Patent ID: 9596452
Date: 2017-03-14
CPC Classifications: G02B,G03B,H04N

Claim:
1. A method comprising: at a first time, obtaining a first image with a camera with a first lens assembly attached to an interchangeable lens mount on the camera where the first lens assembly includes a single aperture controllable to open and close in size, and said first image includes information for a two-dimensional image; removing the first lens assembly from the interchangeable lens mount; attaching a different second lens assembly to the interchangeable lens mount; at a plurality of subsequent times, obtaining a plurality of subsequent images with said camera using the different second lens assembly attached to the camera, where the second lens assembly includes an aperture set that is coded such that the plurality of subsequent images includes a plurality of at least two separate image sets which are differentiable from one another; producing a plurality of outputs that include information indicative of three-dimensional, defocused information; measuring distances between corresponding defocused points in the plurality of at least two separate image sets to determine three-dimensional information about the defocused points; cross-correlating the plurality of at least two separate image sets to determine corresponding keypoints in the plurality of at least two separate image sets; and determining a transformation using the corresponding keypoints, the transformation being indicative of a pose of the camera.