Patent ID: 12225288

The detailed description explains embodiments of the invention, together with advantages and features, by way of example with reference to the drawings.

DETAILED DESCRIPTION

The present invention relates to a software tool for three-dimensional (3D) point clouds. One or more embodiments of the invention provide advantages in software for 3D images by providing a software camera view lock allowing editing of a drawing without any shift in the view. In one or more embodiments, a user can engage a lock software camera mode, which provides the user the ability to freeze a camera view so that the user can edit the drawing without any view changes. This software tool helps the user align the 3D image to an overlay image (which could be a video, still image, two-dimensional (2D) image) and build the drawing with one or more 3D models, such that the 3D model can be animated to capture one or more metrics that also correspond to an object in the overlay image.

Referring now toFIGS.1-3, a coordinate measurement device, such as a laser scanner20, is shown for optically scanning and measuring the environment surrounding the laser scanner20. 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 mirror26, 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 mirror26and 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 mirror26relatively 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 of 5820 revolutions 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 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 mirror 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 of 780 nm or 1150 nm), 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 a 3D 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 interface140may 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 systems20may also be connected to LAN with the controllers38in each of these systems20being configured to send and receive data to and from remote computers and other systems20. 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/O) 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. 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 a point cloud that is generated by a TOF scanner, this is for example purposes and the claims should not be so limited. In other embodiments, the point cloud may be generated or created using other types of scanners, such as but not limited to triangulation scanners, area scanners, structured-light scanners, laser line scanners, flying dot scanners, and photogrammetry devices for example.

Turning now toFIG.5, a computer system500is generally shown in accordance with one or more embodiments of the invention. The computer system500can be an electronic, computer framework comprising and/or employing any number and combination of computing devices and networks utilizing various communication technologies, as described herein. The computer system500can be easily scalable, extensible, and modular, with the ability to change to different services or reconfigure some features independently of others. The computer system500can be, for example, a server, desktop computer, laptop computer, tablet computer, or smartphone. In some examples, computer system500can be a cloud computing node. Computer system500can be described in the general context of computer system executable instructions, such as program modules, being executed by a computer system. Generally, program modules can include routines, programs, objects, components, logic, data structures, and so on that perform particular tasks or implement particular abstract data types. Computer system500can be practiced in distributed cloud computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules can be located in both local and remote computer system storage media including memory storage devices.

As shown inFIG.5, the computer system500has one or more central processing units (CPU(s))501a,501b,501c, etc., (collectively or generically referred to as processor(s)501). The processors501can be a single-core processor, multi-core processor, computing cluster, or any number of other configurations. The processors501, also referred to as processing circuits, are coupled via a system bus502to a system memory503and various other components. The system memory503can include a read only memory (ROM)504and a random access memory (RAM)505. The ROM504is coupled to the system bus502and can include a basic input/output system (BIOS) or its successors like Unified Extensible Firmware Interface (UEFI), which controls certain basic functions of the computer system500. The RAM is read-write memory coupled to the system bus502for use by the processors501. The system memory503provides temporary memory space for operations of said instructions during operation. The system memory503can include random access memory (RAM), read only memory, flash memory, or any other suitable memory systems.

The computer system500comprises an input/output (I/O) adapter506and a communications adapter507coupled to the system bus502. The I/O adapter506can be a small computer system interface (SCSI) adapter that communicates with a hard disk508and/or any other similar component. The I/O adapter506and the hard disk508are collectively referred to herein as a mass storage510.

Software511for execution on the computer system500can be stored in the mass storage510. The mass storage510is an example of a tangible storage medium readable by the processors501, where the software511is stored as instructions for execution by the processors501to cause the computer system500to operate, such as is described herein below with respect to the various Figures. Examples of computer program product and the execution of such instruction is discussed herein in more detail. The communications adapter507interconnects the system bus502with a network512, which can be an outside network, enabling the computer system500to communicate with other such systems. In one embodiment, a portion of the system memory503and the mass storage510collectively store an operating system, which can be any appropriate operating system to coordinate the functions of the various components shown inFIG.5.

