Goal
I am making a flight game on Roblox that requires real-world map data to generate terrain.
Problems
I have absolutely no idea how to make this kind of program, and I have been unable to find any terrain generators that meet my requirements and have only found one terrain generator for Roblox.
Requests
The terrain needs to be generated fast enough so that commercial planes, which travel at speeds of around 500 knots, will not fly out of generated terrain. Also, accurate airports need to be generated with taxiways and runways, as well as the airport building. In addition, I also need the taxiway and runway location data, as well as the location of taxiway markings so that planes can pathfind along taxiways and runways, as well as do an ILS approach. Finally, data that is used for terrain should be acquired live so that I don't have to create an enormous map and use up too much storage.
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I have started working on a program to accomplish this. If finished, the project will be linked here.
It's not going to be high-quality terrain, but you can download map data from openstreetmap.org and create a mesh for the ground. Then use the building information to display buildings as basic shapes. Airports should also be easy to extract. I suggest creating one mesh per chunk, then stream the chunks required to the client, assuming that this works properly in Roblox. I'm not sure how detailed you want the meshes to be, but especially with two or more levels of detail, it should be no problem for the server.
Related
I want to create high fidelity meshes of urban street scenes using pointcloud data. The data consists of pointclouds using a HDL64-e and the scenes are very similar to the one in the Kitti Dataset.
Currently im only able to use the 'raw' point clouds and odometry of the car. Previous works already implemented the LeGO-LOAM algorithm to create a monolithic map and better odometry estimates.
Available Data:
Point Clouds with 10Hz timings
Odometry estimates with higher frequencies (LOAM Output)
Monolithic map of the scene (LOAM Output) (~1.500.000 Points)
I already did some research and came to the conclusion, that I can either
use the monolithic map with algorithms like Poisson Reconstruction, Advancing Front, etc... (using CGAL)
go the robotics way and use some packages like Voxgraph (which uses Marching Cubes internally)
As we might want to integrate image data at a later step the second option would be preferred.
Questions:
Is there a State-of-the-Art way to go?
Is it possible to get a mesh that can preserve small features like curbs and sign posts? (I know there might be a feasable limit on how fine the mesh can be)
I am very interested in some feedback and a discourse on how to tackle this problem 'the right way'.
Thank you for your suggestions/answers in advance!
I'm having some difficulties understanding the concept of teleoperation in ROS so hoping someone can clear some things up.
I am trying to control a Baxter robot (in simulation) using a HTC Vive device. I have a node (publisher) which successfully extracts PoseStamped data (containing pose data in reference to the lighthouse base stations) from the controllers and publishes this on separate topics for right and left controllers.
So now I wish to create the subscribers which receive the pose data from controllers and converts it to a pose for the robot. What I'm confused about is the mapping... after reading documentation regarding Baxter and robotics transformation, I don't really understand how to map human poses to Baxter.
I know I need to use IK services which essentially calculate the co-ordinates required to achieve a pose (given the desired location of the end effector). But it isn't as simple as just plugging in the PoseStamped data from the node publishing controller data to the ik_service right?
Like a human and robot anatomy is quite different so I'm not sure if I'm missing a vital step in this.
Seeing other people's example codes of trying to do the same thing, I see that some people have created a 'base'/'human' pose which hard codes co-ordinates for the limbs to mimic a human. Is this essentially what I need?
Sorry if my question is quite broad but I've been having trouble finding an explanation that I understand... Any insight is very much appreciated!
You might find my former student's work on motion mapping using a kinect sensor with a pr2 informative. It shows two methods:
Direct joint angle mapping (eg if the human has the arm in a right angle then the robot should also have the arm in a right angle).
An IK method that controls the robot's end effector based on the human's hand position.
I know I need to use IK services which essentially calculate the
co-ordinates required to achieve a pose (given the desired location of
the end effector). But it isn't as simple as just plugging in the
PoseStamped data from the node publishing controller data to the
ik_service right?
Yes, indeed, this is a fairly involved process! In both cases, we took advantage of the kinects api to access the human's joint angle values and the position of the hand. You can read about how Microsoft research implemented the human skeleton tracking algorithm here:
https://www.microsoft.com/en-us/research/publication/real-time-human-pose-recognition-in-parts-from-a-single-depth-image/?from=http%3A%2F%2Fresearch.microsoft.com%2Fapps%2Fpubs%2F%3Fid%3D145347
I am not familiar with the Vive device. You should see if it offers a similar api for accessing skeleton tracking information since reverse engineering Microsoft's algorithm will be challenging.
I'm currently reading for BSc Creative Computing with the University of London and I'm in my last year of my studies. The only remaining module I have left in order to complete the degree is the Project.
I'm very interested in the area of content-based image retrieval and my project idea is based on that concept. In a nutshell, my idea is to help novice artists in drawing sketches in perspective with the use of 3D models as references. I intend to achieve this by rendering the side/top/front views of each 3D model in a collection, pre-process these images and index them. While drawing, the user gets a series of models (that have been pre-processed) that best match his/her sketch, which can be used as guidelines to further enhance the sketch. Since this approach relies on 3D models, it is also possible for the user to rotate the sketch in 3D space and continue drawing based on that perspective. Such approach could help comic artists or concept designers in quickly sketching their ideas.
