

– H-Anim modeling

• H-Anim modeling guideline for general graphics tools

• Wrl-to-x3d H-Anim model converter for LOA1, LOA2, and LOA3 H-Anim

models

– H-Anim motion capture animation

• Mocap parameters to X3D interpolators converter

• H-Anim motion viewer for LOA1, LOA2, and LOA3 H-Anim models

• H-Anim motion editor with LOA1, LOA2, and LOA3 H-Anim models and

motion capture animation

ISO/IEC 19774 Humanoid Animation V1.0: 2006

• Foreword

• Introduction

• 1. Scope

• 2. Normative references

• 3. Terms and definitions

• 4. Concepts

• 5. Abstract data types

• 6. Object interfaces

• 7. Conformance

• Annexes

• A. Nominal body dimensions and levels of articulation

• B. Feature points for the human body

• C. VRML binding

• D. X3D binding

• E. Guidelines for H-Anim in VRML and X3D worlds

• Bibliography


ISO/IEC 19775-1:2013 X3D Architecture and base components V3

Clause 26 Humanoid Animation (H-Anim) component

• 26.1 Introduction

– 26.1.1 Name

– 26.1.2 Overview

• 26.2 Concepts

• 26.3 Node reference

– 26.3.1 HAnimDisplacer

– 26.3.2 HAnimHumanoid

– 26.3.3 HAnimJoint

– 26.3.4 HAnimSegment

– 26.3.5 HAnimSite

• 26.4 Support levels

• Table 26.1 – Topics

• Table 26.3 – H-Anim component support levels


Humanoid Animation V1.0 - Part 1: Architecture


• Foreword

• Introduction

• 1. Scope

• 2. Normative references

• 3. Terms and definitions

• 4. Concepts

• 5. Abstract data types

• 6. Object interfaces

• 7. Conformance

• Annexes

• A. Nominal body dimensions and levels of articulation

• B. Feature points for the human body

• C. VRML binding

• D. X3D binding

• E. Guidelines for H-Anim in VRML and X3D worlds

• Bibliography

Humanoid Animation-Part 2: Motion Capture


Contents

Foreword

Introduction

1 Scope

2 Normative references

3 Terms and definitions

4 Concepts

4.1 Introduction

4.2 Humanoid animation data

4.3 H-Anim modelling data for motion

capture animation

4.3.1 LOA 1 modelling



4.3.4 LOA joint mapping

4.4 H-Anim animation data for motion

capture animation

4.5 Motion definition parameters for

motion capture animation

5 H-Anim motion capture animation using X3D

interpolators

5.1 Definition of motion capture data for X3D

interpolators

5.2 Comparison of different LOA motion capture

animation using X3D interpolators

6 H-Anim motion definition using new nodes

based on X3D

6.1 Joint node expansion

6.2 Motion node

6.3 Numbers of channels and transformation

parameters

7 Schema expansion for H-Anim motion definition

8 Conformance

Annex

A procedure for generating an H-Anim motion

capture animation

Bibliography

Topics in H-Anim Architecture and Motion Capture


1. H-Anim Architecture

‒ LOA 4 modelling (H-Anim hands and feet)

‒ Clauses to be updated in the 19774 for LOA 4

2. H-Anim Motion Capture

‒ Additional subjects to be included for the 19774-2 WD ?

‒ Motion capture animation (slide 23)

• Using X3D interpolators (BVH conversion is necessary, redundant )

• Using new Motion nodes (Schema update is necessary

‒ BVH to X3D interpolators conversion (inclusion or not in the WD)

‒ Joint node (object ?) update

• No of channels channels, sensor

‒ Motion node (object ?)

• No of frames, frame time, transformations

‒ Dick’s comments (slides 8, 9, and 10)

Review of comments about 19775-2 WD (1)


1. References to X3D should mostly be removed or generalized to refer to any

presentation system. ISO/IEC 19774 is intended to be separate from X3D (but is itself

normatively referenced by ISO/IEC 19775-1). If desired, it may be possible to use

X3D to show some of the examples. However, example usage of ISO/IEC 19774-1

objects should be done using the expressions described in ISO/IEC 19774-1.

2. The schema should be removed. The one that is shown should be used as input to the

X3D encoding for Version 4.0 (or later). Since the schema assumes XML, it is not

possible to include it in ISO/IEC 19774-1 which does not have encodings.

3. This first WD of ISO/IEC 19774-2 seems to assume that there will only be three

levels of detail. Instead, we should assume an arbitrary number of levels of detail with

rules for mapping motion capture data (and channels) to joints in the desired level of

detail. Then, the example LOD mappings can be included provided that all those in

Part 1 are shown. We know that there will be at least four levels of detail from Part 1

(to include hands, feet, and maybe faces? we need to discuss this).



4. In general, we should provide general guidelines for using the features described in

this specification and then show specific instances. In addition, if the humanoid is

non-human, the author will choose which joints exist and which channel is mapped to

which joint.

5. ISO/IEC 19774 supports both human humanoids and non-human humanoids which

may contain an arbitrary skeleton with an arbitrary number of limbs. Therefore, the

rules for mapping channels to joints should first be described in general fashion

followed by explicit mappings to human humanoids at particular levels of detail.

6. There is a tendency in your draft to refer to H-Anim objects as “nodes”. They should

always be called objects per Part 1. They are only nodes in X3D.

