GAP FILLING FOR THREE-DIMENSIONAL DATA VISUALIZATION

Examples described herein provide a method that includes receiving three-dimensional (3D) data associated with an environment. The method further includes generating a graphical representation based at least in part on at least one of the 3D data. The method further includes filling in a gap in the graphical representation using downsampled frame buffer objects.

BACKGROUND

Embodiments described herein relate to a system and method for optically scanning and measuring an environment, and in particular, to a system and method for generating a display image from a point cloud.

Metrology devices, such as laser scanners for example, may generate large volumes of coordinate data of points located on the surfaces of the scanned area. These types of devices may be used to generate three-dimensional models of an area, such as a home or building, a crime scene, or an archeological site for example. Often with these types of scans, the data may be acquired from multiple positions to capture all of the desired surfaces and avoid having blank areas where a surface was in the “shadow” of another object. As a result in several data-sets of coordinate data are generated that are registered together to define a single data-set, sometimes colloquially referred to as a “point cloud” since the data is represented as a group of points in space without surfaces.

It should be appreciated that from a graphical display of a point cloud, it may be difficult to visualize the surfaces of the scanned area. This is due to the close proximity of points (from any user point of view) within the point cloud that may lie on different planes. For example, if the user point of view of the point cloud is looking down on a table, there will be points within the field of view from the table surface, along with the floor that is underneath the table surface or even the surface on the underside of the table.

Where the point cloud is relatively dense, meaning that the points on a surface are dense, the generation of surfaces in the displayed image for visualizing the scanned area may be created, albeit computationally intensive. However, in some applications, the point cloud may have a lower density of points resulting in gaps in the data set between the points of the point cloud. As a result, it may be difficult to generate a desired displayed image.

Accordingly, while existing metrology devices and point cloud display systems are suitable for their intended purposes the need for improvement remains, particularly in providing a system for filling in pixels on a graphical display to generate a displayed image of a point cloud.

BRIEF DESCRIPTION

In one exemplary embodiment, a method is provided. The method includes receiving three-dimensional (3D) data associated with an environment. The method further includes generating a graphical representation based at least in part on at least one of the 3D data. The method further includes filling in a gap in the graphical representation using downsampled frame buffer objects.

In addition to one or more of the features described herein, or as an alternative, further embodiments of the method may include computing the downsampled frame buffer objects.

In addition to one or more of the features described herein, or as an alternative, further embodiments of the method may include that the downsampled frame buffer objects comprise an original image, a 2×2 image, a 4×4 image, an 8×8 image, and a 16×16 image.

In addition to one or more of the features described herein, or as an alternative, further embodiments of the method may include determining whether a pixel is gap-fillable.

In addition to one or more of the features described herein, or as an alternative, further embodiments of the method may include that determining whether the pixel is gap-fillable is based at least in part on a depth bias.

In addition to one or more of the features described herein, or as an alternative, further embodiments of the method may include that the depth bias is based at least in part on a frustrum height and a vertical screen resolution.

In addition to one or more of the features described herein, or as an alternative, further embodiments of the method may include that determining whether the pixel is gap-fillable is based at least in part on pixels in proximity to the pixel.

In addition to one or more of the features described herein, or as an alternative, further embodiments of the method may include that filling in the gap in the graphical representation comprises blending neighboring colors and depths relative to a pixel.

According to an embodiment, a system is provide. The system includes a memory comprising computer readable instructions and a processing device for executing the computer readable instructions, the computer readable instructions controlling the processing device to perform operations. The operations include receiving three-dimensional (3D) data associated with an environment. The operations further include generating a graphical representation based at least in part on at least one of the 3D data. The operations further include filling in a gap in the graphical representation using downsampled frame buffer objects.

In addition to one or more of the features described herein, or as an alternative, further embodiments of the system may include that the operations further include computing the downsampled frame buffer objects.

In addition to one or more of the features described herein, or as an alternative, further embodiments of the system may include that the downsampled frame buffer objects comprise an original image, a 2×2 image, a 4×4 image, an 8×8 image, and a 16×16 image.

In addition to one or more of the features described herein, or as an alternative, further embodiments of the system may include that the operations further include determining whether a pixel is gap-fillable.

