<p> Mini-Project #3: Forward/Inverse Kinematics (Due by 11/30/14)</p><p>In this assigment, you need to do motion capture, implement forward kinematics and Inverse kinematics algorithms for a full-body human character. The skeletal model of your character is described by .asf file. </p><p>This assignment consists of three parts. </p><p>Part I: [40% points] Motion data capture</p><p>Students will work as a group and each group should have two students. Each group needs to capture a variety of stylistic walking motions using the 12-camera vicon motion capture system installed in HRBB 505. By the Wednesday (Nov. 24), each group should come to HRBB 505 and schedule a motion capture session with TA. </p><p>Grading: 1.1. Capturing stylistic walking motions. - In the motion capture session, one student will work as a mocap subject and another student will work as a mocap operator. The mocap operator will be instructed on how to attach the markers on the subject as well as how to run the mocap system to capture the performance of the subject. Make sure that you do not miss any markers and put all the markers in the right place.</p><p>- You are required to capture and animate at least five different human actions, including walking, running, jumping, stylized walking, etc. After each trial, the TA will comment the quality of the recorded capture motion. Make sure that you capture at least 3 acceptable motion files for each walking style.</p><p>1.2. using vicon mocap software to reconstruct the captured data and export the mocap data as .c3d files. </p><p>1.3. Converting .c3d files to .amc files and .asf files with vicon mocap software. You need to submit both .asf and .amc files. 2. Forward kinematics (40% points):</p><p>2.1 Read .asf and .amc file. The details of both files are discussed described in our class. (10% points)</p><p>2.2 demonstrate the performance of your FK algorithm with the following applicati ons:</p><p>- visualize a sequence of human body poses from input mocap data files (.amc and .asf). (10% points)</p><p>- pick a point p on the character, compute and visualize its 3D trajectory across t he entire sequence. (10% points)</p><p>- pick a frame in the .amc file, compute 3D positions of all joints. (10% points)</p><p>3. Inverse kinematics with nonlinear optimization (20% points):</p><p>You need to demonstrate how to apply inverse kinematics techniques to compute 3D joint angle values based on 3D positions of all joints obtained in step 2.2. Note that you can evaluate the effectiveness of your system by comparing the co mputed posed against ground truth values. </p><p>4. Startup code structure, optimization library, and motion capture data</p><p>4.1 To help you finish your homework, we provide you skeleton code: http://faculty.cs.tamu.edu/jchai/csce641/asf_amc_viewer.zip</p><p>The program uses OpenGL library to visualize motion capture data (.asf and .amc files). It also uses the FLTK library (http://www.fltk.org/ ) for interface programming. The sample test motion files are put in the “Test Data” sub directory. You can download more mocap data files from the CMU online mocap database: http://mocap.cs.cmu.edu/motcat.php The “instruction.txt” shows you how to compile the code with Microsoft visual studio. The Class “Explain.doc” shows an overview of every C++ class. To know more details of the code, read the comments in the code.</p><p>Note that you can also download C++ startup codes from http://mocap.cs.cmu.edu/tools.php.</p><p>4.2 I encourage you to use Levenberg-Marquardt nonlinear least squares algorit hms to implement IK. Here (http://www.ics.forth.gr/~lourakis/levmar/) is the w ebsite to download the optimization library.</p><p>4.3 For experiments, you can either download testing motion capture data files fr om an online cmu mocap library (http://mocap.cs.cmu.edu) or use your own data captured in mocap lab located in HRBB 505. </p>