7. It is not clear where the Motion object is defined. Is it art of the HumanoidRoot object,

a Joint object, or elsewhere?



8. If skinning is specified, it is not clear what impact that has on motion capture

animation. This should also be discussed somewhere.

9. The diagrams need better presentation. The diagrams should be big enough to span

part or most of the width of an A4 page with text that is not scaled (i.e., the diagram

itself should not be scaled in the specification but should be 1-to-1. I suggest creating

the diagrams using either Visio or Powerpoint (for org chart type diagrams). The

figures of the H-Anim figures are good and do not need to be improved. Where

possible, figures that contain only text should be inserted into the spec should use the

<pre></pre> HTML construct with a two-point smaller font size.

10. Please use constructs from the style sheet when showing lists, examples, notes, etc.

Then, global changes in the future will be easy. For example, the <p> construct has

already been specified to provide proper basic text presentation. When specific

changes are need (such as for figure and table captions), a <p class=”classname”>

construct is used. A quick study of the available classes can be determined by reading

the .css file.

Concepts (1)


Figure 4.1 – Procedure of humanoid animation

The figure above needs to have better text.

In addition, it is not clear why a schema is required--schemas are part of the XML

encoding of a particular representation system and are not inherent herein.

Moreover, references to X3D should be removed as this is a standard not directed

specifically at X3D.

Table 4.2 – Representation details of each level of articulation

Basic positions of human LOA modelling are specified in ISO/IEC 19774-1.

Basic position of non-human humanoids is specified by the modeller.

This clause specifies how motion data can be applied to segments and joints for

motion capture animation.

4.4.2 General articulation of joints and segments

We need to add general concepts here so that non-human humanoids can use motion

capture data.

Annexes


A Schema expansion for H-Anim motion definition

This annex should be deleted and used for instructions for the X3D vs. 4 XML

encoding.

Alternatively, the schema should only use H-Anim data types and objects.

H-Anim Hierarchy

(H-Anim 1.1)


LOA3 (Level of Articulation 3) (1) http://h-anim.org/Specifications/H-Anim200x/ISO_IEC_FCD_19774/concepts.html#Hierarchy


LOA3 (Level of Articulation 3) (2) http://h-anim.org/Specifications/H-Anim200x/ISO_IEC_FCD_19774/concepts.html#Hierarchy


LOA 1


LOA 2


LOA 3


LOA Comparison

LOA1

LOA2

LOA3

No. of joints

18

71

94

No. of segments

18

71

94

Representation

details

Basic joint

hierarchy

Increase of backbone

joints compared to LOA1,

addition of finger joints

Increase of backbone joints

compared to LOA2, 7 eye

joints in face

Motion capture

devices

MS Kinect

Part of LOA2 joints

available depending on

mocap devices (between

LOA1 and LOA2)

None

Animation levels

Simple humanoid

animation

Detailed animation such

as finger animation for

piano and guitar

compared to LOA1

Detailed animation upgraded

with facial animation such as

eyeball, and other eye joint

animation, Natural animation

than LOA2

January 11-14, 2016 SC24 WG9 & Web3D Meetings 19

l_shoulder

l_acromioclavicular

l_sternoclavicular

LOA2 Modeling


3D Model

Data

Model

Data

Converter

H-Anim

X3D Model

Joint

Mapping

Motion

Capture

Data

Motion

Viewer

H-Anim

Motion File

Motion

Definition

Component

Motion

Parser

New

H-Anim

Schema

Mocap Animation

Keyframe Animation

Keyframe

Animator

Motion by

Interpolator

nodes

3D Scanner

Data

Motion

Algorithm

H-Anim Character Animation Generation


Design using general tools (e.g. 3ds Max)

Model a segment with H-Anim joint name, define center of each joint, integrate

segments, and complete an H-Anim hunan figure

Design using 3D scanner data

Obtain scanner data , divide each segment,data, provide each segment joint name of

H-Anim, provide each center of joint, and integrate segments, and complete an H-

Anim human figure

Modeling an H-Anim Character


Mocap and H-Anim LOA1 Joint


Mocap (BVH) Joint Name

Hips

LeftHip

LeftKnee

LeftAnkle

RightHip

RightKnee

RightAnkle

Chest

LeftCollar

LeftShoulder

LeftElbow

LeftWrist

RightCollar

RightShoulder

RightElbow

RightWrist

Neck

Head

H-Anim Joint Name (19774:2006 v1.0)