Additional input/output devices are shown as connected to the system bus502via a display adapter515and an interface adapter516. In one embodiment, the adapters506,507,515, and516can be connected to one or more I/O buses that are connected to the system bus502via an intermediate bus bridge (not shown). A display519(e.g., a screen or a display monitor) is connected to the system bus502by the display adapter515, which can include a graphics controller to improve the performance of graphics intensive applications and a video controller. A keyboard521, a mouse522, a speaker523, etc., can be interconnected to the system bus502via the interface adapter516, which can include, for example, a Super I/O chip integrating multiple device adapters into a single integrated circuit. Suitable I/O buses 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) and the Peripheral Component Interconnect Express (PCIe). Thus, as configured inFIG.5, the computer system500includes processing capability in the form of the processors501, storage capability including the system memory503and the mass storage510, input means such as the keyboard521and the mouse522, and output capability including the speaker523and the display519.

In some embodiments, the communications adapter507can transmit data using any suitable interface or protocol, such as the internet small computer system interface, among others. The network512can be a cellular network, a radio network, a wide area network (WAN), a local area network (LAN), or the Internet, among others. An external computing device can connect to the computer system500through the network512. In some examples, an external computing device can be an external webserver or a cloud computing node.

It is to be understood that the block diagram ofFIG.5is not intended to indicate that the computer system500is to include all of the components shown inFIG.5. Rather, the computer system500can include any appropriate fewer or additional components not illustrated inFIG.5(e.g., additional memory components, embedded controllers, modules, additional network interfaces, etc.). Further, the embodiments described herein with respect to computer system500can be implemented with any appropriate logic, wherein the logic, as referred to herein, can include any suitable hardware (e.g., a processor, an embedded controller, or an application specific integrated circuit, among others), software (e.g., an application, among others), firmware, or any suitable combination of hardware, software, and firmware, in various embodiments.

FIG.6is a block diagram of a computer system602for software camera view lock allowing editing of the drawing without any shift in the view according to one or more embodiments. Elements of computer system500may be used in and/or integrated into computer system602. One or more software applications604, software camera manager650, and media software application606may be implemented as software511executed on one or more processors501, as discussed inFIG.5. Data620in memory608can include a 3D point cloud, also referred to as 3D point cloud data, point cloud, a 3D image, etc. The 3D point cloud includes 3D point cloud data points. Data620can be generated using laser scanner20as discussed inFIGS.1-4and/or another suitable three-dimensional coordinate scanning device. Software application604can be used with, integrated in, call, and/or be called by other software applications for processing 3D point cloud data as understood by one of ordinary skill in the art. In one or more embodiments, software application604can be employed by a user for processing and manipulating 3D point cloud data using a user interface such as, for example, a keyboard, mouse, touch screen, stylus, etc. Software application604can include and/or work with a graphical user interface (GUI), and features of the software application604can be initiated and selected by a user for editing, drawing, and animating 3D models in the 3D point cloud as discussed herein. As understood by one of ordinary skill in the art, software application604includes functionality for processing any 3D image including a 3D point cloud. In one or more embodiments, the software application604can include features of, be representative of, and/or be implemented in FARO® Zone 3D Software and/or FARO® Scene Software, all of which are provided by FARO® Technologies, Inc.

The media software application606is configured to display any type of media including still images, video images (i.e., moving frames), etc., which can be moved forward and backward in time, paused, skipped, etc., as desired by a user. The media software application606may include the features and video processing of typical media applications as understood by one of ordinary skill in the art. The media software application606is configured to play media626which may be a video, a still image, etc. The media software application606is configured with a transparent feature in which the user can select to increase and/or decrease the translucence of the media626being displayed. As understood by one of ordinary skill in the art, the translucence feature may cause the opacity of the media626to be selectively modified from 0-100% opacity, where 0% opacity is completely translucent while 100% opacity is not translucent. By decreasing the translucence, a background image can be seen through the media626. Additionally, the media software application606may have distortion in one or more objects or items in the media626based on the type of camera/video equipment used to capture media626, and the media software application606is configured to remove the distortion of the objects by, for example, straightening one or more objects that may have been curved by the lens of the camera/video equipment. In one or more embodiments, the media software application606can be integrated with, work in conjunction with, and/or be called on by the software application604. The media software application606is configured to directly integrate surveillance video into 3D point clouds and models. By calibrating and overlaying the video on top of point cloud software, a user can establish accurate measurements of objects, distances, and heights from the recorded video directly within any 3D modeling software. In one or more embodiments, the media software application606can include features of, be representative of, and/or be implemented in the Camera Match Overlay Tool by INPUT ACE. The media software application606may be representative of any suitable media software application capable of operating as discussed herein.