In addition to one or more of the features described herein, or as an alternative, further embodiments of the system may include that determining whether the pixel is gap-fillable is based at least in part on a depth bias.

In addition to one or more of the features described herein, or as an alternative, further embodiments of the system may include that the depth bias is based at least in part on a frustrum height and a vertical screen resolution.

In addition to one or more of the features described herein, or as an alternative, further embodiments of the system may include that determining whether the pixel is gap-fillable is based at least in part on pixels in proximity to the pixel.

In addition to one or more of the features described herein, or as an alternative, further embodiments of the system may include that filling in the gap in the graphical representation comprises blending neighboring colors and depths relative to a pixel.

Other embodiments described herein implement features of the above-described method in computer systems and computer program products.

DETAILED DESCRIPTION

One or more embodiments described herein relate to gap filling for 3D data visualization.

Referring now toFIGS.1-3, a 3D coordinate measurement device, such as a laser scanner20, is shown for optically scanning and measuring the environment surrounding the laser scanner20according to one or more embodiments described herein. The laser scanner20has a measuring head22and a base24. The measuring head22is mounted on the base24such that the laser scanner20may be rotated about a vertical axis23. In one embodiment, the measuring head22includes a gimbal point27that is a center of rotation about the vertical axis23and a horizontal axis25. The measuring head22has a rotary minor26, which may be rotated about the horizontal axis25. The rotation about the vertical axis may be about the center of the base24. The terms vertical axis and horizontal axis refer to the scanner in its normal upright position. It is possible to operate a 3D coordinate measurement device on its side or upside down, and so to avoid confusion, the terms azimuth axis and zenith axis may be substituted for the terms vertical axis and horizontal axis, respectively. The term pan axis or standing axis may also be used as an alternative to vertical axis.

The measuring head22is further provided with an electromagnetic radiation emitter, such as light emitter28, for example, that emits an emitted light beam30. In one embodiment, the emitted light beam30is a coherent light beam such as a laser beam. The laser beam may have a wavelength range of approximately 300 to 1600 nanometers, for example 790 nanometers, 905 nanometers, 1550 nm, or less than 400 nanometers. It should be appreciated that other electromagnetic radiation beams having greater or smaller wavelengths may also be used. The emitted light beam30is amplitude or intensity modulated, for example, with a sinusoidal waveform or with a rectangular waveform. The emitted light beam30is emitted by the light emitter28onto a beam steering unit, such as mirror26, where it is deflected to the environment. A reflected light beam32is reflected from the environment by an object34. The reflected or scattered light is intercepted by the rotary mirror26and directed into a light receiver36. The directions of the emitted light beam30and the reflected light beam32result from the angular positions of the rotary minor26and the measuring head22about the axes25and23, respectively. These angular positions in turn depend on the corresponding rotary drives or motors.

Coupled to the light emitter28and the light receiver36is a controller38. The controller38determines, for a multitude of measuring points X, a corresponding number of distances d between the laser scanner20and the points X on object34. The distance to a particular point X is determined based at least in part on the speed of light in air through which electromagnetic radiation propagates from the device to the object point X. In one embodiment the phase shift of modulation in light emitted by the laser scanner20and the point X is determined and evaluated to obtain a measured distance d.

The speed of light in air depends on the properties of the air such as the air temperature, barometric pressure, relative humidity, and concentration of carbon dioxide. Such air properties influence the index of refraction n of the air. The speed of light in air is equal to the speed of light in vacuum c divided by the index of refraction. In other words, cair=c/n. A laser scanner of the type discussed herein is based on the time-of-flight (TOF) of the light in the air (the round-trip time for the light to travel from the device to the object and back to the device). Examples of TOF scanners include scanners that measure round trip time using the time interval between emitted and returning pulses (pulsed TOF scanners), scanners that modulate light sinusoidally and measure phase shift of the returning light (phase-based scanners), as well as many other types. A method of measuring distance based on the time-of-flight of light depends on the speed of light in air and is therefore easily distinguished from methods of measuring distance based on triangulation. Triangulation-based methods involve projecting light from a light source along a particular direction and then intercepting the light on a camera pixel along a particular direction. By knowing the distance between the camera and the projector and by matching a projected angle with a received angle, the method of triangulation enables the distance to the object to be determined based on one known length and two known angles of a triangle. The method of triangulation, therefore, does not directly depend on the speed of light in air.

