Embedding a magnetic map into an image file
In one embodiment, a method includes accessing a magnetic map of an area that includes magnetic-field values for locations in the area. The method also includes accessing an image file that includes pixels that correspond to the locations and include components. The image file also includes a first matrix with elements that each include color values. The components of the pixels include links to elements in the first matrix. The method also includes embedding portions of the magnetic map into the image file by generating a second matrix for the image file including elements that represent the magnetic-field values and, for the locations in the area, writing to the components of the pixels corresponding to the locations links to elements of the second matrix. The method also includes communicating the image file, with the portions of the magnetic map embedded in it, to computing devices for navigation or localization.
1 . A method comprising:
by a first computing device, accessing a magnetic map of an area, wherein the magnetic map comprises a plurality of magnetic-field values for a plurality of locations in the area;
by the first computing device, accessing an image file, wherein:
the image file comprises;
a plurality of pixels that each correspond to one of the locations and comprise a plurality of components; and
a first matrix comprising a plurality of first elements that each comprise one or more color values; and
each of one or more of the components of each of one or more of the pixels comprises a link to one of the first elements in the first matrix;
by the first computing device, embedding one or more portions of the magnetic map into the image file by:
generating a second matrix for the image file comprising a plurality of second elements that each represent one or more of the magnetic-field values, wherein:
each of the magnetic-field values is a total magnetic-field value corresponding to a square root of a sum of a square of an x component, a square of a y component, and a square of a z component of a magnetic field associated with the magnetic-field values;
the magnetic-field values are normalized; and
the second elements represent the magnetic-field values as normalized; and
for each of one or more locations in the area, writing to one of the components of the pixel corresponding to the location a link to one of the second elements of the second matrix; and
by the first computing device, communicating the image file, with the portions of the magnetic map embedded in it, to one or more second computing devices for navigation or localization using the magnetic map.
2 . The method of claim 1 , wherein navigation or localization using the magnetic map comprises generating a visualization of one or more portions of the magnetic map to be presented to a user on a display.
3 . The method of claim 1 , wherein the image file is a georeferenced image file.
4 . The method of claim 1 , wherein the image file is one or more Geographic Tagged Image File Format (GeoTIFF) files or one or more Cloud Optimized GeoTIFF (COG) files.
5 . The method of claim 1 , wherein the image file is one or more Tagged Image File Format (TIFF) files.
6 . The method of claim 1 , wherein each of one or more of the second elements further represents:
a declination of the magnetic field; or
an inclination of the magnetic field.
7 . The method of claim 1 , wherein one or more portions of the area are indoors.
8 . The method of claim 1 , wherein navigation or localization using the magnetic map comprises applying image processing or computer vision to one or more portions of the magnetic map embedded in the image file.
9 . The method of claim 1 , wherein the second elements represent the magnetic-field values as Red-Green-Blue (RGB) triplets.
10 . The method of claim 9 , wherein navigation or localization using the magnetic map comprises:
generating an image of a device's location using RGB triplets that represent one or more magnetic-field values measured at the device's location; and
applying image processing or computer vision to one or more portions of the magnetic map embedded in the image file to localize the image of the device's location within the magnetic map.
11 . The method of claim 9 , wherein each of one or more of the magnetic-field values is defined according to an East-North-Up (ENU) coordinate frame.
12 . The method of claim 1 , wherein the magnetic-field values are normalized between zero and 255 for an eight-bit-per-pixel colormap.
13 . The method of claim 1 , wherein the first computing device is at least one of the second computing devices.
14 . One or more computer-readable non-transitory storage media embodying software that is operable when executed to:
access a magnetic map of an area, wherein the magnetic map comprises a plurality of magnetic-field values for a plurality of locations in the area;
access an image file, wherein:
the image file comprises;
a plurality of pixels that each correspond to one of the locations and comprise a plurality of components; and
a first matrix comprising a plurality of first elements that each comprise one or more color values; and
each of one or more of the components of each of one or more of the pixels comprises a link to one of the first elements in the first matrix;
embed one or more portions of the magnetic map into the image file by:
generating a second matrix for the image file comprising a plurality of second elements that each represent one or more of the magnetic-field values, wherein:
each of the magnetic-field values is a total magnetic-field value corresponding to a square root of a sum of a square of an x component, a square of a y component, and a square of a z component of a magnetic field associated with the magnetic-field values;
the magnetic-field values are normalized; and
the second elements represent the magnetic-field values as normalized; and
for each of one or more locations in the area, writing to one of the components of the pixel corresponding to the location a link to one of the second elements of the second matrix; and
communicate the image file, with the portions of the magnetic map embedded in it, to one or more second computing devices for navigation or localization using the magnetic map.
15 . The media of claim 14 , wherein navigation or localization using the magnetic map comprises generating a visualization of one or more portions of the magnetic map to be presented to a user on a display.
16 . The media of claim 14 , wherein the image file is a georeferenced image file.
17 . The media of claim 14 , wherein the image file is one or more Geographic Tagged Image File Format (GeoTIFF) files or one or more Cloud Optimized GeoTIFF (COG) files.
18 . The media of claim 14 , wherein the image file is one or more Tagged Image File Format (TIFF) files.
19 . The media of claim 14 , wherein each of one or more of the second elements further represents:
a declination of the magnetic field; or
an inclination of the magnetic field.
20 . The media of claim 14 , wherein one or more portions of the area are indoors.
21 . The media of claim 14 , wherein navigation or localization using the magnetic map comprises applying image processing or computer vision to one or more portions of the magnetic map embedded in the image file.
22 . The media of claim 14 , wherein the second elements represent the magnetic-field values as Red-Green-Blue (RGB) triplets.
23 . The media of claim 22 , wherein navigation or localization using the magnetic map comprises:
generating an image of a device's location using RGB triplets that represent one or more magnetic-field values measured at the device's location; and
applying image processing or computer vision to one or more portions of the magnetic map embedded in the image file to localize the image of the device's location within the magnetic map.
24 . The media of claim 22 , wherein each of one or more of the magnetic-field values is defined according to an East-North-Up (ENU) coordinate frame.
25 . The media of claim 14 , wherein the magnetic-field values are normalized between zero and 255 for an eight-bit-per-pixel colormap.
26 . The media of claim 14 , wherein the first computing device is at least one of the second computing devices.
27 . A system comprising:
one or more processors; and
one or more computer-readable non-transitory storage media coupled to one or more of the processors and comprising instructions operable when executed by one or more of the processors to cause the system to:
access a magnetic map of an area, wherein the magnetic map comprises a plurality of magnetic-field values for a plurality of locations in the area;
access an image file, wherein:
the image file comprises;
a plurality of pixels that each correspond to one of the locations and comprise a plurality of components; and
a first matrix comprising a plurality of first elements that each comprise one or more color values; and
each of one or more of the components of each of one or more of the pixels comprises a link to one of the first elements in the first matrix;
embed one or more portions of the magnetic map into the image file by:
generating a second matrix for the image file comprising a plurality of second elements that each represent one or more of the magnetic-field values, wherein:
each of the magnetic-field values is a total magnetic-field value corresponding to a square root of a sum of a square of an x component, a square of a y component, and a square of a z component of a magnetic field associated with the magnetic-field values:
the magnetic-field values are normalized; and
the second elements represent the magnetic-field values as normalized; and
for each of one or more locations in the area, writing to one of the components of the pixel corresponding to the location a link to one of the second elements of the second matrix; and
communicate the image file, with the portions of the magnetic map embedded in it, to one or more second computing devices for navigation or localization using the magnetic map.
28 . The system of claim 27 , wherein navigation or localization using the magnetic map comprises generating a visualization of one or more portions of the magnetic map to be presented to a user on a display.
29 . The system of claim 27 , wherein the image file is a georeferenced image file.
30 . The system of claim 27 , wherein the image file is one or more Geographic Tagged Image File Format (GeoTIFF) files or one or more Cloud Optimized GeoTIFF (COG) files.
31 . The system of claim 27 , wherein the image file is one or more Tagged Image File Format (TIFF) files.
32 . The system of claim 27 , wherein each of one or more of the second elements further represents:
a declination of the magnetic field; or
an inclination of the magnetic field.
33 . The system of claim 27 , wherein one or more portions of the area are indoors.
34 . The system of claim 27 , wherein navigation or localization using the magnetic map comprises applying image processing or computer vision to one or more portions of the magnetic map embedded in the image file.
35 . The system of claim 27 , wherein the second elements represent the magnetic-field values as Red-Green-Blue (RGB) triplets.
36 . The system of claim 35 , wherein navigation or localization using the magnetic map comprises:
generating an image of a device's location using RGB triplets that represent one or more magnetic-field values measured at the device's location; and
applying image processing or computer vision to one or more portions of the magnetic map embedded in the image file to localize the image of the device's location within the magnetic map.
37 . The system of claim 35 , wherein each of one or more of the magnetic-field values is defined according to an East-North-Up (ENU) coordinate frame.
38 . The system of claim 27 , wherein the magnetic-field values are normalized between zero and 255 for an eight-bit-per-pixel colormap.
39 . The system of claim 27 , wherein the first computing device is at least one of the second computing devices.
40 . A system comprising:
means for accessing a magnetic map of an area, wherein the magnetic map comprises a plurality of magnetic-field values for a plurality of locations in the area;
means for accessing an image file, wherein:
the image file comprises;
a plurality of pixels that each correspond to one of the locations and comprise a plurality of components; and
a first matrix comprising a plurality of first elements that each comprise one or more color values; and
each of one or more of the components of each of one or more of the pixels comprises a link to one of the first elements in the first matrix;
means for embedding one or more portions of the magnetic map into the image file by:
generating a second matrix for the image file comprising a plurality of second elements that each represent one or more of the magnetic-field values, wherein:
each of the magnetic-field values is a total magnetic-field value corresponding to a square root of a sum of a square of an x component, a square of a y component, and a square of a z component of a magnetic field associated with the magnetic-field values;
the magnetic-field values are normalized; and
the second elements represent the magnetic-field values as normalized; and
for each of one or more locations in the area, writing to one of the components of the pixel corresponding to the location a link to one of the second elements of the second matrix; and
means for communicating the image file, with the portions of the magnetic map embedded in it, to one or more computing devices for navigation or localization using the magnetic map.