Method for optically scanning and measuring an environment

• US 9,684,078 B2
• Filed: 04/28/2016
• Issued: 06/20/2017
• Est. Priority Date: 05/10/2010
• Status: Active Grant

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Ossig, Martin, Frommhold, Dag, Flohr, Daniel
• Primary Examiner(s): Punnoose, Roy M
• Application Number:
  US15/140,909
• Publication Number:
  US 20160238710A1
• Time in Patent Office: 418 Days
• Field of Search: 356601, 356607, 356608
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/51 Display arrangements

Abstract

A method, system and computer program product are provided for displaying three-dimensional measurement points on a two-dimensional plane of a display screen having a plurality of pixels. The method includes projecting the measurement points onto the plane. Each of the measurement points is assigned to one of the pixels. A depth value is assigned to each of the pixels. A first pixel is selected having a first measurement point and a first depth value. A first side is searched for a second pixel having a second measurement point and a second depth value. A second side is searched for a third pixel having a third measurement point and a third depth value. It is determined whether the second and third measurement points are on a same plane. The first depth value of the first pixel is changed when the second and third measurement points are on the same plane.

Claims

1. A method comprising:

projecting with a processor a plurality of measurement points in three-dimensional space onto a two-dimensional plane of a display screen, the display screen having a plurality of pixels;

assigning with the processor each of the measurement points of the plurality of measurement points to one of the pixels in the plurality of pixels;

assigning with the processor a depth value to each of the plurality of pixels that are assigned one of the measurement points of the plurality of measurement points;

selecting with the processor a first pixel, the first pixel having a first measurement point of the plurality of measurement points assigned to the first pixel, the first pixel having a first depth value assigned to the first pixel;

searching with the processor to a first side of the first pixel for a second pixel having a second measurement point of the plurality of measurement points assigned to the second pixel, the second pixel having a second depth value assigned to the second pixel;

searching with the processor to a second side of the first pixel for a third pixel having a third measurement point of the plurality of measurement points assigned to the third pixel, the second side being opposite the first side, the third pixel having a third depth value assigned to the third pixel;

determining with the processor that the second measurement point and the third measurement point are on a same object plane based at least in part on the second depth value and the third depth value; and

changing with the processor the first depth value assigned to the first pixel based on determining the second measurement point and the third measurement point are on the same object plane.

2. The method of claim 1, wherein the changing of the first depth value assigned to the first pixel is changed based on an interpolation between the second depth value and the third depth value based on a distance from the first measurement point to the second measurement point and third measurement point.

3. The method of claim 1, wherein the determination that the second measurement point and the third measurement point are on the same object plane is determined based on a difference between the second depth value and the third depth value being less than a predetermined value.

4. The method of claim 3, further comprising:

determining with the processor the second measurement point and the third measurement point are not on the same object plane based on the difference between the second depth value and the third depth value being greater than or equal to the predetermined value; and

changing with the processor the first depth value to be equal to the second depth value based on determining the second measurement point and the third measurement point are not on the same object plane, the second depth value being greater than the third depth value.

5. The method of claim 4, further comprising:

determining with the processor a fourth pixel between the first pixel and the second pixel, the fourth pixel not having one of the measurement points of the plurality of measurement points assigned to the fourth pixel;

changing with the processor a fourth depth value of the fourth pixel to the second depth value based on the second measurement point and the third measurement point are not on the same object plane; and

changing with the processor the fourth depth value based on an interpolation between the second depth value and the third depth value based on a distance from the fourth measurement point to the second measurement point and third measurement point based on the second measurement point and the third measurement point being on the same object plane.

6. The method of claim 1, further comprising assigning a brightness value and a color to the first pixel, the second pixel and the third pixel.

7. The method of claim 1, wherein the projection of the plurality of measurement points one the two-dimensional plane is a perspective projection.

8. The method of claim 1, wherein the projection of the plurality of measurement points one the two-dimensional plane is an orthogonal projection.

9. The method of claim 1, wherein the selecting of the first pixel selects all of the pixels in parallel.

10. The method of claim 1, further comprising measuring a first portion of the plurality of measurement points in a first scan at a first position and measuring a second portion of the plurality of measurement points in a second scan at a second position, the first position and second position being in difference locations.