In one mode of operation, the scanning of the volume around the laser scanner20takes place by rotating the rotary minor26relatively quickly about axis25while rotating the measuring head22relatively slowly about axis23, thereby moving the assembly in a spiral pattern. In an exemplary embodiment, the rotary mirror rotates at a maximum speed of5820revolutions per minute. For such a scan, the gimbal point27defines the origin of the local stationary reference system. The base24rests in this local stationary reference system.

In addition to measuring a distance d from the gimbal point27to an object point X, the laser scanner20may also collect gray-scale information related to the received optical power (equivalent to the term “brightness.”) The gray-scale value may be determined at least in part, for example, by integration of the bandpass-filtered and amplified signal in the light receiver36over a measuring period attributed to the object point X.

The measuring head22may include a display device40integrated into the laser scanner20. The display device40may include a graphical touch screen41, as shown inFIG.1, which allows the operator to set the parameters or initiate the operation of the laser scanner20. For example, the screen41may have a user interface that allows the operator to provide measurement instructions to the device, and the screen may also display measurement results.

The laser scanner20includes a carrying structure42that provides a frame for the measuring head22and a platform for attaching the components of the laser scanner20. In one embodiment, the carrying structure42is made from a metal such as aluminum. The carrying structure42includes a traverse member44having a pair of walls46,48on opposing ends. The walls46,48are parallel to each other and extend in a direction opposite the base24. Shells50,52are coupled to the walls46,48and cover the components of the laser scanner20. In the exemplary embodiment, the shells50,52are made from a plastic material, such as polycarbonate or polyethylene for example. The shells50,52cooperate with the walls46,48to form a housing for the laser scanner20.

On an end of the shells50,52opposite the walls46,48a pair of yokes54,56are arranged to partially cover the respective shells50,52. In the exemplary embodiment, the yokes54,56are made from a suitably durable material, such as aluminum for example, that assists in protecting the shells50,52during transport and operation. The yokes54,56each includes a first arm portion58that is coupled, such as with a fastener for example, to the traverse44adjacent the base24. The arm portion58for each yoke54,56extends from the traverse44obliquely to an outer corner of the respective shell50,52. From the outer corner of the shell, the yokes54,56extend along the side edge of the shell to an opposite outer corner of the shell. Each yoke54,56further includes a second arm portion that extends obliquely to the walls46,48. It should be appreciated that the yokes54,56may be coupled to the traverse42, the walls46,48and the shells50,54at multiple locations.

The pair of yokes54,56cooperate to circumscribe a convex space within which the two shells50,52are arranged. In the exemplary embodiment, the yokes54,56cooperate to cover all of the outer edges of the shells50,54, while the top and bottom arm portions project over at least a portion of the top and bottom edges of the shells50,52. This provides advantages in protecting the shells50,52and the measuring head22from damage during transportation and operation. In other embodiments, the yokes54,56may include additional features, such as handles to facilitate the carrying of the laser scanner20or attachment points for accessories for example.

On top of the traverse44, a prism60is provided. The prism extends parallel to the walls46,48. In the exemplary embodiment, the prism60is integrally formed as part of the carrying structure42. In other embodiments, the prism60is a separate component that is coupled to the traverse44. When the mirror26rotates, during each rotation the mirror26directs the emitted light beam30onto the traverse44and the prism60. Due to non-linearities in the electronic components, for example in the light receiver36, the measured distances d may depend on signal strength, which may be measured in optical power entering the scanner or optical power entering optical detectors within the light receiver36, for example. In an embodiment, a distance correction is stored in the scanner as a function (possibly a nonlinear function) of distance to a measured point and optical power (generally unscaled quantity of light power sometimes referred to as “brightness”) returned from the measured point and sent to an optical detector in the light receiver36. Since the prism60is at a known distance from the gimbal point27, the measured optical power level of light reflected by the prism60may be used to correct distance measurements for other measured points, thereby allowing for compensation to correct for the effects of environmental variables such as temperature. In the exemplary embodiment, the resulting correction of distance is performed by the controller38.