HumanoidRoot

l_hip

l_knee

l_ankle

r_midtarsal

r_hip

r_knee

r_ankle

vl5

l_shoulder

l_elbow

l_wrist

l_midtarsal

r_shoulder

r_elbow

r_wrist

sacroiliac

Skullbase

typedef enum _NUI_SKELETON_POSITION_INDEX { NUI_SKELETON_POSITION_HIP_CENTER, NUI_SKELETON_POSITION_SPINE, NUI_SKELETON_POSITION_SHOULDER_CENTER, NUI_SKELETON_POSITION_HEAD, NUI_SKELETON_POSITION_SHOULDER_LEFT, NUI_SKELETON_POSITION_ELBOW_LEFT, NUI_SKELETON_POSITION_WRIST_LEFT, NUI_SKELETON_POSITION_HAND_LEFT, NUI_SKELETON_POSITION_SHOULDER_RIGHT, NUI_SKELETON_POSITION_ELBOW_RIGHT, NUI_SKELETON_POSITION_WRIST_RIGHT, NUI_SKELETON_POSITION_HAND_RIGHT, NUI_SKELETON_POSITION_HIP_LEFT, NUI_SKELETON_POSITION_KNEE_LEFT, NUI_SKELETON_POSITION_ANKLE_LEFT, NUI_SKELETON_POSITION_FOOT_LEFT, NUI_SKELETON_POSITION_HIP_RIGHT, NUI_SKELETON_POSITION_KNEE_RIGHT, NUI_SKELETON_POSITION_ANKLE_RIGHT, NUI_SKELETON_POSITION_FOOT_RIGHT, NUI_SKELETON_POSITION_COUNT } NUI_SKELETON_POSITION_INDEX;

Constant Description

NUI_SKELETON_POSITION_HIP_CENTER Center, between hips

NUI_SKELETON_POSITION_SPINE Spine

NUI_SKELETON_POSITION_SHOULDER_CENTER

Center, between shoulders

NUI_SKELETON_POSITION_HEAD Head

NUI_SKELETON_POSITION_SHOULDER_LEFT

Left shoulder

NUI_SKELETON_POSITION_ELBOW_LEFT Left elbow

NUI_SKELETON_POSITION_WRIST_LEFT Left wrist

NUI_SKELETON_POSITION_HAND_LEFT Left hand

NUI_SKELETON_POSITION_SHOULDER_RIGHT

Right shoulder

NUI_SKELETON_POSITION_ELBOW_RIGHT Right elbow

NUI_SKELETON_POSITION_WRIST_RIGHT Right wrist

NUI_SKELETON_POSITION_HAND_RIGHT Right hand

NUI_SKELETON_POSITION_HIP_LEFT Left hip

NUI_SKELETON_POSITION_KNEE_LEFT Left Knee

NUI_SKELETON_POSITION_ANKLE_LEFT Left ankle

NUI_SKELETON_POSITION_FOOT_LEFT Left foot

NUI_SKELETON_POSITION_HIP_RIGHT Right hip

NUI_SKELETON_POSITION_KNEE_RIGHT Right knee

NUI_SKELETON_POSITION_ANKLE_RIGHT Right ankle

NUI_SKELETON_POSITION_FOOT_RIGHT Right foot

NUI_SKELETON_POSITION_COUNT Used as an index to terminate a loop. Not used as a position index.

Kinect Skeleton


Definition using X3D Interpolator (1)

Conversion of motion capture data (e.g. bvh) to X3D Interpolator

Bvh to X3D interpolator conversion

Requires conversion between motion capture rotation angles such as euler angles

and SFRotation angles

Requires conversion between the orders of parameter values

Definition of a Motion Data Component (2)

Joint node (update)

Define additional fields for motion capture parameters

Motion node (new)

Define motion captured data for an H-Anim character model

Define the motion node after adjusting the center of each joint to the H-Anim

character model

Motion Definition Using Motion Capture Data


Procedure

Step1: Joint mapping between an H-Anim model and a motion capture file

Set a sensor flag in each H-Anim joint for denoting a motion capture sensor

at a motion capture joint corresponding to the H-Anim model

Step2: Conversion of motion parameters from a motion capture file

1. Compute cycle time

2. Compute interpolator key array

3. Compute time sensor key array

4. Compute key value array

5. Convert each motion capture angle to X3D SFRotation

Process different rotation orders between X3D interpolators and the

motion capture file:

BVH: order specified

X3D: x-y-z order

Motion capture animation using X3D interpolators


Mocap data example: bvh (1)

HIERARCHY

ROOT Hips

{

OFFSET 0.000000 0.000000 0.000000

CHANNELS 6 Xposition Yposition Zposition Zrotation Xrotation Yrotation

JOINT Chest

{

OFFSET 0.000000 5.613096 0.000000

CHANNELS 3 Zrotation Xrotation Yrotation

JOINT LeftCollar

{

OFFSET 0.003804 10.354579 1.025227


JOINT LeftShoulder

{

OFFSET 3.922637 0.000000 0.000000


JOINT LeftElbow

…


Mocap data example: bvh (2)

MOTION

Frames: 482

Frame Time: 0.016667

1.662 31.427 60.304 -1.249 -4.859 -3.582 4.463 1.354 0.075 -13.732 3.052 3.999 95.677 1.705 -1.512 5.541 -3.491

0.339 1.259 -3.022 1.790 6.765 2.405 -4.446 -91.027 -7.187 4.910 -3.633 0.867 0.043 -2.879 0.120 -5.688 -

1.132 -1.858 0.809 -2.969 -8.472 1.461 -1.304 3.919 -2.045 1.054 9.006 -0.191 2.695 -1.341 -0.615 0.361 4.452

4.756 0.484 8.095 0.193 -6.340 -0.815 1.224

1.659 31.427 60.307 -1.268 -4.835 -3.588 4.487 1.352 0.080 -13.802 3.059 3.999 95.651 1.737 -1.609 5.541 -3.521

0.340 1.298 -3.030 1.974 6.795 2.410 -4.418 -90.999 -7.145 4.917 -3.633 0.825 0.043 -2.862 0.151 -5.736 -