The software application604provides a lock camera view in software camera lock mode that gives the user the ability to fix or freeze a software camera view, so that the user can edit the drawing without the view changing. As used herein, to fix or freeze the camera view means to maintain the image displayed to the user in a particular pose (location with six-degrees of freedom) within the 3D model/3D-point cloud. In other words, in software camera lock mode, the user cannot scroll, zoom, or pan the displayed view. At any time, the user can select the escape key (e.g., twice) to break out of the locked camera view. In an example scenario using the software camera lock mode, there may be an overlay image which is also referred to as a semi-transparent image that the user wishes to align to the 3D point cloud. In the example embodiments, the overlay image is a two-dimensional (2D) image. The overlay image may be video footage from the same physical location. For example, the video footage having the overlay image can be of a vehicle collision captured by a physical camera positioned at the intersection or a dashboard camera in the real world. Once the 3D point cloud and the overlay image (which may be a frame) of the video footage are aligned, the camera view is locked using the software camera lock mode so that the user can edit the drawing without the view changing in the 3D point cloud. All camera views are saved and can be reselected from the camera manager including locked cameras. Once locked, the software camera stays in software camera lock mode until it is unlocked. The user can still proceed to two-dimensional (2D) mode when the software camera is in software camera lock mode. While the software camera is locked in the 3D mode, the user can zoom, pan, scroll, etc., in the 2D mode. As discussed in more detail herein the 2D mode may be a separate window (e.g., overlaid on one section of the computer screen). This provides a technical improvement in allowing the user to see the view from the camera lock mode (and the associated overlay image) while editing or manipulating the position in 3D space of other digital objects (e.g., a vehicle) in the 3D model/point-cloud.

FIGS.7A and7Btogether depict a flow chart of a computer-implemented method700for software camera view lock allowing editing of the drawing without any shift in the view according to one or more embodiments. Computer-implemented method700may include one or more algorithms executed by software application604and/or media software application606of computer system602. On occasions, reference may be made toFIGS.8and9. Processing by software application604is generally performed on a 3D image such as a 3D point cloud which can include millions of 3D data points.

At block702of the computer-implemented method700, software application604is configured to receive/retrieve a 3D model or image622representing a physical location having been scanned by a 3D scanner. In one example, the 3D image622may be 3D point cloud data that has been retrieved from data620. In one or more embodiments, the 3D image622may be a point cloud that has been processed or converted into another form, such as a meshed surface for example. At block704, software application604may include, be integrated with, and/or call the media software application606, where the software application604and/or media software application606are configured to receive/retrieve media626of the physical location which has been captured by a camera and/or video equipment.

At block706, software application604and/or media software application606can be utilized to overlay a semi-transparent image624of the media626on the 3D image622. The semi-transparent image624is the overlay image. The software application604is utilized to align points/edges on the semi-transparent image624with the same points/edges in the 3D image622(which may be a 3D point cloud). While the user is aligning fixed references in the 3D image to the same fixed references in the semi-transparent image624, the user may have to pan, scroll, zoom in, zoom out, move through, etc., the 3D image622. In this way, the view displayed to the user is substantially the same pose as the device that acquired the semi-transparent image624.FIG.8depicts a block diagram illustrating a graphical display of various drawing and editing processes using software application604and/or media software application606in unlock software camera mode. As seen in view802ofFIG.8, the 3D image622includes one or more objects832(i.e., references), and the semi-transparent image624includes one or more objects842(i.e., references). The semi-transparent image624is depicted with dashed lines for illustration purposes, but it should be understood that the semi-transparent image624could be, for example, video footage, a still image, etc., captured by video/camera equipment in the real world. The objects832and842are physical objects, such as a car, chair, or weapon for example, in the physical location (i.e., the real world), and the objects832and842are examples of the fixed references that have points/edges/surfaces (i.e., dimensions). At least one or more of the objects832in the 3D image622represent the same object(s) as the objects842in the semi-transparent image624. It should be appreciated that whileFIG.8illustrates the objects832,842as circles, this is for example/clarity purposes and the claims should not be so limited. In view802, the 3D image622is shown in a window820and the semi-transparent image624can be moved over the 3D image622until the objects842overlay the objects832as depicted in view804.