In an embodiment, the base24is coupled to a swivel assembly (not shown) such as that described in commonly owned U.S. Pat. No. 8,705,012 ('012), which is incorporated by reference herein. The swivel assembly is housed within the carrying structure42and includes a motor138that is configured to rotate the measuring head22about the axis23. In an embodiment, the angular/rotational position of the measuring head22about the axis23is measured by angular encoder134.

An auxiliary image acquisition device66may be a device that captures and measures a parameter associated with the scanned area or the scanned object and provides a signal representing the measured quantities over an image acquisition area. The auxiliary image acquisition device66may be, but is not limited to, a pyrometer, a thermal imager, an ionizing radiation detector, or a millimeter-wave detector. In an embodiment, the auxiliary image acquisition device66is a color camera.

In an embodiment, a central color camera (first image acquisition device)112is located internally to the scanner and may have the same optical axis as the 3D scanner device. In this embodiment, the first image acquisition device112is integrated into the measuring head22and arranged to acquire images along the same optical pathway as emitted light beam30and reflected light beam32. In this embodiment, the light from the light emitter28reflects off a fixed mirror116and travels to dichroic beam-splitter118that reflects the light117from the light emitter28onto the rotary mirror26. In an embodiment, the mirror26is rotated by a motor136and the angular/rotational position of the minor is measured by angular encoder134. The dichroic beam-splitter118allows light to pass through at wavelengths different than the wavelength of light117. For example, the light emitter28may be a near infrared laser light (for example, light at wavelengths of780nm or1250nm), with the dichroic beam-splitter118configured to reflect the infrared laser light while allowing visible light (e.g., wavelengths of 400 to 700 nm) to transmit through. In other embodiments, the determination of whether the light passes through the beam-splitter118or is reflected depends on the polarization of the light. The digital camera112obtains 2D images of the scanned area to capture color data to add to the scanned image. In the case of a built-in color camera having an optical axis coincident with that of the 3D scanning device, the direction of the camera view may be easily obtained by simply adjusting the steering mechanisms of the scanner—for example, by adjusting the azimuth angle about the axis23and by steering the mirror26about the axis25.

Referring now toFIG.4with continuing reference toFIGS.1-3, elements are shown of the laser scanner20. Controller38is a suitable electronic device capable of accepting data and instructions, executing the instructions to process the data, and presenting the results. The controller38includes one or more processing elements122. The processors may be microprocessors, field programmable gate arrays (FPGAs), digital signal processors (DSPs), and generally any device capable of performing computing functions. The one or more processors122have access to memory124for storing information.

Controller38is capable of converting the analog voltage or current level provided by light receiver36into a digital signal to determine a distance from the laser scanner20to an object in the environment. Controller38uses the digital signals that act as input to various processes for controlling the laser scanner20. The digital signals represent one or more laser scanner20data including but not limited to distance to an object, images of the environment, images acquired by panoramic camera126, angular/rotational measurements by a first or azimuth encoder132, and angular/rotational measurements by a second axis or zenith encoder134.

In general, controller38accepts data from encoders132,134, light receiver36, light source28, and panoramic camera126and is given certain instructions for the purpose of generating a3D point cloud of a scanned environment. Controller38provides operating signals to the light source28, light receiver36, panoramic camera126, zenith motor136and azimuth motor138. The controller38compares the operational parameters to predetermined variances and if the predetermined variance is exceeded, generates a signal that alerts an operator to a condition. The data received by the controller38may be displayed on a user interface40coupled to controller38. The user interface40may be one or more LEDs (light-emitting diodes)82, an LCD (liquid-crystal diode) display, a CRT (cathode ray tube) display, a touch-screen display or the like. A keypad may also be coupled to the user interface for providing data input to controller38. In one embodiment, the user interface is arranged or executed on a mobile computing device that is coupled for communication, such as via a wired or wireless communications medium (e.g. Ethernet, serial, USB, Bluetooth™ or WiFi) for example, to the laser scanner20.

The controller38may also be coupled to external computer networks such as a local area network (LAN) and the Internet. A LAN interconnects one or more remote computers, which are configured to communicate with controller38using a well- known computer communications protocol such as TCP/IP (Transmission Control Protocol/Internet({circumflex over ( )} ) Protocol), RS-232, ModBus, and the like. Additional laser scanners20may also be connected to LAN with the controllers38in each of these laser scanners20being configured to send and receive data to and from remote computers and other laser scanners20. The LAN may be connected to the Internet. This connection allows controller38to communicate with one or more remote computers connected to the Internet.