11. A system comprising:

a memory having computer readable instructions; and

one or more processors for executing the computer readable instructions, the computer readable instructions comprising;

projecting with a processor a plurality of measurement points in three-dimensional space onto a two-dimensional plane of a display screen, the display screen having a plurality of pixels;

assigning with the processor each of the measurement points of the plurality of measurement points to one of the pixels in the plurality of pixels;

assigning with the processor a depth value to each of the plurality of pixels that are assigned one of the measurement points of the plurality of measurement points;

selecting with the processor a first pixel, the first pixel having a first measurement point of the plurality of measurement points assigned to the first pixel, the first pixel having a first depth value assigned to the first pixel;

searching with the processor to a first side of the first pixel for a second pixel having a second measurement point of the plurality of measurement points assigned to the second pixel, the second pixel having a second depth value assigned to the second pixel;

searching with the processor to a second side of the first pixel for a third pixel having a third measurement point of the plurality of measurement points assigned to the third pixel, the second side being opposite the first side, the third pixel having a third depth value assigned to the third pixel;

determining with the processor that the second measurement point and the third measurement point are on a same object plane based at least in part on the second depth value and the third depth value; and

changing with the processor the first depth value assigned to the first pixel based on determining the second measurement point and the third measurement point are on the same object plane.

12. The system of claim 11, wherein the changing of the first depth value assigned to the first pixel is changed based on an interpolation between the second depth value and the third depth value based on a distance from the first measurement point to the second measurement point and third measurement point.

13. The system of claim 11, wherein the determination that the second measurement point and the third measurement point are on the same object plane is determined based on a difference between the second depth value and the third depth value being less than a predetermined value.

14. The system of claim 13, wherein the computer readable instructions further comprise:

determining with the processor the second measurement point and the third measurement point are not on the same object plane based on the difference between the second depth value and the third depth value being greater than or equal to the predetermined value; and

changing with the processor the first depth value to be equal to the second depth value based on determining the second measurement point and the third measurement point are not on the same object plane, the second depth value being greater than the third depth value.

15. The system of claim 14, wherein the computer readable instructions further comprise:

determining with the processor a fourth pixel between the first pixel and the second pixel, the fourth pixel not having one of the measurement points of the plurality of measurement points assigned to the fourth pixel;

changing with the processor a fourth depth value of the fourth pixel to the second depth value based on the second measurement point and the third measurement point are not on the same object plane; and

changing with the processor the fourth depth value based on an interpolation between the second depth value and the third depth value based on a distance from the fourth measurement point to the second measurement point and third measurement point based on the second measurement point and the third measurement point being on the same object plane.

16. The system of claim 11, further comprising a device for measuring an environment, the device being configured to measure the plurality of measurement points.

17. The system of claim 16, wherein the device is configured to measure the plurality of measurement points optically.

18. A computer program product for displaying a plurality of measurement points in three-dimensional space on a two-dimensional plane of a display screen, the computer program product comprising a non-transitory computer readable storage medium having program instructions embodied therewith, the program instructions executable by a processor to cause the processor to perform:

projecting with the processor the plurality of measurement points onto the two-dimensional plane of the display screen, the display screen having a plurality of pixels;

assigning with the processor each of the measurement points of the plurality of measurement points to one of the pixels in the plurality of pixels;

assigning with the processor a depth value to each of the plurality of pixels that are assigned one of the measurement points of the plurality of measurement points;

selecting with the processor a first pixel, the first pixel having a first measurement point of the plurality of measurement points assigned to the first pixel, the first pixel having a first depth value assigned to the first pixel;

searching with the processor to a first side of the first pixel for a second pixel having a second measurement point of the plurality of measurement points assigned to the second pixel, the second pixel having a second depth value assigned to the second pixel;

searching with the processor to a second side of the first pixel for a third pixel having a third measurement point of the plurality of measurement points assigned to the third pixel, the second side being opposite the first side, the third pixel having a third depth value assigned to the third pixel;

determining with the processor that the second measurement point and the third measurement point are on a same object plane based at least in part on the second depth value and the third depth value; and

changing with the processor the first depth value assigned to the first pixel based on determining the second measurement point and the third measurement point are on the same object plane.

19. The computer program product of claim 18, wherein:

the changing of the first depth value assigned to the first pixel is changed based on an interpolation between the second depth value and the third depth value based on a distance from the first measurement point to the second measurement point and third measurement point; and

the determination that the second measurement point and the third measurement point are on the same object plane is determined based on a difference between the second depth value and the third depth value being less than a predetermined value.

20. The computer program product of claim 19 further comprising:

determining with the processor the second measurement point and the third measurement point are not on the same object plane based on the difference between the second depth value and the third depth value being greater than or equal to the predetermined value;

changing with the processor the first depth value to be equal to the second depth value based on determining the second measurement point and the third measurement point are not on the same object plane, the second depth value being greater than the third depth value;

determining with the processor a fourth pixel between the first pixel and the second pixel, the fourth pixel not having one of the measurement points of the plurality of measurement points assigned to the fourth pixel;

changing with the processor a fourth depth value of the fourth pixel to the second depth value based on the second measurement point and the third measurement point are not on the same object plane; and

changing with the processor the fourth depth value based on an interpolation between the second depth value and the third depth value based on a distance from the fourth measurement point to the second measurement point and third measurement point based on the second measurement point and the third measurement point being on the same object plane.