Now, that the at least one or more objects842in the semi-transparent image624have been overlaid or aligned to match and/or correspond respectively to one or more objects832in the 3D image622, software application604can be utilized to insert one or more 3D models834into the 3D image622, as depicted in view806. In this example scenario, the user wishes to align the 3D model834, such as a vehicle, created in the 3D image622with an object844of interest (e.g., a vehicle) in the semi-transparent image624. The 3D model834has the same or substantially the same shape and dimensions in the 3D image622as the object844of interest in the semi-transparent image624. With or without a software camera inserted, the user can position or manipulate the model834which causes the 3D image622to shift out of alignment with the semi-transparent image624, in unlock software camera mode. After manipulation of the model834, such as rotating the model834in 3D space to match the rotation of the object844of interest, view808illustrates that the 3D image622has shifted thereby causing the objects832in the 3D image622to no longer be aligned with the objects842in the 2D view of the semi-transparent image624, during unlock software camera mode. For example, during unlock software camera mode, the user is unable to select and modify 3D models, such as 3D model834, on the display screen and keep the 3D image622aligned to the semi-transparent image624because any attempt pulls the user out of the present view.

Referring toFIG.7A, at block708, software application604is utilized to insert a software camera922(depicted inFIG.9) having a predefined field-of-view in the 3D image622. For example, the user may select a button (e.g., depicted as button1102inFIG.11) in the graphical user interface of software application604to insert the software camera922, and the user can move the software camera922to a desired location in order to display the desired field-of-view in the 3D image622. The software camera922captures/displays on the display screen (e.g., display519) a predefined field-of-view in the 3D image622. The software camera922is a feature of software application604that allows the user to control the specific location and vantage point (e.g., pose) of the 3D image622that is displayed. In this case, the field-of-view for the software camera922displays a field-of-view of the 3D image622that coincides with the semi-transparent image624. In some cases, the software camera922can be moved until the field-of-view in the 3D image matches or aligns with the semi-transparent image624, at block710. Although the software camera922is being discussed now, it should be appreciated that the software camera922could have been inserted at any earlier stage. At block712, upon a selection of a button (e.g., button1104depicted inFIG.11) for lock software camera mode by the user, software application604is configured to lock the field-of-view of the software camera922in the 3D image622. At block714, upon a selection by the user, software application604is configured to insert one or more 3D models834in the 3D image622to match the location of one or more objects844of interest in the semi-transparent image624in lock software camera mode and/or modify one or more 3D models834in the 3D image622. As noted above, the 3D model834is of the same shape and dimension of the object844of interest in the semi-transparent image624. According to one or more embodiments, locking the software camera922using the lock software camera mode fixes or freezes the field-of-view being displayed of the 3D image622such that, for example, the same 3D points, pixels, etc., are displayed to the user on the display screen even when the user adds 3D models and moves the added 3D models. In other words, the user can move 3D models in 3D space in the 3D image622without having the 3D image shift during the moving process. The lock software camera mode disables the scroll, zoom, pan, etc., functionalities in the software application604. Moreover, navigation in the 3D image is disabled during the lock software camera mode, further preventing any accidental movement in the 3D space.

FIG.9depicts a block diagram illustrating a graphical display of various drawing and editing processes using software application604and/or media software application606in lock software camera mode. InFIG.9, discussion of views802and804are the same as inFIG.8and are not repeated for conciseness. InFIG.9, view902illustrates that the software camera922with its field-of-view inserted into the 3D image622, and the 3D model834of a vehicle has been inserted to match the object844of interest in the semi-transparent image624. In software camera lock mode, view904illustrates that the 3D model834has been manipulated/aligned, i.e., rotated, to match the object844of interest, while view906illustrates that the 3D model834is moved to the same location as object844of interest. In particular, the 3D model834appears to be positioned directly on top of the object844of interest in view906, such that they both are displayed or appear as a single model834/object844. It should be appreciated that since the view displayed to the user is a 2D representation of the 3D image, even though the 3D model834appears to be at the same location as object844in 2D space, they may not be aligned in 3D space.