The processors122are coupled to memory124. The memory124may include random access memory (RAM) device140, a non-volatile memory (NVM) device142, and a read-only memory (ROM) device144. In addition, the processors122may be connected to one or more input/output (I/0) controllers146and a communications circuit148. In an embodiment, the communications circuit92provides an interface that allows wireless or wired communication with one or more external devices or networks, such as the LAN discussed above.

Controller38includes operation control methods embodied in application code (e.g., program instructions executable by a processor to cause the processor to perform operations). These methods are embodied in computer instructions written to be executed by processors122, typically in the form of software. The software can be encoded in any language, including, but not limited to, assembly language, VHDL (Verilog Hardware Description Language), VHSIC HDL (Very High Speed IC Hardware Description Language), Fortran (formula translation), C, C++, C#, Objective-C, Visual C++, Java, ALGOL (algorithmic language), BASIC (beginners all-purpose symbolic instruction code), visual BASIC, ActiveX, HTML (HyperText Markup Language), Python, Ruby and any combination or derivative of at least one of the foregoing.

It should be appreciated that while embodiments herein describe the 3D coordinate measurement device as being a laser scanner, this is for example purposes and the claims should not be so limited. In other embodiments, the 3D coordinate measurement device may be another type of system that measures a plurality of points on surfaces (i.e., generates a point cloud), such as but not limited to a triangulation scanner, a structured light scanner, or a photogrammetry device for example.

Referring now toFIG.5, a schematic illustration of a processing system500for gap filling for 3D data visualization is shown according to one or more embodiments described herein. As described herein, gap filling refers to filling in pixels on a graphical display to generate a displayed representation of a point cloud. The processing system500includes a processing device502(e.g., one or more of the processing devices921ofFIG.9), a system memory504(e.g., the RAM924and/or the ROM1022ofFIG.9), a network adapter506(e.g., the network adapter925ofFIG.9), a data store508, a display510, a graphical representation generation engine512, and a gap filling engine514. The processing system500can be any suitable processing system, such as a smartphone, tablet computer, laptop or notebook computer, node(s) of a cloud computing system, etc.

The various components, modules, engines, etc. described regardingFIG.5(e.g., the graphical representation generation engine512and the gap filling engine514) can be implemented as instructions stored on a computer-readable storage medium, as hardware modules, as special-purpose hardware (e.g., application specific hardware, application specific integrated circuits (ASICs), application specific special processors (ASSPs), field programmable gate arrays (FPGAs), as embedded controllers, hardwired circuitry, etc.), or as some combination or combinations of these. According to aspects of the present disclosure, the engine(s) described herein can be a combination of hardware and programming. The programming can be processor executable instructions stored on a tangible memory, and the hardware can include the processing device502for executing those instructions. Thus, the system memory504can store program instructions that when executed by the processing device502implement the engines described herein. Other engines can also be utilized to include other features and functionality described in other examples herein.

The network adapter506enables the processing system500to transmit data to and/or receive data from other sources, such as the scanner520. For example, the processing system500receives data (e.g., a data set that includes a plurality of three-dimensional coordinates of an environment522) from the scanner520directly and/or via a network507. The data from the scanner520can be stored in the data store508of the processing system500as3D data509, which can be used to display a point cloud or other graphical representation on the display510. The scanner520can be the same or similar to the scanner20ofFIGS.1-4according to one or more embodiments described herein.

The scanner520(e.g., a laser scanner) can be arranged on, in, and/or around the environment522to scan the environment522. It should be appreciated that while embodiments herein refer to a3D coordinate measurement device as a laser scanner (e.g., the scanner520), this is for example purposes and the claims should not be so limited. In other embodiments, other types of optical measurement devices may be used, such as but not limited to triangulation scanners and structured light scanners for example.