While carrying out my research I came across LIRe and I must say I was really impressed. I've downloaded the LIRe demo v0.9 and I played around with the included sample. I've also developed a small application which automatically downloades, indexes and searches for similar images in order to better understand the inner workings of the engine. Both approaches returned very good results even with a limited set of images (~300).
Next experiment was to test the output response when a sketch rather than an actual image is provided as input. As mentioned earlier, the system should be able to provide a set of matching models based on the user's sketch. This can be achieved by matching the sketch with the rendered images (which are of course then linked to the 3D model). I've tried this approach by comparing several sketches to a small set of images and the results were quite good - see http://claytoncurmi.net/wordpress/?p=17. However when I tried with a different set of images, results weren't as good as the previous scenario. I used the Bag of Visual Words (using SURF) technique provided by LIRe to create and search through the index.
I'm also trying out some sample code that comes with OpenCV (I've never used this library and I'm still finding my way).
So, my questions are;
1..Has anyone tried implementing a sketch-based image retrieval system? If so, how did you go about it?
2..Can LIRe/OpenCV be used for sketch-based image retrieval? If so, how this can be done?
PS. I've read several papers about this subject, however I didn't find any documentation about the actual implementation of such system.
Any help and/or feedback is greatly appreciated.
Regards,
Clayton
I'm planning on doing my Final Year Project of my degree on Augmented Reality. It will be using markers and there will also be interaction between virtual objects. (sort of a simulation).
Do you recommend using libraries like ARToolkit, NyARToolkit, osgART for such project since they come with all the functions for tracking, detection, calibration etc? Will there be much work left from the programmers point of view?
What do you think if I use OpenCV and do the marker detection, recognition, calibration and other steps from scratch? Will that be too hard to handle?
I don't know how familiar you are with image or video processing, but writing a tracker from scratch will be very time-consuming if want it to return reliable results. The effort also depends on which kind of markers you plan to use. Artoolkit e.g. compares the marker's content detected from the video stream to images you earlier defined as markers. Hence it tries to match images and returns a value of probability that a certain part of the video stream is a predefined marker. Depending on the threshold you are going to use and the lighting situation, markers are not always recognized correctly. Then there are other markers like datamatrix, qrcode, framemarkers (used by QCAR) that encode an id optically. So there is no image matching required, all necessary data can be retrieved from the video stream. Then there are more complex approaches like natural feature tracking, where you can use predefined images, given that they offer enough contrast and points of interest so they can be recognized later by the tracker.
So if you are more interested in the actual application or interaction than in understanding how trackers work, you should base your work on an existing library.
I suggest you to use OpenCV, you will find high quality algorithms and it is fast. They are continuously developing new methods so soon it will be possible to run it real-time in mobiles.
You can start with this tutorial here.
Mastering OpenCV with Practical Computer Vision Projects
I did the exact same thing and found Chapter 2 of this book immensely helpful. They provide source code for the marker tracking project and I've written a framemarker generator tool. There is still quite a lot to figure out in terms of OpenGL, camera calibration, projection matrices, markers and extending it, but it is a great foundation for the marker tracking portion.
I'm starting a search to implement a system that must count people flow of some place.
The final idea is to have something like http://www.youtube.com/watch?v=u7N1MCBRdl0 . I'm working with OpenCv to start creating it, I'm reading and studying about. But I'd like to know if some one can give me some hints of source code exemples, articles and anything elese that can make me get faster on my deal.
I started with blobtrack.exe sample to study, but I got not good results.
Tks in advice.
Blob detection is the correct way to do this, as long as you choose good threshold values and your lighting is even and consistent; but the real problem here is writing a tracking algorithm that can keep track of multiple blobs, being resistant to dropped frames. Basically you want to be able to assign persistent IDs to each blob over multiple frames, keeping in mind that due to changing lighting conditions and due to people walking very close together and/or crossing paths, the blobs may drop out for several frames, split, and/or merge.
To do this 'properly' you'd want a fuzzy ID assignment algorithm that is resistant to dropped frames (ie blob ID remains, and ideally predicts motion, if the blob drops out for a frame or two). You'd probably also want to keep a history of ID merges and splits, so that if two IDs merge to one, and then the one splits to two, you can re-assign the individual merged IDs to the resulting two blobs.
In my experience the openFrameworks openCv basic example is a good starting point.
I'll not put this as the right answer.
It is just an option for those who are able to read in Portugues or can use a translator. It's my graduation project and there is the explanation of a option to count people in it.
Limitations:
It's do not behave well on envirionaments that change so much the background light.
It must be configured for each location that you will use it.
Advantages:
It's fast!
I used OpenCV to do the basic features as, capture screen, go trough the pixels, etc. But the algorithm to count people was done by my self.
You can check it on this paper
Final opinion about this project: It's not prepared to go alive, to became a product. But it works very well as base for study.