Referring toFIG.7B, at block716, upon an optional selection by the user, software application604is configured to open a separate window920containing a 2D image924of the 3D image622and its 3D model834currently being displayed in the lock software camera mode, as seen in view908. In view908, the 2D image924in window920is a 2D view of the 3D image622currently displayed in window820. The windows820and920are displayed adjacent one another. The window920of the 2D image924is simultaneously displayed on the display screen (e.g., display519) with the window820of the 3D image622, such that changes to the model834in either window820,920are concurrently reflected in both windows. For ease of illustration and so as not to obscure the figure, a single window920having a single 2D image is shown. It should be appreciated that the software application604is configured to concurrently display numerous windows920each respectively having a different 2D image of a 2D view of the 3D image622with the 3D model834. For example, windows920respectively displaying a top view of a 2D image, a side view of a 2D image, a front view of the 2D image, back view of a 2D image, etc., can each simultaneously be displayed along with the field-of-view of the 3D image622in window820.

At block718, optionally, the software application604is configured for the user to repeatedly review and reposition the 3D models834in the 2D image924(i.e., 2D view) in window920and in 3D image622in window820, all of which is in the lock camera software mode. Changes to the 3D model834in the 3D image622are reflected and displayed in each of the windows920showing the various 2D views for the 2D images924. At block720, the software application604is configured to check whether there are any more 3D models to insert in the 3D image622. If (YES) there are more 3D models to insert, the flow proceeds to block714. If (NO) there are not any additional 3D models to insert in the 3D image622, the software application604is configured to unlock the software camera from the fixed field-of-view in the 3D image622using the unlock software camera mode, upon a selection by the user, at block722.

At block724, upon a selection by the user, the software application604is configured to animate one or more 3D models834in the 3D image622in the unlock software camera mode. Animation of the 3D model834causes the 3D model834to travel or traverse according to a predefined path set by the user, such that metrics can be captured regarding the traversal of the 3D model834. Example metrics or measurements may include speed, distance, acceleration, time to be at a certain point along the path given a speed and/or distance, etc.

At block726, in the event that further editing is needed, the software application604is configured to receive a subsequent selection for the lock software camera mode and return to displaying the previous field-of-view for the software camera922in the 3D image622. As noted above, the software application604is configured to allow the user to view the 3D image622from different perspectives including various 2D perspectives in 2D images and different perspectives in the 3D image622to help place and position the 3D model834. As seen in view910, the user can (always) return to the fixed camera view (i.e., the previous locked field-of-view of software camera922which can be saved in memory608) by using a software camera manager650, such that the user can pull up or redisplay the semi-transparent image624over the same fixed camera view of the 3D image622. The software camera manager650can be integrated with software application604and includes computer-executable instructions to manage the operation of numerous software cameras922, including the lock software camera mode and unlock software camera mode. For example, the software camera manager650is configured to store the fixed field-of-view of software camera922in locked software camera mode, as a fixed field-of-view file652in memory608. Although a single field-of-view file652is shown inFIG.1, it should be appreciated that there can be numerous field-of-view files652respectively for numerous software cameras922. After switching from a locked software camera mode to an unlocked software camera mode, and then back to the locked software camera mode for the same software camera922, the software camera manager650is configured to automatically return to (and display) the initial fixed field-of-view for the software camera922, by retrieving the saved fixed field-of-view file652for the software camera922. Regardless of the number of times the software camera922is unlocked and/or the number of edits to 3D models834, locking the software camera922returns it to the same fixed field-of-view in the 3D image622for display. In one or more embodiments, the fixed field-of-view file652includes the collection of 3D data points displayed in the field-of-view of the 3D image622. In one or more embodiments, the software camera manager650provides an option to create a new (second) fixed field-of-view file652and/or return the previously saved fixed field-of-view file652. In one or more embodiments, the software camera manager650provides an option to create multiple fixed field-of-view files652. It is noted that the semi-transparent image624does not move or shift during the editing, and the user can choose to display or not display the semi-transparent image624as desired.

FIG.10is a computer-implemented method1000for using the lock software camera mode and the unlock software camera mode to allow editing of the drawing in the 3D image without any shift in the view according to one or more embodiments of the invention. The computer-implemented method1000can be executed by software application604and/or media software application606on computer system602.