According to one or more embodiments described herein, the scanner520can include a scanner processing system including a scanner controller, a housing, and a three-dimensional (3D) scanner. The 3D scanner can be disposed within the housing and operably coupled to the scanner processing system. The3D scanner includes a light source, a beam steering unit, a first angle measuring device, a second angle measuring device, and a light receiver. The beam steering unit cooperates with the light source and the light receiver to define a scan area. The light source and the light receiver are configured to cooperate with the scanner processing system to determine a first distance to a first object point based at least in part on a transmitting of a light by the light source and a receiving of a reflected light by the light receiver. The 3D scanner is further configured to cooperate with the scanner processing system to determine 3D coordinates of the first object point based at least in part on the first distance, a first angle of rotation, and a second angle of rotation.

The scanner520performs at least one scan to generate a data set (e.g., the 3D data509) that includes a plurality of three-dimensional coordinates of the environment522. It should be appreciated that other numbers of scanners (e.g., one scanner, three scanners, four scanners, six scanners, eight scanners, etc.) can be used. According to one or more embodiments described herein, one or more scanners can be used to take multiple scans. For example, the scanner520can capture first scan data of the environment522at a first location and then be moved to a second location, where the scanner520captures second scan data of the environment522.

Using the data received from the scanner520, the processing system500can generate a graphical representation based on the 3D data509using one or more of the gap filling engine514and the graphical representation generation engine512. For example, the gap filling engine514performs fills gaps within the3D data509as described herein. The graphical representation generation engine512generates a graphical representation of the 3D data509for display on the display510and/or on display of another device/system. For example, in an embodiment where the processing system500is a node of a cloud computing system, the graphical representation generation engine512can generate a graphical representation to be displayed on a user computing device530(e.g., such as a smartphone, tablet computer, laptop or notebook computer, a wearable device such as a head-up display or smartwatch, and/or the like, including combinations and/or multiples thereof).

Turning now toFIG.6, a flow diagram of a method600for gap filling for three-dimensional data visualization according to one or more embodiments described herein. The method600can be performed by any suitable system or device, such as the processing system500ofFIG.5and/or the processing system900ofFIG.9.

At block602, a processing system (e.g., the processing system500) receives 3D data (e.g.,3D data509) associated with an environment (e.g., the environment622). The 3D data509can be captured by any suitable3D coordinate measurement device, such as the scanner20ofFIGS.1-4, the scanner520ofFIG.5, and/or the like, including combinations and/or multiples thereof. According to an embodiment, the 3D data509includes one or more point clouds, which are collections of points having 3D coordinates (e.g., “x,y,z”) associated with the environment.

At block604, the processing system (e.g., using the graphical representation generation engine512) generates a graphical representation of the3D data (e.g., the 3D data509). For example, the graphical representation can be a graphical representation of a point cloud that is generated using the 3D data. The graphical representation can be referred to as a “virtual camera” or “camera” which represents a view a “camera” would capture if placed in the environment.

At block606, the processing system (e.g., using the gap filling engine514) fills in gaps in the graphical representation. A method for gap filling is illustrated inFIG.7and is further described herein.

It should be understood that the process depicted inFIG.6represents an illustration, and that other processes may be added or existing processes may be removed, modified, or rearranged without departing from the scope of the present disclosure.

FIG.7depicts a flow diagram of a method700for gap filling for three-dimensional data visualization according to one or more embodiments described herein. The method700can be performed by any suitable system or device, such as the processing system500ofFIG.5and/or the processing system900ofFIG.9.

At block702, the gap filling engine514computes downsampled frame buffer objects (FBOs). For example, as shown inFIG.8A, the gap filling engine514can compute four downsampled FBOs from an original representation801: 2×2 representation802, 4×4 representation803,8x8representation804, 16×16 representation805. In each pixel of the downsamped FBO representations, the following information is stored: the depth that is closest to the virtual camera (e.g., a center of a field of view of the graphical representation) and the color that is closest to the virtual camera.