1.141 -1.863 0.806 -2.988 -8.482 1.455 -1.283 3.890 -2.157 1.055 9.042 -0.193 2.781 -1.350 -0.638 0.381 4.430

4.692 0.484 8.102 0.194 -6.266 -0.819 1.206

1.657 31.428 60.310 -1.287 -4.811 -3.594 4.512 1.349 0.085 -13.872 3.066 3.999 95.624 1.769 -1.707 5.542 -3.550

0.341 1.337 -3.038 2.159 6.824 2.417 -4.389 -90.970 -7.101 4.924 -3.633 0.783 0.043 -2.845 0.182 -5.783 -

1.150 -1.869 0.804 -3.006 -8.492 1.449 -1.262 3.860 -2.270 1.055 9.077 -0.196 2.867 -1.358 -0.661 0.401 4.408

4.628 0.484 8.108 0.194 -6.189 -0.824 1.187

1.654 31.428 60.313 -1.306 -4.787 -3.599 4.536 1.347 0.090 -13.942 3.073 3.999 95.596 1.801 -1.804 5.542 -3.580

0.342 1.376 -3.046 2.343 6.853 2.423 -4.360 -90.940 -7.056 4.931 -3.633 0.741 0.042 -2.827 0.212 -5.831 -

1.159 -1.874 0.801 -3.024 -8.503 1.442 -1.241 3.831 -2.383 1.056 9.113 -0.198 2.953 -1.367 -0.684 0.420 4.386

4.565 0.484 8.113 0.194 -6.107 -0.831 1.167

…


Step 1: Process joint mapping of motion capture joints to the joints of an H-Anim model, and set a

motion sensor flag at each H-Anim model joint. The following shows a section of an H-Anim model. A

motion flag at each H-Anim joint references if there is a corresponding joint in the motion capture file.

<HAnimHumanoid DEF="hanim_HAnim" info="humanoidVersion=2.0" containerField="skeleton" name="HAnim"

scale="0.0225 0.0225 0.0225" version="2.0">

<HAnimJoint DEF="hanim_HumanoidRoot" center="0.000000 44.070000 -1.034000" name="HumanoidRoot"

containerField="children">

<HAnimSegment DEF="hanim_sacrum" name="sacrum" containerField="children">

<Transform translation="0.000000 44.070000 -1.034000" rotation="0.000000 0.000000 0.000000 0.000000"

scale="1.000000 1.000000 1.000000" scaleOrientation="0.000000 0.000000 0.000000 0.000000">

<Shape>

<Appearance>

<Material diffuseColor="0.588000 0.588000 0.588000"/>

<ImageTexture DEF="ChulTextureAtlas" url="Chul.png"/>

</Appearance>

<IndexedFaceSet creaseAngle="3.14159" coordIndex="0, 1, 2, -1, 0, 2, 3, -1, 0, 3, 4, -1, 0, 4, 5, -1, 0, 5, 6, -1, 0, 6, 7, -1, 0,

7, 8, -1, 0, 8, 9, -1, 0, 9, 10, -1,

…

Motion Definition Using X3D Interpolator (1)


Step 2: Define motion parameter values with X3D interpolators using a motion capture file. TimeSensor,

PositionalInterpolator, and OrientationalInterpolator nodes, and Route statements are used.

<Group DEF='WalkAnimation'>

<TimeSensor DEF='WalkTimer' cycleInterval='1.73' enabled='true' loop='true'/>

<OrientationInterpolator DEF='Walk_r_metatarsalPitch' key='0 0.2 0.4 0.6 0.7 1' keyValue='0 0 1 0 0 0 1 0 0 0 1 0 0 0

1 0 0 0 1 0 0 0 1 0'/>

<OrientationInterpolator DEF='Walk_r_ankleRotInterp' key='0 0.125 0.2083 0.375 0.4583 0.5 0.6667 0.75 0.7917

0.9167 1' keyValue='0 0 1 0 -1 0 0 0.3533 -1 0 0 0.1072 1 0 0 0.2612 1 0 0 0.1268 -1 0 0 0.01793 -1 0 0 0.05824 -1 0 0

0.2398 -1 0 0 0.35 -1 0 0 0.3322 0 0 1 0'/>

<OrientationInterpolator DEF='Walk_r_kneeRotInterp' key='0 0.125 0.2083 0.2917 0.375 0.5 0.6667 0.7917 0.9167 1'

keyValue='1 0 0 0.8573 1 0 0 0.8926 1 0 0 0.5351 1 0 0 0.1756 1 0 0 0.1194 1 0 0 0.3153 1 0 0 0.09354 1 0 0 0.08558 1

0 0 0.2475 1 0 0 0.8573'/>

...

<ROUTE fromField='fraction_changed' fromNode='WalkTimer' toField='set_fraction'

toNode='Walk_r_ankleRotInterp'/>

<ROUTE fromField='fraction_changed' fromNode='WalkTimer' toField='set_fraction'

toNode='Walk_r_kneeRotInterp'/>

...

<ROUTE fromField='value_changed' fromNode='Walk_r_ankleRotInterp' toField='rotation' toNode='hanim_r_ankle'/>

<ROUTE fromField='value_changed' fromNode='Walk_r_kneeRotInterp' toField='rotation' toNode='hanim_r_knee'/>

...

