1. ROV Data Visualization Project update 20 May 2002

2. Project goals To create novel visualizations of the variety of data collected by MBARI Distribute diverse data sets over the World Wide Web in a – common – compelling – efficient, and – easy-to-use system

3. Project Timeline: <1999-2002 August 1997: Carto BOF meeting at SIGGRAPH June 1998: Wrote proposal for 1999 project Summer 1998: Intern Jenny De La Hoz Dec 1999: Monterey Ventana dives in 3D Jan 2000: Ocean Sciences poster Feb 2000: Best Ed demo at Web3D Symposium Summer 2000: Intern Alex Derbes Dec 2001: All dives in GeoVRML Feb 2002: Web3D Symposium paper

4. Another Timeline Graphics hardware Original Monterey Bay terrain (6K polygons – 2.4 megapixel texture) 1997: $15,000 SGI ~ 5 frames per second $300 nVidia PCI & AGP video cards in PC –1998: no 3D acceleration - 166 MHz ~ 0.5 fps –1999: TNT - 166 MHz ~ 2 fps –2000: GeForce2 - 700 MHz ~ 8 fps –2001: GeForce2Go - 1 GHz ~ 11 fps –2002: QuadroPro2 – 2.2 GHz ~ 58 fps (show it)

5. and Another Timeline Standards 1992: Inventor and OpenGL 1994: World Wide Web explodes 1997: ISO/IEC 14772-1 aka VRML97 1998: GeoVRML working group formed 2001: GeoVRML amended to VRML97 2002: X3D draft spec at milestone 3 – xj3d

6. Guidance There were three areas of developing technology that I thought would make research in the deep waters of the oceans much more effective in the future. … The third is the progress that is being made in computer science and data communication. Deep water research involves immense amounts of data. I have the impression that much more time is being spent in collecting data than in looking at it and analyzing it. We believe that situation can be greatly improved. - David Packard, August 28, 1988

7. Problems to be solved Combine mixed- format data into single visualization tool Add geo-located objects Discover spatial relationships Data quality control “Ground” truth mapping data

8. Problems to be solved (cont.) Render terrain in true 3D space Improve ability to plan future expeditions Establish routine processes for visualization –Software –People Help people look at data

9. Approaches considered OpenGL Java3D Open Inventor 3DML Flash VRML97 Criteria for selection: –Commonality –Development ease Programming Authoring

10. VRML97 Advantages Open international standard Lots of tools available (VrmlPad, Chisel, exporters from 3D Studio Max, etc.) Very general (maybe too general) GeoVRML Working Group Free cross-platform browser plugins (CosmoPlayer, Cortona, …)

11. Approach Taken Partition problem with eye toward iterative development Use O-O (mainly for abstracting data access) Use VRML & GeoVRML Server & thin-client model VRML EXTERNPROTOs for behavior, etc. Collections of files for data

12. Data, data, data, … ROV Data –Navigation –ROVCTD –Annotations –Framegrabs –Samples Terrain Data ROV DataTerrain Data Visualization System

13. ROV Data New data arrive every day Data archive (and formats) going back 14 years Mixed formats –RDBMS (video annotations, Environmental data, Specimen archive) –Flat files (navigation data) –Web links (video frame grabs)

14. ROV Data Flow Diagram Framegrabs Expedition metadata Navigation ROVCTD Annotations Samples EXPD.pm geopdvc.pl Set of VRML (.wrl) files for each dive Iterative development

15. Perl programming sample Expedition object –$expd = new EXPD; –$expd->set_expd( 'diveno' => $diveno, 'ROVName' => $rname ); Get ship navigation –($sT, $sLat, $sLon, $sH) = @{$expd-> shipNav-> shipGDCListRefs}

16. VRML Data Files VRML data files –tibr300tracks.wrl – rov_orig.wrl – fg.wrl – anno.wrl – samp.wrl Server-side script builds master.wrl which is sent to browser

17. VRML EXTERNPROTOS GeoPowerDivePlaybackProto –HUD –TimelineSlider –DepthSlider –Button Touchsensors –just give it the vehicle positions and orientations from the tracks.wrl data file GeoFrameGrabProto GeoAnnotationProto GeoSampleProto DepthSliderProto TimelineSliderProto FogSliderProto

18. Dive name buttons. Click to load controls. Controls apply to dive that is green. Button to playback or pause the dive replay Day, Date Month Year – Year-day of dive Dive profile relative height adjuster Buttons that control loading of new geometry: R – Raw ROV positions as a white point set F – Video Frame grab images A – Video Annotations S – Samples Buttons that set color mapping of ROV track: R – Red line, T – Temperature, S – Salinity, O – Dissolved Oxygen, L – Light transmissivity Timeline slider click-and-drag control Fog button. Loads slider to make distant objects less visible Geo coordinates of the viewer’s position in the world in Latitude Longitude Height