At block704, the gap filling engine514reads depth information from the 16×16 representation805. At decision block706, it is determined whether the depth information from the 16×16 representation805is empty. If so (“yes” at decision block706), the method700proceeds to block708where the current pixel is copied over at block708. If not, (“no” at decision block706), the method700proceeds to decision block710, where it is determined whether the depth information from the lx1representation (e.g., the original representation801) is equal to the depth information from the 16×16 representation805. If not, (“yes” at decision block710), the method700proceeds to block712where the current pixel is finished being copied at block708. If not, (“no” at decision block710), the method700proceeds to decision block714, where the gap filling engine514determines a depth level. For example, depth of the pixel is read both in 1×1 resolution representation (e.g., representation801) and in 16×16 resolution representation (e.g., representation805). The 16×16 depth is used to classify the pixels into groups. For example, the pixels can be classified into four groups (see, e.g.,FIG.8B): red (farthest), yellow (medium), green, and cyan (closest to the camera). For each group, a specific neighborhood of the pixel is looked up at black716. The neighborhood includes other pixels in proximity to (e.g., within a threshold distance, adjacent to, and/or the like, including combinations and/or multiples thereof) of a particular pixel. The neighborhood is used to determine, at decision block718, whether the current pixel is gap-fillable. If the neighborhood forms a bridge that «jumps» the current pixel (“yes” at decision block718), the current pixel can be filled. The method700proceeds to block720where is determined which pixels contribute to blending. At block722, the gap filling engine514blends color and depth for the pixel. Otherwise (“no” at decision block718), the current pixel is finished being copied, at block724, to the output color and depth textures.

It should be understood that the process depicted inFIG.7represents an illustration, and that other processes may be added or existing processes may be removed, modified, or rearranged without departing from the scope of the present disclosure.

It is understood that one or more embodiments described herein is capable of being implemented in conjunction with any other type of computing environment now known or later developed. For example,FIG.9depicts a block diagram of a processing system900for implementing the techniques described herein. In accordance with one or more embodiments described herein, the processing system900is an example of a cloud computing node of a cloud computing environment. In examples, processing system900has one or more central processing units (“processors” or “processing resources” or “processing devices”)921a,921b,921c, etc. (collectively or generically referred to as processor(s)921and/or as processing device(s)). In aspects of the present disclosure, each processor921can include a reduced instruction set computer (RISC) microprocessor. Processors921are coupled to system memory (e.g., random access memory (RAM)924) and various other components via a system bus933. Read only memory (ROM)922is coupled to system bus933and may include a basic input/output system (BIOS), which controls certain basic functions of processing system900.

Further depicted are an input/output (I/0) adapter927and a network adapter926coupled to system bus933. I/0adapter927may be a small computer system interface (SCSI) adapter that communicates with a hard disk923and/or a storage device925or any other similar component. I/0adapter927, hard disk923, and storage device925are collectively referred to herein as mass storage934. Operating system940for execution on processing system900may be stored in mass storage934. The network adapter926interconnects system bus933with an outside network936enabling processing system900to communicate with other such systems.

A display (e.g., a display monitor)935is connected to system bus933by display adapter932, which may include a graphics adapter to improve the performance of graphics intensive applications and a video controller. In one aspect of the present disclosure, adapters926,927, and/or932may be connected to one or more I/0busses that are connected to system bus933via an intermediate bus bridge (not shown). Suitable I/0buses for connecting peripheral devices such as hard disk controllers, network adapters, and graphics adapters typically include common protocols, such as the Peripheral Component Interconnect (PCI). Additional input/output devices are shown as connected to system bus933via user interface adapter928and display adapter932. A keyboard929, mouse930, and speaker931may be interconnected to system bus933via user interface adapter928, which may include, for example, a Super I/0chip integrating multiple device adapters into a single integrated circuit.

In some aspects of the present disclosure, processing system900includes a graphics processing unit937. Graphics processing unit937is a specialized electronic circuit designed to manipulate and alter memory to accelerate the creation of images in a frame buffer intended for output to a display. In general, graphics processing unit937is very efficient at manipulating computer graphics and image processing, and has a highly parallel structure that makes it more effective than general-purpose CPUs for algorithms where processing of large blocks of data is done in parallel.

Thus, as configured herein, processing system900includes processing capability in the form of processors921, storage capability including system memory (e.g., RAM924), and mass storage934, input means such as keyboard929and mouse930, and output capability including speaker931and display935. In some aspects of the present disclosure, a portion of system memory (e.g., RAM924) and mass storage934collectively store the operating system940to coordinate the functions of the various components shown in processing system900.

It will be appreciated that one or more embodiments described herein may be embodied as a system, method, or computer program product and may take the form of a hardware embodiment, a software embodiment (including firmware, resident software, micro-code, etc.), or a combination thereof. Furthermore, one or more embodiments described herein may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon.