3D Environment Specifications

7/27/2019 3D Environment Specifications

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1. Develop a 3D virtual environment (OpenGL like) with subjective view.

1.1. This First Person 3D environment shall represent an urban scene compound of:

o A corner with 2 crossing roads,

o Pavements on each side of the roads,

o Some car parked in the border of the road,

o One car going along one of the road and coming back with a slow speed and

medium period of go and return,

o Signpost on the pavements:

1m heighted Signpost,

Head-heighted signposts

o An hole in pavement,

o Wall on the exterior side of the pavements.

The virtual environment will be limited to this restricted area corresponding to a 40m

x 40m square. Objects and urban furniture will be represented with a 1:1 scale.

Please confer the following picture for an example of the 3D virtual environment to

be simulated.

1.2. As a First Person 3D environment, this urban scene shall be observed from a

pedestrian point of view. This means that we will:o be able to navigate in the environment as a pedestrian (be able to walk in the

street, rise pavements,...)

o consider an observer of 1.70 m height an see through his eyes

1.3. The Inputs of the simulation shall be:

keys for walking on the left side, right side, ahead and backwards,

The mouse for defining your walk direction and face orientation.

In brief, the navigation and vision abilities shall be as in a standard FPS game.

Once this test environment is ready, the software shall provide a specific output. This is the

purpose of these developments. They are described here below.



2. Distance Matrix

Consider the pedestrian is carrying on a video camera in his right hand at the level of his

right hip. The objective will be to provide a second point of view of the scene as filmed by

this camera.

2.1. The particularity of this camera

The particularity of this camera will be the following. Contrary to a standard video camera,

each pixel of the image won’t be the pixel we can visually see. Each pixel will be valued to

the distance from the camera’s pixel to the closest obstacle. In brief, the idea is to be able to

get the distance of objects filmed by the camera and to express this relief information into a

digits matrix representing the distance to objects.

As an example, in the following illustration, close distance pixel will be represented by red

pixel, medium distance pixel by orange pixel and high distance pixel will be green. The

“Focus” of the camera shall be considered as the projection centre of the scene onto the

camera screen (“Distance matrix”).

In practise, the “Distances matrix” will not be populated by color digits but by numerical

distance digits.

The camera will remain relatively fixed compared to the pedestrian.

The inclination angle and direction of the camera shall be the same as the

pedestrian’s look. So, by navigating in the simulated environment as in a FPS game,

the row keys and the mouse will control the moving and vision of the pedestrian and

of the camera in a similar way. The objective of the camera is to provide the distance of the objects of the scene in a

given direction.



This camera shall provide in output a Square matrix providing for each pixel the

distance to an object.

2.2. Configuration parameters of the camera

It shall be possible to configure dynamically the camera. The following parameters could be

updated during the running simulation:

The width and height angles of the camera – This will play on the general width and

height of the filmed scene.

The definition of the distance matrix – more or less populated. The minimal

requirement shall be to fragment the “Captured Image” in a 20x30 “Distance

Matrix”of numerical distance digits.

2.3. Output of the application

The main screen shall offer a 3D simulation rendering as seen by the pedestrian.

The camera vision pyramid shall be visualized in the main screen by an explicit

pyramid. This pyramid will allow us to identify the range of the camera as illustrated

just before.

2 additional windows shall:

Show the “Image captured”

Show the “Distance matrix”

The “Distance matrix” shall be easily accessible in a “data matrix” / image variable

and shall allow to be easily post-treated by potential future development through an

image processing algorithm.



2.4. The global deliverable

The code shall be commented in order to be fully intelligible

The code shall be open (not protected)

The developments shall be modular and reusable

The development environment shall be license free

Your answer to this proposal shall provide a short description of :

how you intend to develop this application (language, graphical library, development

environment),

how you expect to match the requirements from this Request for Proposal.

Documents

3D Environment Specifications