</Group>

Motion Definition Using X3D Interpolator (2)


Step 1: Process joint mapping of motion capture joints to the joints of an H-Anim model, and set a

motion sensor flag at each H-Anim model joint. The following shows a section of an H-Anim model. A

motion flag at each H-Anim joint references if there is a corresponding joint in the motion capture file.

In addition, number of channels and channels are specified in each joint node of the H-Anim model

using a motion capture file.

<HAnimHumanoid DEF="hanim_HAnim" info="humanoidVersion=2.0" containerField="skeleton" name="HAnim"

scale="0.0225 0.0225 0.0225" version="2.0">

<HAnimJoint DEF="hanim_HumanoidRoot" center="0.000000 44.070000 -1.034000" name="HumanoidRoot"

containerField="children">

<HAnimSegment DEF="hanim_sacrum" name="sacrum" containerField="children">

<Transform translation="0.000000 44.070000 -1.034000" rotation="0.000000 0.000000 0.000000 0.000000"

scale="1.000000 1.000000 1.000000" scaleOrientation="0.000000 0.000000 0.000000 0.000000">

<Shape>

<Appearance>

<Material diffuseColor="0.588000 0.588000 0.588000"/>

<ImageTexture DEF="ChulTextureAtlas" url="Chul.png"/>

</Appearance>

<IndexedFaceSet creaseAngle="3.14159" coordIndex="0, 1, 2, -1, 0, 2, 3, -1, 0, 3, 4, -1, 0, 4, 5, -1, 0, 5, 6, -1, 0, 6, 7, -1, 0,

7, 8, -1, 0, 8, 9, -1, 0, 9, 10, -1,

Motion Definition Using new Motion nodes (1)


Interface Joint {

// the same as the existing joint node

float[3] bboxCenter 0 0 0

float[3] bboxSize -1 -1 -1

float[3] center 0 0 0

sequence<Object> children []

sequence<Object> displacers []

sequence<float[3]> llimit []

float[4] limitOrientation 0 0 1 0

string name ""

float[4] rotation 0 0 1 0

float[3] scale 1 1 1

float[4] scaleOrientation 0 0 1 0

float[3] translation 0 0 0

sequence<float[3]> ulimit []

// define additional fields

int[2] ChannelsNumber

sequence<string> Channels

bool Sensor

}

Fields for receiving motion capture data

ChannelsNumber Channels Sensor

Joint Node Update (1)


Define additional fields: Channels, ChannelsNumber, Sensor (new fields)

ChannelsNumber: Number of channels at a joint

Channels: Identifiers for channels

Sensor: Flag for joint mapping with motion capture data

Example

Interface Joint {

…

int[2] ChannelsNumber

sequence<string> Channels

bool Sensor

}

Joint {

…

ChannelsNumber [ 1, 3 ]

Channels “ Xrotate Yrotate Zrotate”

Sensor [false, true]

}

Joint Node Update (2)


Step 2: Define motion parameter values with Motion nodes using a motion capture file. Frame number,

Frame time, and Transformation parameter values are defined from the motion capture file.

Frames: 482

Frame Time: 0.016667

1.662 31.427 60.304 -1.249 -4.859 -3.582 4.463 1.354 0.075 -13.732 3.052 3.999 95.677 1.705 -1.512 5.541 -3.491

0.339 1.259 -3.022 1.790 6.765 2.405 -4.446 -91.027 -7.187 4.910 -3.633 0.867 0.043 -2.879 0.120 -5.688 -

1.132 -1.858 0.809 -2.969 -8.472 1.461 -1.304 3.919 -2.045 1.054 9.006 -0.191 2.695 -1.341 -0.615 0.361 4.452

4.756 0.484 8.095 0.193 -6.340 -0.815 1.224

1.659 31.427 60.307 -1.268 -4.835 -3.588 4.487 1.352 0.080 -13.802 3.059 3.999 95.651 1.737 -1.609 5.541 -3.521

0.340 1.298 -3.030 1.974 6.795 2.410 -4.418 -90.999 -7.145 4.917 -3.633 0.825 0.043 -2.862 0.151 -5.736 -

1.141 -1.863 0.806 -2.988 -8.482 1.455 -1.283 3.890 -2.157 1.055 9.042 -0.193 2.781 -1.350 -0.638 0.381 4.430

4.692 0.484 8.102 0.194 -6.266 -0.819 1.206

……

Motion Definition Using new Motion nodes (2)


Definition of Motion Node (a new node)

Define fields: Frames, FrameTime, Transformation Channels

Frames: Number of frames for an animation sequence

FrameTime: Specifies a sampling rate

Transformation: Transformation values of a joint for each frame

Example

Interface Motion {

int Frames

float FrameTime

sequence<float> Transformation

}

Motion {

Frames 601

Frametime 0.033333

transformation [ 11.623, 31.312, 64.121, -0.700, -4.023, ……

11.616, 31.313, 64.107, -0.696, -3.954, ……

…… ]

}

Motion Node


<Scene> <NavigationInfo speed='1.5' type='"EXAMINE" "ANY"'/> <Viewpoint centerOfRotation='0 1 0' description='Jin' position='0 1 3'/> <HAnimHumanoid DEF='Jin' info='"humanoidVersion=2.0"' name='Jin' scale='0.0225 0.0225 0.0225' version='2.0'> <HAnimJoint DEF='Jin_HumanoidRoot' containerField='skeleton' name='HumanoidRoot'> <HAnimJoint DEF='Jin_sacroiliac' center='0.000000 35.830002 -0.707600' name='sacroiliac‘ ChannelsNumber=‘6’ Channels=“Xposition, Yposition, Zposition, Zrotation, Xrotation, Yrotation“ Sensor=‘true’> <HAnimSegment DEF='Jin_pelvis' name='pelvis‘containerField="children"> <Transform translation='0.000000 35.830002 -0.707600'> <Shape> <Appearance> <Material diffuseColor='0.588000 0.588000 0.588000'/> <ImageTexture DEF='JinTextureAtlas' url='"images/Jin.bmp" "images/Jin.png" </Appearance> <IndexedFaceSet coordIndex='0 1 2 -1 0 2 3 -1 0 3 4 -1 0 4 5 -1 … <Coordinate point='0.0000 5.4970 0.1424 0.0000 4.7610 -2.8250 … <TextureCoordinate point='0.6211 0.5754 0.7851 0.5720 0.7614 …

Joint node update example


0.0221,0.4411 0.0186,0.5487 0.0186,0.4637 0.1714,0.4708 0.0186"/> </IndexedFaceSet> </Shape> </Transform> </HAnimSegment> </HAnimJoint> </HAnimJoint> </HAnimJoint> </HAnimJoint> … <HAnimMotion Frames ="482" FrameTime = "0.016667"> <Frame Transformation = " 2.1834 41.2869 79.2237 -1.2490 -4.8590 -3.5820 4.4630 1.3540 0.0750 -13.7320 3.0520 3.9990 95.6770 1.7050 -1.5120 5.5410 -3.4910 0.3390 1.2590 -3.0220 … … 5.8060 -2.2160 1.0610 9.5740 -0.2270 0.2010 -3.8550 0.3020 -2.8020 7.0420 4.4960 0.4940 6.9090 0.1390 -8.4900 -0.2720 1.8800 "/> </HAnimMotion> </Scene> </X3D>

Motion node example


A Procedure for generating H-Anim motion capture animation


H-Anim

modeling

definition

part

H-Anim

motion

definition

part

H-Anim model and motion

Data format

(X3D Interpolators OR

Motion node def)

H-Anim

modeling

using a 3D

tool

LOA modeling

guideline

General 3D tools WRL X3D

(H-Anim)

WRL-to-

X3D H-

Anim

conversion

H-Anim model

Data format

LOA1, LOA2, LOA3

H-Anim

modeling

directly

Motion capture data

H-Anim Character Modeling Using a General Graphics Tool (1)

All joints of an H-Anim figure must be represented as a tree hierarchy starting with the

HumanoidRoot joint. Each joint may or may not have a segment. The figure shows an LOA1

example hierarchy used for the H-Anim character. 18 joints and 18 segments are used.


Humanoid Root

sacroiliac vl1

L_hip r_hip l_acromioclavicular r_acromioclavicular skullbase

L_knee r_knee Llshoukder r_shoulder

L_ankle r-ankle l_elbow r_elbow

l_wrist r_wrist

Step 1: Units are set up before modeling of the H-Anim character.




Step 2: Uniquely identify each segment according to the naming scheme of H-Anim.


skullbase

r_wrist

r_shoulder

vl5

sacroiliac

r_hip

r_knee

r_ankle

r_elbow

HumanoidRoot

r_midtarsal

l_shoulder

l_elbow

l_wrist

l_hip

l_knee

l_ankle

l_midtarsal

When a segment is designed, its H-Anim joint name must be provided as defined in the

hierarchy of an LOA, i.e. LOA1 in this example



Step 3. Each segment with its joint is modelled. The figure shows a segment with an H-Anim

skullbase joint. All segments are modelled in this way.



Step 4:. Integrate all the segments to form a complete character.



In the front view, the character is looking forward and the origin of the coordinate system is

located between the two feet



Step 5.: For each segment, a pivot point, which is initially located at the center of an

object, must be moved to the H-Anim joint center. The pivot point becomes the center

value for each H-Anim joint. In the figure, an arrow denotes each pivot point at a joint.



This figure shows the pivot point of the H-Anim skullbase joint



The figure shows the pivot points of the H-Anim vc4 and vl1 joints.



Step 6: If necessary, the H-Anim figure can be scaled, at this stage considering real length.

Otherwise, the real length of each segment can be taken into consideration at the beginning,

when each segment is modelled, if exact length is required. In this example, the character was

initially designed considering only the length ratio of each segment then, at this stage, the

segments were scaled according to real length (e.g. the height of the character).



Step 7: In the final stage, all Transform nodes are initialized after being applied to all segments.

Now, the H-Anim character has final modelling coordinates for his geometry.



Step 8: Store the designed H-Anim character as a wrl file if the general graphics tool has this

capability, which is usually the case. The wrl file can be converted to an x3d H-Anim file

using a converter program.


