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Acknowledgments xi
Introduction xiii
An Overview and History of Motion Capture 1
About This Book 1
History of Mocap 2
Early attempts 2
Rotoscoping 4
Beginning of digital mocap 6
Types of Mocap 8
Optical mocap systems 8
Magnetic mocap systems 10
Mechanical mocap systems 11
Preproduction 13
Importance of Preproduction 13
Pre-capture Planning 13
Script 14
Storyboard 15
Shot list 15
Animatic 16
Preparation for Capture 17
Talent 17
Marker sets 18
What are the system limitations? 18
What kind of motion will be captured? 19
Know the anatomy 19
Capture volume 21
Shot list 23
Capture schedule 24
Rehearsals 25
Props 26
Suits and markers 28
Pipeline 31
Setting up a Skeleton for a 3DCharacter 31
Calibrations 33
System calibration 33
Subject calibration 34
Capture Sessions 36
Audio and video references 36
Organization 37
Preventing occlusions 38
Cleaning Data 39
Editing Data 40
Applying Motions to a 3D Character 43
Rendering and Post-production 44
Cleaning and Editing Data 47
Cleaning Marker Data 47
Types of data 47
Optical marker data (translational data) 47
Translational and rotational data 47
Skeletal data 48
What to clean and what not? 48
What not to clean? 48
What to clean? 49
Labeling/identifying 49
Data cleaning methods 51
Eliminating gaps 51
Eliminating spikes 54
Rigid body 56
Filters 59
When to stop? 61
Applying Marker Data to the Skeleton 62
Actor 63
Skeleton 67
Character 69
Skeletal Editing 73
Retargeting 73
Reducing need for retargeting 73
Scaling a skeleton 75
Fixing foot sliding 76
Working on the spine 78
Blending Motions 79
Selecting a blending point 80
Matching positions 86
Dealing with less than ideal cases 86
Inverse Kinematics 88
Floor Contact 88
Rigid Body 92
Looping Motion 93
Getting motion ready 93
Setting up the loop 94
Walking down the z-axis 94
Taking out the translation 95
Poses 98
Deciding what to use 98
Creating a pose 98
Key-framing a pose 100
Data Application - Intro Level: Props 103
A Stick with Two Markers 103
When it fails: Occlusion 103
When it fails: Rotation 105
A Stick with Three Markers 105
Three markers with equal distances 105
Three markers on a single straight line 106
Placement of three markers that works 108
Flexible Objects 109
Data Application - Intermediate Level: Decomposing and Composing Motions 113
Mapping Multiple Motions 113
Decomposing and composing upper and lower body motions 113
Synchronizing upper and lower body motions 116
Balance 118
Breaking Motion Apart 119
When you don't need all the motion 119
Re-use of motion data for non-motion purposes 122
Data Application - Advanced Level: Integrating Data with Character Rigs 125
Mocap as Forward Kinematics Animation 125
Key-frame Animation with Inverse Kinematics 127
Key-framing 128
IK 129
Integrating Mocap Animation and Key-frame Animation 130
Why do we want to do that? 131
Setting up a skeleton for FK and IK 131
Adding key-frame animation to mocap 134
Hand Motion Capture 137
Anatomy of a Hand 137
Rig and Marker Set for the Hand 141
Rigid hand 141
Mitten 143
Mitten with an independent thumb 144
Mitten that stretches 146
Ultimate 146
Capturing Hands 149
Facial Motion Capture 151
Anatomy of a Face 151
Camera Setup and Capture 154
Facial Rig 155
Facial rig with discrete joints 155
Facial rig with muscles 156
Facial rig with IK 157
Marker Set 159
Facial Data Stabilization 161
Facial Data Editing 164
Puppetry Capture 167
Background 167
Benefits 168
Ideas/Inspiration 169
Performance 170
Projects 171
Methods 173
Real Time 176
Mocap Data and Math 179
How Data Is Created 179
Optical systems 179
Magnetic systems 180
Mechanical systems 180
Data Types and Formats 181
C3D 181
ASF/AMC 181
BVH 182
FBX 183
Coordinates and Coordinate Systems 183
2D and 3D coordinate systems 184
Cartesian, spherical, and cylindrical coordinate systems 184
Right-handed and left-handed systems 185
Object space and world space 186
Order of Transformation 186
Euler Angle 188
Gimbal Lock 190
Quaternions 194
Bibliography 195
Shot List for Juggling Cow 197
Sample Mocap Production Pipeline and Data Flow Chart 199
Glossary 201
Index 207
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