19. What was learned & accomplished in 1999-2000 VRML deployment for Ventana dives in Monterey Bay Single precision problem… GeoReferencing problem… Scientist’s computers problem… Developed software infrastructure, no change in architecture required for GeoVRML conversion It is possible to put visualizations on web

20. Lessons learned from Alex Derbes internship in 1999 Terrain data visualization is challenging Difficult to render fast ~ 10 7 polygons Smart terrain Level of Detail management is required, and difficult to do in VRML97 –Standard VRML LOD node is inadequate –Network latency and bandwidth is an issue >> Area of Interest needed for dive areas

21. Terrain Data Mapping data –Bathymetric surveys up to 5 m resolution –Data available as Digital Elevation Models & Orthorectified Imagery GMT bathymetry grid files TIFF images of these grids MB-System at MBARI TerraVision & TsmApi from SRI GMT from University of Hawaii >> Produce quad-tree multiresolution GeoVRML ElevationGrid tiles for all MBARI coverages

22. Single Precision Problem All 3D graphics pipelines use 32-bit math 32-bits gives precision of about 6 digits Maximum domain of 1,000 km for 1 meter precision Any area larger than 10 degrees of latitude will have round off error for locating objects with meter precision

23. Terrain Data & GeoVRML GeoVRML 1.0 released in Nov 1999 GeoOrigin node addresses single precision problem GeoTransform package addresses Coordinate system and georeferencing problem Reference implementation in Java at www.geovrml.org. Native support in Cortona, supported in xj3d. www.geovrml.org tsmApi conversion tools available

24. GeoVRML nodes used GeoOrigin GeoViewpoint GeoLocation GeoCoordinate GeoTouchSensor GeoInline GeoPositionInterpolator GeoLOD GeoElevationGrid GeoTransform GeoProximitySensor

25. Terrain Data Flow Diagram GeoVRML make_dem.grd make_geovrml.tiff make_oi TV make_dem.grd make_geovrml.tiff make_oi TV mbm_grd2geovmrl

26. GeoVRML Terrain generation make_dem example (a tsmApi 2.1 utility): make_dem /u/mccann/TileSets/Pyramids/pacific/ NEPacific NEPacific.raw \ -startres 0.0166667 \ -geoname NEPacific -width 3600 \ -height 2100 -ll_lat 15 \ -ll_long -165 -offset -10000 \ -scale 0.001

27. GeoVRML Terrain generation make_oi example (a tsmApi 2.1 utility): make_oi /u/mccann/TileSets/Pyramids/pac ific/NEPacific NEPacific.tif \ -startres 0.004166675 \ -geoname NEPacific \ -width 14400 -height 8400 \ -ll_lat 15 -ll_long -165

28. GeoVRML Terrain generation make_geovrml * example (a tsmApi 2.2 utility): make_geovrml \ -dem MontereyC_bath.dem \ -oi MontereyC_bath.oi \ -vrmldir cencal/MontereyC_bath \ -onesided -numpolys 16 -elevscale 1 \ -olat 36 -olon -122 \ -touch 2,4,6 -hud –maxrange \ -wrz * Modified by MBARI to implement touch sensor load control for high resolution tiles in the area of interest

29. GeoVRML Terrain generation mbm_grd2geovrml will be added to MB-System Uses GMT routines to Spline fill no data areas Calls all tsmApi routines Uses make_geovrml options that are optimal Click on a tile to load next 2 levels, about 5K more polygons – takes ~ 3 sec. Mouse over to display GeoCoordinate value

30. Terrain for Monterey Canyon MontereyA_bath 8 levels of detail 30 MB of gzipped tile & jpg image files 14,500 files 30 m resolution Served by menard

31. Expedition Database Integration Added Terrain table Added Dive fields popTerrain.pl script creates a record for each coverage terrains, dives, expeditions, and data can be related in web presentation

32. Processes (software & people) ROV Data 1.Precruise filed 2.Dive happens 3.Postcruise filed – Dive info entered 4.vfcbydive job runs 5.geopdvc.pl * Mapping Data 1. 1.Multibeam survey 2. 2.Process data → GMT grid 3. 3.mbm_grd2geovrml * 4. 4.popTerrain.pl * * Developed in this project

33. Web Interface – Expedition search Use Netscape (for now) Display Expedition info which offers 3D replays along with other data Select 3D view – interact Server-side scripts (3D.asp & 3Dterrain.asp) –Query database for 3D basemaps & dives –Present options –Construct world and deliver to browser

36. Visualize the dive data

37. Web Interface – Terrain display

38. Live Demos

39. What’s next Annotation and Samples visualization Refine interface based on feedback – (I want feedback!) Samples database 3D map view to replace GIS view Product generation for Science Presentation, education, outreach, other platforms, … ?

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