Omnidirectional structured light projection

1. An apparatus comprising:

a conical mirror comprising a base and an apex;

a light source that illuminates the conical mirror towards the apex along a central axis; and

a pattern mask disposed between the light source and the conical mirror, the pattern mask structured with a plurality of light orifices that each pass a light ray from the light source to the conical mirror, the plurality of light orifices arranged to correct a deformation pattern of the conical mirror wherein a latitude of each light orifice is calculated as an arc cosine of a coordinate of a vector parallel a central axis, and a plurality of light rays are reflected from the conical mirror to form a plurality of points in a point cloud.

2. The apparatus of claim 1 , wherein the conical mirror is structured with a curve to increase points below an apex plane, wherein the apex plane passes through the apex and is perpendicular to the central axis.

3. The apparatus of claim 1 , wherein the plurality of light orifices are organized in a pseudorandom pattern.

4. The apparatus of claim 3 , wherein the plurality of points from the light orifices have a higher density at an edge of the pattern mask than a center of the pattern mask.

5. The apparatus of claim 1 , wherein the points from adjacent light orifices are separated by a pattern distance in the point cloud.

6. The apparatus of claim 1 , wherein the light source is an infrared laser.

7. The apparatus of claim 1 , the apparatus further comprising a camera that captures a 360 degree image of the point cloud.

8. A system comprising:

a conical mirror comprising a base and an apex;

a light source that illuminates the conical mirror towards the apex along a central axis;

a pattern mask disposed between the light source and the conical mirror, the pattern mask structured with a plurality of light orifices that each pass a light ray from the light source to the conical mirror, the plurality of light orifices arranged to correct a deformation pattern of the conical mirror wherein a latitude of each light orifice is calculated as an arc cosine of a coordinate of a vector parallel a central axis, and a plurality of light rays are reflected from the conical mirror to form a plurality of points in a point cloud; and

a camera that captures a 360 degree image of the point cloud.

9. The system of claim 8 , wherein the conical mirror is structured with a curve to increase points below an apex plane, wherein the apex plane passes through the apex and is perpendicular to the central axis.

10. The system of claim 8 , wherein the plurality of light orifices are organized in a pseudorandom pattern.

11. The system of claim 10 , wherein the plurality of points from the light orifices have a higher density at an edge of the pattern mask than a center of the pattern mask.

12. The system of claim 8 , wherein the points from adjacent light orifices are separated by a pattern distance in the point cloud.

13. The system of claim 8 , wherein the light source is an infrared laser.

14. A method comprising:

defining, by use of a processor, a point distribution of a plurality of points in a point cloud;

calculating positions of light orifices in a pattern mask disposed between the light source and the conical mirror, the pattern mask structured with a plurality of light orifices that each pass a light ray from a light source to a conical mirror, the plurality of light orifices arranged to correct a deformation pattern of the conical mirror wherein a latitude of each light orifice is calculated as an arc cosine of a coordinate of a vector parallel a central axis, and a plurality of light rays are reflected from the conical mirror to form a plurality of points in a point cloud;

generating the pattern mask; and

illuminating the conical mirror through the pattern mask with the light source.