Point cloud mapping
Methods for mapping 3D point cloud data into 2D surfaces are described herein. The methods utilize 3D surface patches to represent point clouds and perform flexible mapping of 3D patch surface data into 2D canvas images. Patches representing geometry and patches representing attributes such as textures are placed in different canvases, where the placement of each patch is done independently for geometry and texture, that is, geometry and texture patches do not need to be co-located, as in conventional point cloud mapping. Furthermore, methods include transformations of the 3D patch when placing it into the 2D canvas, for more efficient packing.
1. A method programmed in a non-transitory memory of a device comprising:
placing a first set of 3D patches of geometry on a first canvas;
placing a second set of 3D patches of an attribute on a second canvas, wherein the first set of 3D patches of geometry are independent from the second set of 3D patches of the attribute;
flexibly orienting the first set of 3D patches of geometry on the first canvas and the second set of 3D patches of the attribute on the second canvas;
adjusting a first depth of the first set of 3D patches of geometry on the first canvas and a second depth of the second set of 3D patches of the attribute on the second canvas, wherein a delta of depth movement is compensated for by adding a luminous value to the delta;
determining a safeguard distance between each patch of the first set of 3D patches of geometry on the first canvas, and determining the safeguard distance between each patch of the second set of 3D patches of the attribute on the second canvas; and
implementing background filling of the first canvas and the second canvas.
2. The method of claim 1 wherein the attribute includes texture or color information.
3. The method of claim 1 wherein flexibly orienting the first set of 3D patches of geometry on the first canvas and the second set of 3D patches of the attribute on the second canvas includes rotating, mirroring and/or any combination thereof.
4. The method of claim 1 wherein flexibly orienting the first set of 3D patches of geometry on the first canvas and the second set of 3D patches of the attribute on the second canvas includes selecting one of eight orientations.
5. The method of claim 1 wherein flexibly orienting the first set of 3D patches of geometry on the first canvas and the second set of 3D patches of the attribute on the second canvas includes positioning the first set of 3D patches of geometry on the first canvas in a first orientation to minimize an amount of space occupied by the first set of 3D patches of geometry on the first canvas, and positioning the second set of 3D patches of the attribute on the second canvas in a second orientation to minimize the amount of space occupied by the second set of 3D patches of the attribute on the second canvas.
6. The method of claim 1 wherein the safeguard distance is at least one block.
7. The method of claim 1 wherein background filling of the first canvas and the second canvas is implemented using a push-pull algorithm.
8. An apparatus comprising:
a non-transitory memory for storing an application, the application for:
placing a first set of 3D patches of geometry on a first canvas;
placing a second set of 3D patches of an attribute on a second canvas, wherein the first set of 3D patches of geometry are independent from the second set of 3D patches of the attribute;
flexibly orienting the first set of 3D patches of geometry on the first canvas and the second set of 3D patches of the attribute on the second canvas;
adjusting a first depth of the first set of 3D patches of geometry on the first canvas and a second depth of the second set of 3D patches of the attribute on the second canvas, wherein a delta of depth movement is compensated for by adding a luminous value to the delta;
determining a safeguard distance between each patch of the first set of 3D patches of geometry on the first canvas, and determining the safeguard distance between each patch of the second set of 3D patches of the attribute on the second canvas; and
implementing background filling of the first canvas and the second canvas; and
a processor coupled to the memory, the processor configured for processing the application.
9. The apparatus of claim 8 wherein the attribute includes texture or color information.
10. The apparatus of claim 8 wherein flexibly orienting the first set of 3D patches of geometry on the first canvas and the second set of 3D patches of the attribute on the second canvas includes rotating, mirroring and/or any combination thereof.
11. The apparatus of claim 8 wherein flexibly orienting the first set of 3D patches of geometry on the first canvas and the second set of 3D patches of the attribute on the second canvas includes selecting one of eight orientations.
12. The apparatus of claim 8 wherein flexibly orienting the first set of 3D patches of geometry on the first canvas and the second set of 3D patches of the attribute on the second canvas includes positioning the first set of 3D patches of geometry on the first canvas in a first orientation to minimize an amount of space occupied by the first set of 3D patches of geometry on the first canvas, and positioning the second set of 3D patches of the attribute on the second canvas in a second orientation to minimize the amount of space occupied by the second set of 3D patches of the attribute on the second canvas.
13. The apparatus of claim 8 wherein the safeguard distance is at least one block.
14. The apparatus of claim 8 wherein background filling of the first canvas and the second canvas is implemented using a push-pull algorithm.
15. A system comprising:
a geometry module configure for placing a first set of 3D patches of geometry on a first canvas;
an attribute module configured for placing a second set of 3D patches of an attribute on a second canvas, wherein the first set of 3D patches of geometry are independent from the second set of 3D patches of the attribute;
an orientation module configured for flexibly orienting the first set of 3D patches of geometry on the first canvas and the second set of 3D patches of the attribute on the second canvas;
a depth module configured for adjusting a first depth of the first set of 3D patches of geometry on the first canvas and a second depth of the second set of 3D patches of the attribute on the second canvas, wherein a delta of depth movement is determined based on a difference of a first depth at time t and a second depth at time t+1 and is compensated for by adding a luminous value to the delta;
a safeguard module configured for determining a safeguard distance between each patch of the first set of 3D patches of geometry on the first canvas, and determining the safeguard distance between each patch of the second set of 3D patches of the attribute on the second canvas; and
a background module configured for implementing background filling of the first canvas and the second canvas.
16. The system of claim 15 wherein the attribute includes texture or color information.
17. The system of claim 15 wherein flexibly orienting the first set of 3D patches of geometry on the first canvas and the second set of 3D patches of the attribute on the second canvas includes rotating, mirroring and/or any combination thereof.
18. The system of claim 15 wherein flexibly orienting the first set of 3D patches of geometry on the first canvas and the second set of 3D patches of the attribute on the second canvas includes selecting one of eight orientations.
19. The system of claim 15 wherein flexibly orienting the first set of 3D patches of geometry on the first canvas and the second set of 3D patches of the attribute on the second canvas includes positioning the first set of 3D patches of geometry on the first canvas in a first orientation to minimize an amount of space occupied by the first set of 3D patches of geometry on the first canvas, and positioning the second set of 3D patches of the attribute on the second canvas in a second orientation to minimize the amount of space occupied by the second set of 3D patches of the attribute on the second canvas.
20. The system of claim 15 wherein the safeguard distance is at least one block.
21. The system of claim 15 wherein background filling of the first canvas and the second canvas is implemented using a push-pull algorithm.