WRL X3D H-Anim


Conversion Program from WRL to X3D H-Anim (1)

WRL File

Definition of H-Anim

structure with joint hierarchy, joint center, and segment

geometry

X3D H-Anim File

DEF skullbase Transform { … Shape { … } DEF vc4 Transform { … Shape { … } DEF vl1 Transform { … Shape { … } DEF humanoidRoot Transform { … Shape { … }

<Scene> … <HAnimHumanoid DEF=“Ru” …> <HAnimJoint DEF=“Ru_HumanoidRoot” center= … <HAnimJoint DEF=“Ru_sacroiliac” center=… <HAnimSegment DEF=“Ru_pelvis”, … <Transform …> <Shape> … </Shape> </Transform> </HAnimSegment> <HAnimJoint DEF=“Ru_l_hip” center=…


Conversion Program from WRL to X3D H-Anim (2)

DEF skullbase Transform { translation 0 58.72 -1.829 children [ Shape { appearance Appearance { material Material { diffuseColor 0.588 0.588 0.588 ambientIntensity 1.0 specularColor 0 0 0 shininess 0.145 transparency 0 } texture ImageTexture { url "Ru.bmp" } } geometry DEF skullbase-FACES IndexedFaceSet { ccw TRUE solid TRUE coord DEF skullbase-COORD Coordinate { point [ 1.079 -0.6566 1.833, 5.073 7.007 2.332, 5.209

5.705 0.1804, ... coordIndex [ 56, 57, 19, -1, 19, 8, 56, -1, 7, 6, 18, -1, 18, 16, 7, -

1, ... texCoordIndex [ 1, 2, 3, -1, 3, 0, 1, -1, 4, 5, 6, -1, 6, 7, 4, -1, 8, 9, 6, -

1, ...

WRL

DEF vc4 Transform { translation 0 56 -1.959 children [ Shape { appearance Appearance { material Material { diffuseColor 0.588 0.588 0.588 ambientIntensity 1.0 specularColor 0 0 0 shininess 0.145 transparency 0 } texture ImageTexture { url "Ru.bmp" } } geometry DEF vc4-FACES IndexedFaceSet {


Conversion Program from WRL to X3D H-Anim (3) <Scene> ... <HAnimHumanoid DEF=“Ru" info="humanoidVersion=2.0" name=“Ru" scale="0.0225 0.0225 0.0225" version="2.0"> <HAnimJoint DEF=“Ru_HumanoidRoot" center="0.0 0.0 0.0" containerField="skeleton" name="HumanoidRoot"> <HAnimJoint DEF=“Ru_sacroiliac" center="0.000000 35.950001 -2.058000" name="sacroiliac" containerField="children"> <HAnimSegment DEF=“Ru_pelvis" name="pelvis" containerField="children"> <Transform translation="0.000000 35.950001 -2.058000" rotation="0.000000 0.000000 0.000000 0.000000" scale="1.000000 1.000000 1.000000"

scaleOrientation="0.000000 0.000000 0.000000 0.000000"> <Shape> <Appearance> <Material diffuseColor="0.588000 0.588000 0.588000"/> <ImageTexture url="Ru.bmp"/> </Appearance> <IndexedFaceSet coordIndex="18, 0, 6, -1, 6, 8, 18, -1, 30, 31, 10, -1, 10, 12, ... <Coordinate point="5.1340 1.8530 -2.3070, 5.5760 1.8490 2.3010, 1.8320 1.8550 ... <TextureCoordinate point="0.9018 0.4063,0.9014 0.4179,0.8749 0.4137,0.8692 ... </IndexedFaceSet> </Shape> </Transform> </HAnimSegment> <HAnimJoint DEF=“Ru_l_hip" center="3.602000 34.000000 -1.967000" name="l_hip" containerField="children"> <HAnimSegment DEF=“Ru_l_thigh" name="l_thigh" containerField="children"> <Transform translation="3.602000 34.000000 -1.967000" rotation="0.000000 0.000000 0.000000 0.000000" scale="1.000000 1.000000 1.000000"

scaleOrientation="0.000000 0.000000 0.000000 0.000000"> <Shape> <Appearance> <Material diffuseColor="0.588000 0.588000 0.588000"/> <ImageTexture url="Ru.bmp"/> </Appearance> <IndexedFaceSet coordIndex="47, 16, 2, -1, 2, 48, 47, -1, 1, 18, 15, -1, 15, 0, 1, ... <Coordinate point="2.8500 0.1840 -0.0877, 2.0230 -0.0169 -2.6250, 0.2938 - <TextureCoordinate point="0.6973 0.5621,0.6732 0.5606,0.6756 0.5519,0.6995 … </IndexedFaceSet> </Shape> </Transform> </HAnimSegment> <HAnimJoint DEF=“Ru_l_knee" center="3.931000 18.500000 -1.935000" name="l_knee" containerField="children"> <HAnimSegment DEF=“Ru_l_calf" name="l_calf" containerField="children"> <Transform translation="3.931000 18.500000 -1.935000" rotation="0.000000 0.000000 0.000000 0.000000" scale="1.000000 1.000000 1.000000"

