Motion Capture Lab Visit
In Week 2, we visited Motion Capture lab in CMU. As I’ve never been in a motion capture lab before, this experience was really enlightening for me.
They use infrared cameras and plastic balls wrapped in reflective tape to capture positional data. There were different sized reflective balls for different types of data. For facial capture, the motion capture lab assistant has to reconfigure and calibrate all the infrared cameras. I’ve not used any motion capture system calibration and capture software before, but I think it might be similar to camera calibration systems in computer vision for 3D reconstruction, which I am somewhat more familiar with.
Inverse Kinematics Methods
We talked about Jacobian transpose, pseudo-inverse and damped least squares method. We have to implement an inverse kinematics solution for Miniproject 1. Previously I have implemented CCD and I remember it was pretty fast. I seem to have lost my implementation to poor organisation in my filesystem but I did find my pseudo-inverse implementation! Which is much slower!
Anyway, I can’t remember most of my implementation so I’m looking forward to doing it again. It will be a good chance to revise what I learned.
We also looked at more heuristic methods, like CCD. I have heard of FABRIK before, but not from class. Mostly from videos on the internet. But learning about it in class, it seemed really intuitive and to have really nice results. I might try my hand at implementing it somewhere.