Systems and methods for positioning a virtual camera

• US 10,489,965 B1
• Filed: 03/23/2018
• Issued: 11/26/2019
• Est. Priority Date: 03/24/2017
• Status: Active Grant

• Current Assignee: Mappedin Inc.
• Original Assignee: Mappedin Inc.
• Inventors: Cregan, Zachary Sean, Yan, Bide, Bernhardt, Paul, Paskaris, Patrick
• Primary Examiner(s): Ge, Jin
• Application Number:
  US15/933,694
• Time in Patent Office: 613 Days
• Field of Search: 345419
• CPC Class Codes: G06T 15/20 Perspective computation
• CPC Class Codes: G06T 19/003 Navigation within 3D models or images
• CPC Class Codes: G06T 2200/24 involving graphical user interfaces [GUIs]
• CPC Class Codes: G06T 2210/12 Bounding box
• CPC Class Codes: G06T 2210/56 Particle system, point based geometry or rendering
• CPC Class Codes: H04W 4/024 Guidance services
• CPC Class Codes: H04W 4/33 for indoor environments, e.g. buildings

Abstract

Systems and methods for positioning and orienting a virtual camera relative to an electronic map are disclosed. The system includes a communication network, a wayfinding server, and one or more user devices. The wayfinding server includes a wayfinding storage unit for storing electronic maps. The wayfinding processor is configured for providing an electronic map to the user devices. Each user device includes a user processor operatively coupled to a user memory and is configured for: receiving the electronic map; determining a set of target objects within the electronic map; determining a desired orientation of the virtual camera; generating a point cloud collection; generating a rotation matrix; generating an oriented point cloud; generating a three-dimensional bounding shape; calculating a desired position and orientation for the virtual camera; and providing the electronic map having a view from the virtual camera at the desired position and orientation for display.

Claims

1. A method for positioning and orienting a virtual camera relative to an electronic map, the method comprising:

determining a set of target objects within the electronic map based on user selections received from a user device, the set comprising at least one target object, each target object having at least one point;

determining a desired orientation of the virtual camera;

generating a point cloud collection containing each point of the set of target objects;

generating a rotation matrix by comparing a current orientation of the virtual camera and the desired orientation of the virtual camera;

generating an oriented point cloud by applying the rotation matrix to each point of the point cloud collection;

generating a three-dimensional bounding shape containing each point of the oriented point cloud;

calculating a desired position and orientation for the virtual camera based on a field of view of the virtual camera and the three-dimensional bounding shape; and

providing the electronic map to the user device for display, the electronic map comprising a view from the virtual camera at the desired position and orientation;

wherein the field of view of the virtual camera comprising a total width along an x-axis and a total height along a y-axis;

the desired position and orientation comprising an x-coordinate value along the x-axis, a y-coordinate value along the y-axis, and a z-coordinate value along a z-axis; and

calculating the desired position and orientation for the virtual camera based on the field of view of the virtual camera and the three-dimensional bounding shape comprises;

determining a gross width and a relative width of the oriented point cloud, the gross width comprising a greatest distance between any two points of the oriented point cloud along the x-axis, the relative width comprising the gross width of the oriented point cloud as a proportion of the total width of the field of view of the virtual camera;

determining a gross height and a relative height of the oriented point cloud, the gross height comprising a greatest distance between any two points of the oriented point cloud along the y-axis, the relative height comprising the gross height of the oriented point cloud as a proportion of the total height of the field of view of the virtual camera;

if the relative width of the oriented point cloud is greater than the relative height of the oriented point cloud, identifying the x-axis as a constraining axis and the y-axis as a non-constraining axis;

if the relative width of the oriented point cloud is not greater than the relative height of the oriented point cloud, identifying the y-axis as the constraining axis and the x-axis as the non-constraining axis; and

determining the z-coordinate value based on the constraining axis.

2. The method of claim 1, wherein:

the set of target objects comprise a destination object identified by the user selections; and

determining a set of target objects based on user selections received from a user input device comprises;

determining an origination object;

determining at least one path from the origination object to the destination object; and

including the at least one path and the origination object as being in the set of target objects.

3. The method of claim 2, wherein the origination object is determined based on global positioning system data generated by the user input device.

4. The method of claim 1, wherein the three-dimensional bounding shape comprises at least one of a group consisting of a sphere, a cone, a cylinder, a polyhedron, a cube, a prism, and a pyramid.

5. The method of claim 1, wherein the desired orientation of the virtual camera comprises a desired yaw angle and a desired pitch angle.

