Practical Data Visualization and Virtual Reality. Virtual Reality VR Display Systems. Karljohan Lundin Palmerius

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1 Practical Data Visualization and Virtual Reality Virtual Reality VR Display Systems Karljohan Lundin Palmerius

2 Synopsis Virtual Reality basics Common display systems Visual modality Sound modality Interaction Haptic modality

3 The Concepts of Virtual Reality Virtual Reality requires Virtual Environment 3D Computer Graphics plausible appearance and behaviour First person view Real-time interaction navigation action and reaction Immersion Sense of being there Erasing the HCI barrier Forgetting the real world

4 Application Areas Entertainment, treatment and gaming CAD, information, control and planning Simulation and training

5 Multi-sensory Display VR (typically) address Primarily: visual sense Secondarily: auditory sense Additionally: haptic senses...by Deploying advanced hardware (display systems) Careful consideration of human perception

6 Visual Display Systems Presents 3D graphics to the user Adjusts the view for correct visual impression Examples Head Mounted Display Systems (HMD) VR Workbench VR Cube / CAVE Haptic Workstation VR Theatre Dome

7 Head Mounted Display System One display per eye Advanced optics and tracking

8 Head Mounted Display System Omni-directional surrounded by the virtual world Covers vision removes real world cues

9 Spatial Display Systems Stereoscopic TV/projector located in the room Dynamic (perspective correct) view by tracking

10 VR Workbench 3D immersive workbench Natural part of your workspace

11 VR Cube / CAVE Omni-directional Fully immersive

12 VR Theatre / Dome Multiple stereoscopic projectors Great for shared experience and presentations

13 Haptic Workstation Static stereoscopic view Haptic feedback (tri-modal display)

14 Visual Modality

15 3D 2,5D = 2D Image with Depth What is 3D? Rendering: 3D world 2D images What is depth perception 2D images 2,5D perception perspective effects parallax effects stereoscopic effects (and more!)

16 Rendering Perspective Effects Objects further away look smaller ordinary 3D graphics perspective projection Parallax effects also a perspective effect requires correct eye-based perspective projection also requires head tracking Objects should look right correct shape and size correct position

17 Rendering Perspective Effects

18 Rendering Perspective Effects Render objects at their right position Consider light transport light does not know how far it's travelled project 3D object onto your display

19 Rendering Perspective Effects

20 Camera Settings Perspective projection (viewpoint) glm::lookat( ) far near view direction glm::perspective(...) top glm::frustum(...) P= ( 2n r l 0 0 2n t b r +l r l t+b t b ( f + n) f n f n f n 0 ) bottom display

21 Stereo in Virtual Reality Correct perspective effect for each eye Implications in VR increased depth perception requires double the amount of images However: stereo is not the only depth cue! Additional GPU demands requires different images for the eyes Special rendering Specialized equipment

22 Camera Settings Camera settings Parallel (wrong) Toe-in (wrong) Off-axis (right)

23 Perspective and Stereoscopy Calibration Correct frustum Screen size Screen position Eye position head posture eye separation Position dependent Require tracking...or assume fixed head position Co-register real and virtual coordinates

24 Stereo Calibration with Head Mounted Displays Same thing but the screen is closer to the eye needs to take optics into consideration Correct perspective rendering Calculated separately per eye Based on fixed eye and monitor location

25 Sound Modality

26 Sound in Virtual Reality Environmental sound ambient atmosphere Direct sound events and attention speech, objects and actions

27 Environment Simulation Simplified model Reverberation add echo long delay for large rooms short delay for small rooms less reverberation for outdoor

28 Environment Simulation Filters especially low pass filters for occluded sound sources filter to simulate phones, intercom, etc. Consider materials and geometries hard surfaces reflect more textiles and furniture dampens reverberation sound around corners, behind objects, etc

29 3D Sound Simple approach (bad) inter-aural intensity difference Advanced CPU or Sound Card Processing (good) HRTF, spatialization, 3D sound Advanced filtering Requires Head tracking Good audio system (headphones)

30 Sound Rendering Sound card support OpenAL (Creative AFX, EFX, etc) DirectSound3D (DirectX submodule) Software rendering OpenAL Soft, Rapture3D, FMOD Ex, etc Not any API! Application Graphics Sound Hardware

31 Sound Rendering Vec3 cat_pos = T_view * vp_pos; Source alhead3f(al_position, cat_pos.x, cat_pos.y, cat_pos.z); Vec3 cat_up = R_view * vp_orn * Vec3f(0, 1, 0); Vec3 cat_lookat = R_view * vp_orn * Vec3f(0, 0, -1); ALfloat cat_orn[] = { cat_lookat.x, cat_lookat.y, cat_lookat.z, cat_up.x, cat_up.y, cat_up.z }; alheadfv(al_orientation, cat_orn); alsource3f(al_source, AL_POSITION, mouse_pos.x, mouse_pos.y, mouse_pos.z); Listener

32 Interaction and Navigation

33 Tracking Head position (head tracking) Correct 3D graphics Correct 3D sound Natural Navigation Moving around objects Correct HMD view Interaction wand devices

34 Wand/Stylus Extension of 2D mouse Real 3D position control Co-located with VR world 36 DoF in usable form Hybrid tracking Mechanical tracking Interaction Pointing device Touch, pick, grab Buttons

35 Tracking APIs Proprietary InterSense API, OWL API, etc Handles their own technology or brand General APIs VRPN de facto standard today client/server over TCP/IP Tracking VR Application VR Application VR Application

36 Interaction and Navigation Transforms Graphical user interface Static attached to screen / room Dynamic attached to (e g) wand Objects / scene Scene attached to navigation transform Each object attached to manipulation transform T TNAV Scene UI

37 Haptic Modality

38 Haptic Perception Tactile senses (cutaneous) Nerves under skin Pressure, shear, slip Micro shape, vibrations, etc Temperature, pain Kinaethetic senses (proprioception) Nerves in muscles and joints Forward kinematics Position, force, macro shapes, weight

39 Haptics in Virtual Reality

40 Haptics in Scientific Visualization

41 Vibrotactile Displays Easy and cheap motors generating vibrations Based on events gun shot, contact, damage, etc

42 Force Feedback Wand/Stylus Single mechanical arm Sensable Desktop PHANToM Premium PHANToM PHANToM Omni Multiple mechanical arms Force Dimensions Novint Delta, Omega Falcon (Force Dimension) Haption Virtuose 6D

43 Force Feedback Rendering Low level programming EffectOutput calculateforces(const EffectInput &input ); Medium level programming Define simple surface The API handles the control system High level programming Multi-modal scenegraph Add material properties For example H3D API

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