Depth cursor and depth measurement in images

• US 9,047,688 B2
• Filed: 10/21/2011
• Issued: 06/02/2015
• Est. Priority Date: 10/21/2011
• Status: Active Grant

• Current Assignee: HERE Global B.V. (HERE Holding Corporation)
• Original Assignee: HERE Global B.V. (HERE Holding Corporation)
• Inventors: Lynch, James D.
• Primary Examiner(s): CHOW, JEFFREY J
• Application Number:
  US13/278,512
• Publication Number:
  US 20130100114A1
• Time in Patent Office: 1,320 Days
• Field of Search: 345/422, 345/629, 345/633, 345/158, 345/592, 345/157, 382/154, 382/103, 382/106
• US Class Current: 1/1
• CPC Class Codes: G01C 21/3638 including 3D objects and buildings three dimensional [3D] modelling, e.g. data description of 3D objects G06T17/00; geographic models G06T17/05
• CPC Class Codes: G06T 11/00 2D [Two Dimensional] image generation
• CPC Class Codes: G06T 15/205 Image-based rendering
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 7/543 from line drawings
• CPC Class Codes: H04N 13/128 Adjusting depth or disparity
• CPC Class Codes: H04N 13/271 wherein the generated image signals comprise depth maps or disparity maps
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

One or more systems, devices, and/or methods for illustrating depth are disclosed. For example, a method includes receiving a depthmap generated from an optical distancing system. The depthmap includes depth data for each of a plurality of points, which are correlated to pixels of an image. Data indicative of a location on the image is received. Depth data correlated with the first point is compared to depth data correlated with pixels at surrounding points in the image. If the depth data correlated with the first point indicate a lesser distance from a viewer perspective of the image than the depth data of a pixel at the surrounding points in the image, the pixel is changed to a predetermined value. The comparison may be repeated at other pixels and a depth illustration may be drawn that relates the depth of the received location to other objects in the image.

Claims

1. A method for illustrating depth in an image, the method comprising:

receiving a depthmap generated from an optical distancing system, wherein the depthmap is correlated with a plurality of pixels of the image;

receiving, at a controller, data indicative of a location on the image and indicative of a first depth datum of the depthmap corresponding to a first physical object in the image;

comparing, with the controller, the first depth datum to a second depth datum correlated with at least one of a plurality of surrounding points and a second physical object in the image;

if the first depth datum indicates a lesser distance from a viewer perspective of the image than the second depth datum, changing a pixel of the at least one of the plurality of surrounding points to a predetermined value;

wherein the predetermined value of the pixel corresponds to a virtual depth cursor indicative of a selection in the image, and

if the first depth datum indicates a greater distance from the viewer perspective of the image than the second depth datum, maintaining the pixel of the at least one of the plurality of surrounding points unchanged.

2. The method of claim 1, further comprising:

displaying the depth cursor on the image, wherein the depth cursor comprises an indicium to indicate the location.

3. The method of claim 2, wherein receiving data indicative of a location on the image comprises receiving a user selection of the location on the image, wherein the indicium indicates the user selection.

4. The method of claim 1, wherein the predetermined value of the pixels corresponds to a depth measurement graphic.

5. The method of claim 4, wherein receiving data indicative of the location on the image comprises receiving a user selection of the location on the image and a reference location on the image.

6. The method of claim 5, further comprising:

calculating a line from the user selection of the location and the reference location using the depthmap;

comparing depth values for points in the line to depth data correlated with corresponding pixels of the image;

changing the corresponding pixels of the image to a predetermined value, when the line corresponds to a depth closer to a viewer perspective of the image than the corresponding pixels of the image.

7. The method of claim 1, wherein each of the plurality of points comprises two-dimensional position data.

8. The method of claim 1, wherein the optical distancing system is a light detection and ranging (LIDAR) system.

9. The method of claim 1, wherein the optical distancing system emits structured infrared light.

10. The method of claim 1, wherein when the first depth datum indicates the greater distance from the viewer perspective of the image than the second depth datum, the virtual depth cursor is between the first physical object and the second physical object.

11. An apparatus for depth feedback in an image including a plurality of pixels, the apparatus comprising:

a memory configured to store a depthmap overlaid on the image, wherein the depthmap is generated from an optical distancing system and includes depth data for each of the plurality of pixels; and

a processor configured to receive a selected location on the image and replace a subset of the plurality of pixels with a predetermined value if the subset of the plurality of pixels is correlated to depth data farther from a viewer perspective than the depth data correlated with the selected location,

wherein the subset of the plurality of pixels represents a virtual depth cursor drawn in front of the selected location in the image.

12. The apparatus of claim 11, wherein the processor is configured to repeatedly redraw the depth cursor as the depth cursor and selected location are moved or successively selected within the image.

13. The apparatus of claim 11, wherein the subset of the plurality of pixels corresponds to a measurement illustration between the user selection and a reference selection.

14. The apparatus of claim 13, wherein the processor is configured to calculate a distance between the user selection and the reference selection.

15. The apparatus of claim 11, wherein the optical distancing system is a light detection and ranging (LIDAR) system or a system that emits structured infrared light.

16. A non-transitory computer readable medium having stored thereon a computer program configured to provide a visual cue of depth in a panoramic image, the program comprising instructions to:

receive a depthmap generated from an optical distancing system, wherein the depthmap includes depth data for each of a plurality of points and is overlaid on the panoramic image according to the plurality of points;

receive data indicative of a location on the panoramic image and a first point of the plurality of points;

calculate a comparison of a first depth datum correlated with the first point to a second depth datum correlated with at least one of a plurality of surrounding points; and

alter the panoramic image to a virtual depth cursor at the at least one of the surrounding points based on the first depth datum.

17. The non-transitory computer readable medium of claim 16, wherein the panoramic image is altered to include the virtual depth cursor at a depth plane in the panoramic image based on the first point.

18. The non-transitory computer readable medium of claim 16, wherein the panoramic image is altered to include a depth measurement line from the location in the panoramic image to a reference location.

19. The non-transitory computer readable medium of claim 16, wherein the optical distancing system is a light detection and ranging (LIDAR) system or a system that emits structured infrared light.