6. The method of claim 5, wherein:

the current orientation of the virtual camera comprises a current pitch angle; and

determining the desired orientation of the virtual camera comprises using the current pitch angle as the desired pitch angle.

7. The method of claim 5, wherein the desired yaw angle is determined based on an angle between a first point and a second point of the set.

8. The method of claim 7, wherein the first point comprises an exit point of an origination object and the second point comprises an entry point of a destination object.

9. The method of claim 1, wherein determining the z-coordinate value comprises determining the z-coordinate value when the constraining axis is scaled to substantially occupy the field of view.

10. The method of claim 9, wherein substantially occupying the field of view comprises occupying at least about 70% of the field of view.

11. The method of claim 10, wherein calculating the desired position and orientation for the virtual camera based on the field of view of the virtual camera and the three-dimensional bounding shape further comprises determining the x-coordinate value as being a point along the x-axis that is equidistant from the two points of the oriented point cloud defining the gross width.

12. The method of claim 1, wherein calculating the desired position and orientation for the virtual camera based on the field of view of the virtual camera and the three-dimensional bounding shape further comprises determining the y-coordinate value as being a point along the y-axis that is equidistant from the two points of the oriented point cloud defining the gross height.

13. A system for positioning and orienting a virtual camera relative to an electronic map, the system comprising:

a communication network;

a wayfinding server comprising;

a wayfinding storage unit for storing electronic maps; and

a wayfinding processor operatively coupled to the wayfinding storage unit and configured for providing an electronic map to one or more user devices via the communication network; and

the one or more user devices, wherein each user device comprises a user processor operatively coupled to a user memory and configured for;

receiving the electronic map from the wayfinding server via the communication network;

determining a set of target objects within the electronic map based on user selections received by the user device, the set comprising at least one target object, each target object having at least one point;

determining a desired orientation of the virtual camera;

generating a point cloud collection containing each point of the set of target objects;

generating a rotation matrix by comparing a current orientation of the virtual camera and the desired orientation of the virtual camera;

generating an oriented point cloud by applying the rotation matrix to each point of the point cloud collection;

generating a three-dimensional bounding shape containing each point of the oriented point cloud;

calculating a desired position and orientation for the virtual camera based on a field of view of the virtual camera and the three-dimensional bounding shape; and

providing the electronic map for display, the electronic map comprising a view from the virtual camera at the desired position and orientation;

wherein the field of view of the virtual camera comprising a total width along an x-axis and a total height along a y-axis;

the desired position and orientation comprising an x-coordinate value along the x-axis, a y-coordinate value along the y-axis, and a z-coordinate value along a z-axis; and

calculating the desired position and orientation for the virtual camera based on the field of view of the virtual camera and the three-dimensional bounding shape comprises;

determining a gross width and a relative width of the oriented point cloud, the gross width comprising a greatest distance between any two points of the oriented point cloud along the x-axis, the relative width comprising the gross width of the oriented point cloud as a proportion of the total width of the field of view of the virtual camera;

determining a gross height and a relative height of the oriented point cloud, the gross height comprising a greatest distance between any two points of the oriented point cloud along the y-axis, the relative height comprising the gross height of the oriented point cloud as a proportion of the total height of the field of view of the virtual camera;

if the relative width of the oriented point cloud is greater than the relative height of the oriented point cloud, identifying the x-axis as a constraining axis and the y-axis as a non-constraining axis;

if the relative width of the oriented point cloud is not greater than the relative height of the oriented point cloud, identifying the y-axis as the constraining axis and the x-axis as the non-constraining axis; and

determining the z-coordinate value based on the constraining axis.

14. The system of claim 13, wherein:

the set of target objects comprise a destination object identified by the user selections; and

determining a set of target objects based on user selections received from a user input device comprises;

determining an origination object;

determining at least one path from the origination object to the destination object; and

including the at least one path and the origination object as being in the set of target objects.

15. The system of claim 13, wherein the desired orientation of the virtual camera comprises a desired yaw angle and a desired pitch angle.

16. The system of claim 15, wherein:

the current orientation of the virtual camera comprises a current pitch angle; and

determining the desired orientation of the virtual camera comprises using the current pitch angle as the desired pitch angle.

17. The system of claim 15, wherein the desired yaw angle is determined based on an angle between a first point and a second point of the set.

18. The system of claim 17, wherein the first point comprises an exit point of an origination object and the second point comprises an entry point of a destination object.