scaleOrientation="0.000000 0.000000 0.000000 0.000000">

X3D H-Anim


H-Anim modeling file

<Scene> <NavigationInfo speed='1.5' type='"EXAMINE" "ANY"'/> <Viewpoint centerOfRotation='0 1 0' description='Jin' position='0 1 3'/> <HAnimHumanoid DEF='Jin' info='"humanoidVersion=2.0"' name='Jin' scale='0.0225 0.0225 0.0225' version='2.0'> <HAnimJoint DEF='Jin_HumanoidRoot' containerField='skeleton' name='HumanoidRoot'> <HAnimJoint DEF='Jin_sacroiliac' center='0.000000 35.830002 -0.707600' name='sacroiliac'> <HAnimSegment DEF='Jin_pelvis' name='pelvis'> <Transform translation='0.000000 35.830002 -0.707600'> <Shape> <Appearance> <Material diffuseColor='0.588000 0.588000 0.588000'/> <ImageTexture DEF='JinTextureAtlas' url='"images/Jin.bmp" "images/Jin.png" "http://www.web3d.org/x3d/content/examples/Basic/HumanoidAnimation/images/Jin.bmp" "http://www.web3d.org/x3d/content/examples/Basic/HumanoidAnimation/images/Jin.png"'/> </Appearance> <IndexedFaceSet coordIndex='0 1 2 -1 0 2 3 -1 0 3 4 -1 0 4 5 -1 0 5 ... <Coordinate point='0.0000 5.4970 0.1424 0.0000 4.7610 -2.8250 -2.2830 4.7610 -2.4280 -3.9540 4.7610 -1.9480 -4.5660 4.7610 0.1424 -3.9540

H-Anim Character Modeling File (X3D H-Anim)


1.Jin 2.Chul 3.Hyun 4.Young 5.Ju 6.Ga

7.No 8.Da 9.Ru 10.Mi 11.Min 12.Sun

LOA1 H-Anim Characters (X3D H-Anim)



1.Jin 2.Chul 4.Young 11.Min



1.Jin


H-Anim Behavior Animation Using X3D Interpolators


X3D H-Anim

Model

BVH MOCAP

Behaviors

BVH Converter

H-Anim Editor

C++ JAVA

X3D Edit

Interpolator

Generator

Interpolator

Generator

Jin.x3d Dance.bvh

Inspect

Edit

View

Inspect

Edit

View BVH

Controller

Coordinate Interpolators

Orientation Interpolators

EXPORT statements

Script Controller

Inline “Jin.x3d”

Inline “Dance.x3d”

ROUTE statements

Behavior file

Composed

Character behavior file

EXPORT EXPORT

Load Load

Load

Jin dancing

Jin dancing

H-Anim

Motion Capture

using

X3D Interpolators

BVH

Converter


In the H-Anim motion viewer:

1. Read a motion capture file and apply it to the H-Anim character model. Our H-

Anim motion viewer includes the function of motion retargeting which applies the

motion of each joint of the motion captured model to the motion of a corresponding

joint of the designed H-Anim character model. The motion viewer displays an

animation sequence from the H-Anim character model and a motion capture file.

2. The motion viewer can save the animation sequence as an animation file which has

the format of the H-Anim motion data definition. The following figure shows the

interface to save an H-Anim animation file after generating an animation sequence.

H-Anim Motion Capture Using Motion Node (1)


H-Anim Character Animation Using Motion Capture (2)


Hanim.x3d

Motion.bvh

H-Anim Viewer NewHanim.hanim

Save

H-Anim Motion Viewer

Read an H-Anim character model and motion captured data

Map joints between the mocap character and the H-Anim character

Apply motion parameters at each joint of the mocap character to its

corresponding joint of the H-Anim character

Generate and display the motion captured animation for the H-Anim character

Generate an H-Anim animation file including the H-Anim character model

with the motion captured data

Load

H-Anim Animation File Generation


LOA2 H-Anim Motion Capture Animation


H-Anim Motion Viewer


H-Anim Motion Editor


H-Anim Editor

• Objectives

• Generate human animation using motion capture data

• Edit motion capture animation

• Edit model hierarchy

• Edit joint

• Edit segment

• Edit motion capture data

• Joint mapping between an H-Anim model and motion

capture data


Joint Mapping Tool

① ②

③ ④ ⑤

1. H-Anim hierarchy

2. BVH hierarchy 3. BVH load 4. H-Anim save 5. Close


H-Anim character animation & music 3D

• http://www.youtube.com/watch?v=hFz3WU3JIU0

• H-Anim Music 3D Animation - Sundays

• http://www.youtube.com/watch?v=0gsRNN9gfSM

• H-Anim Music 3D Animation - Sundays

• http://www.youtube.com/watch?v=TiUskQ0DTqY

• H-Anim Music 3D Animation - Travels

• http://www.youtube.com/watch?v=MlGwSHI8aGA

• H-Anim Music 3D Animation - The Present

• http://www.youtube.com/watch?v=R_uYm-pyJxU

• H-Anim LOA2 Music 3D Animation - Trevels


http://www.youtube.com/watch?v=hFz3WU3JIU0









http://www.youtube.com/watch?v=0gsRNN9gfSM








http://www.youtube.com/watch?v=TiUskQ0DTqY








http://www.youtube.com/watch?v=MlGwSHI8aGA








http://www.youtube.com/watch?v=R_uYm-pyJxU









In-progress and future work

• LOA1, LOA2, LOA3 model converter: wrl-to-x3d hanim

• LOA1, LOA2, LOA3 Joint mapping tool

• LOA1, LOA2, LOA3 Bvh to X3D interpolator conversion

• LOA1, LOA2, LOA3 H-Anim motion viewer

• LOA1, LOA2, LOA3 H-Anim motion editor

• LOA4 modeling and animation


Documents

H-Anim Motion Capture