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Update on Luggage Modeling and Visualization

This update discusses advancements in luggage modeling and visualization, including voxel creation, random numbers, automation, manual placement, and ongoing work with Viz-tek. It also explores the future work and user interface improvements.

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Update on Luggage Modeling and Visualization

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  1. Update on Luggage Modeling and Visualization Imaging, Robotics, & Intelligent Systems Laboratory University of Tennessee Chris Kammerud Spring 2004

  2. Outline • Luggage Enhancements • Voxel Creation • Random Numbers • Automation • Manual Placement • Ongoing work with Viz-tek • Data Flow • Nodes • Added Behaviors • Future Work

  3. User Interface

  4. Voxel Creation • Previously, the number of voxels created was either a default value or one provided by the user • In the current program, the size of voxels is based on the smallest item to be placed • By doing this, a balance is maintained by the loss in speed when dealing with smaller voxels, and having wasted space.

  5. Creation Methodology • Once voxels are to be created, the dimensions of items are compared • Size = dim_item.x + dim_item.y + dim_item.z • Using the dimensions along each axis of the smallest item, voxels are created

  6. Voxel Example

  7. Generation of Random Numbers • The random placement of objects is done by generating a random number between one and the total number of voxels • There are two cases, where the number generated by 3DS should be discarded • The number corresponds to a voxel already in use • Number already generated in the current item’s placement sequence and failed

  8. K_random • The 3DS function does not generate a sequence of random numbers between a min and max, but generates a single number • Instead of using the native 3DS function directly, I wrote my own function making using of the native function

  9. Function Contents • K_random( count, used_up() ) • Count is the number of voxels • Used_up is an array the with the same number of elements as there are voxels • A while loop continues calling the native random generator function until a number is created that hasn’t already been used

  10. Automation of Script • The semester’s previous work had users push buttons that directly ran bits of code. This had to be altered for automation • The user interface’s buttons now call functions that run the previous code. This had to be done, because the script cannot push its own buttons, it can only call functions • A ‘makefile’ is used when running the script in an automated fashion

  11. Makefile Format • Directory line to point the script to where the listed files are • Luggage line lists the filename of the luggage, the largest object in the scene is assumed to be the container • Item line then lists each item file name

  12. Manual Placement • Additional interactivity was added to the code so that a user could select an item and place it manually at a voxel position • The procedure is not as simple as drag-and-drop since the script needs to know those voxels are in use • Instead, another method was used

  13. Interface for Manual Placement • Two-step process • Voxel is selected as destination • Then item that the user wishes to move is selected

  14. Illustration

  15. Timing • Several trials were run to get an average of the timing for automation • These trials were done with two makefiles, one with 12 items, the other with 3

  16. 3-Items • Time to load items : 18.5 s • Time to create voxels : 4.4 s • Time to place items : 0.28 s • Total time taken : 26 s

  17. 12-Items • Time to load items : 87 s • Time to create voxels : 4.5 s • Time to place items : 0.26 s • Total time taken : 94 s

  18. 3-D Viz-Tek System • Rear-projected screen • Two projectors are used to project a stereo image, One projector each for the right and left image • Stereo glasses are worn that allow only the appropriate image to reach the right or left eye www.viz-tek.com

  19. Gloves • A right-hand and left-hand glove are provided with touch pads on the fingers and thumb • Information is sent to the system by touching the thumb to a finger • Possible interaction could be one hand used to cycle through objects, and orientate the view. • The other hand could be used to manipulate objects www.viz-tek.com

  20. 3D Under Vehicle • Work is also being done towards integrating Under Vehicle data into the 3D stereo system • Wrote code to convert raw data from Qian’s work last semester to VRML • Also plan on importing other previous work VRML Point File

  21. Interface for Eon Studio

  22. Data Flow • Import models created from other 3D modeling tools such as 3D Studio Max, CAD tools, or maybe laser range data • Add behaviors to the models by dragging and dropping nodes • Visualize the models either in Eon studio or over the Internet

  23. Nodes • Nodes allow behaviors to be added to models • This is done by dragging a node and placing it in the simulation tree • The node affects its parent

  24. Navigating 3D Space • For example the Walk Node • It has been moved underneath the Camera • The walk node reacts to the mouse, and adds movement to its parent

  25. Fields • Control Attributes of Object • This is how materials can be made transparent • Any model has an opacity field which can be lowered

  26. Finding Models • Often, once a model is imported, it is not placed at the origin • This forces the user to ‘search’ for the object when the file is opened • But by changing the camera’s start values, it does not need to be searched for in subsequent openings

  27. Connecting Nodes • Nodes can have their input and outputs connected to add more complex functionality • This is done in the routing window • Nodes that have been placed in the sim-tree can be dragged-and-dropped in this window

  28. Using Pinch Glove • The pinch glove is used by dragging a pinch glove and gesture node into the simulation • The gesture node defines the finger combination • The gesture node is attached to rotate • When gesture is ‘true’, model rotates

  29. Dragging with Mouse • Another functionality that can be created by connecting nodes, is dragging an object with the mouse

  30. Image of Mouse Movement Luggage Moved Up Gun moved up

  31. Rangan’s Models

  32. More Models

  33. Future Work • Experiment with other placement algorithms for luggage simulation • Add useful behaviors to models imported into Eon Software • Collect more data from lab so that models from different research areas are all included

  34. Questions • ?

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