3D computer modelling apparatus
First Claim
1. A method of processing data defining a plurality of depth maps of a subject object, to generate a 3D computer model of the subject object comprising points in a three-dimensional space representing points on the surface of the subject object, the method comprising:
- processing each depth map to connect points therein to generate a respective two-dimensional mesh of connected points in each depth map;
projecting each two-dimensional mesh into three-dimensional space in dependence upon the position and orientation in the three-dimensional space of the depth map containing the mesh and the respective depths of the points in the mesh defined by the depth map, to generate a respective polyhedron from each depth map, each polyhedron comprising a three-dimensional mesh of connected vertices defining planar faces corresponding to the two-dimensional mesh, together with planar side faces for each edge of the three-dimensional mesh;
calculating points in the three-dimensional space representing points on the surface of the subject object by calculating the respective points at which a predetermined number of the planar surfaces from the generated polyhedra intersect.
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Accused Products
Abstract
In a computer processing apparatus 3002, a number of depth maps 3200-3270 of a subject object 3300 are processed to generate a 3D computer model of the subject object. The points in each depth map are connected to give a 2D mesh, and each 2D mesh is then projected into 3D space in dependence upon the depths of the points in the mesh, thereby giving a 3D mesh 3610. Side faces for each edge of the 3D mesh are added extending away from the depth map, thereby generating a respective polyhedron 3600 for each depth map. The 3D computer model of the subject object is generated by calculating the intersections of the polyhedra.
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Citations
25 Claims
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1. A method of processing data defining a plurality of depth maps of a subject object, to generate a 3D computer model of the subject object comprising points in a three-dimensional space representing points on the surface of the subject object, the method comprising:
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processing each depth map to connect points therein to generate a respective two-dimensional mesh of connected points in each depth map;
projecting each two-dimensional mesh into three-dimensional space in dependence upon the position and orientation in the three-dimensional space of the depth map containing the mesh and the respective depths of the points in the mesh defined by the depth map, to generate a respective polyhedron from each depth map, each polyhedron comprising a three-dimensional mesh of connected vertices defining planar faces corresponding to the two-dimensional mesh, together with planar side faces for each edge of the three-dimensional mesh;
calculating points in the three-dimensional space representing points on the surface of the subject object by calculating the respective points at which a predetermined number of the planar surfaces from the generated polyhedra intersect. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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13. Apparatus for processing data defining a plurality of depth maps of a subject object, to generate a 3D computer model of the subject object comprising points in a three-dimensional space representing points on the surface of the subject object, the apparatus comprising:
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a depth map point connector operable to process each depth map to connect points therein to generate a respective two-dimensional mesh of connected points in each depth map;
a mesh projector operable to project each two-dimensional mesh generated by the connection means into three-dimensional space in dependence upon the position and orientation in the three-dimensional space of the depth map containing the mesh and the respective depths of the points in the mesh defined by the depth map, to generate a respective polyhedron from each depth map, each polyhedron comprising a three-dimensional mesh of connected vertices defining planar faces corresponding to the two-dimensional mesh, together with planar side faces for each edge of the three-dimensional mesh; and
a 3D point calculator operable to calculate points in the three-dimensional space representing points on the surface of the subject object by calculating the respective points at which a predetermined number of the planar surfaces from the polyhedra generated by the projection means intersect.
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25. Apparatus for processing data defining a plurality of depth maps of a subject object, to generate a 3D computer model of the subject object comprising points in a three-dimensional space representing points on the surface of the subject object, the apparatus comprising:
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connection means for processing each depth map to connect points therein to generate a respective two-dimensional mesh of connected points in each depth map;
projection means for projecting each two-dimensional mesh generated by the connection means into three-dimensional space in dependence upon the position and orientation in the three-dimensional space of the depth map containing the mesh and the respective depths of the points in the mesh defined by the depth map, to generate a respective polyhedron from each depth map, each polyhedron comprising a three-dimensional mesh of connected vertices defining planar faces corresponding to the two-dimensional mesh, together with planar side faces for each edge of the three-dimensional mesh; and
3D point calculation means for calculating points in the three-dimensional space representing points on the surface of the subject object by calculating the respective points at which a predetermined number of the planar surfaces from the polyhedra generated by the projection means intersect.
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Specification