At block1002, software application604is configured to display a first image in a graphical user interface, the first image (e.g., 3D image622) being a three-dimensional (3D) image, wherein a second image (e.g., semi-transparent image624) overlays the first image, the second image being a semi-transparent image such that the first image is viewable through the second image. An example is depicted in views802,804inFIGS.8and9. At block1004, software application604is configured to insert a software camera922at a fixed location in the 3D image (e.g., 3D image622), wherein the software camera922provides a field-of-view displaying a portion of the 3D image, the field-of-view displaying at least one first reference (e.g., objects832) in the field-of-view, the second image displaying at least one second reference (e.g., objects842) that represents the at least one first reference, the second image comprising at least one object (e.g., object844of interest depicted inFIGS.8and9).

At block1006, software application604is configured to, in response to aligning the at least one second reference (e.g., objects842) to the at least one first reference (e.g., objects832), lock the software camera922in the field-of-view using a lock software camera mode. At block1008, software application604is configured to insert a model in the first image (e.g., 3D model834in 3D image622) to match a location of the at least one object in the second image (e.g., object844of interest in the semi-transparent image624), wherein locking the software camera922in the field-of-view causes the field-of-view of the first image (e.g., 3D image622) to be maintained in place as the model (e.g., 3D model834) is being moved in the first image to match the location of the at least one object (e.g., object844of interest) in the second image.

At block1010, software application604is configured to unlock the software camera922from the field-of-view in the first image using an unlock software camera mode. At block1012, software application604is configured to traverse (or animate) the model (e.g., 3D model834) in the first image (e.g., 3D image622) to capture one or more metrics, the one or more metrics characterizing a traversal of the model through the 3D image, the one or metrics corresponding to the at least one object (e.g., object844of interest).

In one or more embodiments, locking the software camera922in the field-of-view using the lock software camera mode allows a user to edit the first image (e.g., 3D image622) without the field-of-view moving. Locking the software camera922in the field-of-view using the lock software camera mode prevents any other portion (e.g., other 3D points in the 3D point cloud) of the 3D image622from being displayed except the portion (e.g., 3D points) in the field-of-view. Locking the software camera922in the field-of-view using the lock software camera mode disables one or more functions in the graphical user interface. The one or more functions that are disabled comprise a scroll function, a zoom in function, a zoon out function, a pan function, and an animate function in the 3D image622.

In one or more embodiments, the 3D image622is a 3D point cloud, the 3D point cloud comprising a plurality of 3D data points; and locking the software camera922in the field-of-view using the lock software camera mode both captures and freezes predetermined 3D data points of the plurality of 3D data points visible in the field-of-view of the software camera922, such that no other 3D data points of the plurality of 3D data points in the 3D image622can be made visible or moved to during the lock software camera mode.

The software application604is configured to display one or more two-dimensional (2D) images (e.g., 2D image924) of the field-of-view concurrently being displayed in the 3D image622during the lock software camera mode, such that any positioning of the model (e.g., 3D model) in the 3D image622is simultaneously viewable in the 2D image924, wherein any functions disabled in the 3D image622are unlocked or functioning in the 2D image924. The unlock software camera mode is configured to permit one or more functions in the graphical user interface to change the field-of-view of the 3D image622, to move through the 3D image6222, and to allow the field-of-view to shift as one or more models (e.g., 3D model834) are being positioned by the user in the 3D image622.

A selection by the user is permitted in the software application604for switching back and forth between the lock software camera mode and the unlock software camera mode. In response to the user selecting the lock software camera mode (e.g., in software application604) to lock the software camera in the field-of-view and in response to subsequently selecting the unlock software camera mode to modify the field-of-view, another (e.g., subsequent) selection of the lock software camera mode causes a return (by software application604) to the field-of-view previously selected for the software camera922regardless of any previous changes made to the view during the unlock software camera mode, thereby returning the first image (e.g., 3D image622) to an alignment of the at least one second reference (e.g., objects842in semi-transparent image624) to the at least one first reference (e.g., objects832).

While the invention has been described in detail in connection with only a limited number of embodiments, it should be readily understood that the invention is not limited to such disclosed embodiments. Rather, the invention can be modified to incorporate any number of variations, alterations, substitutions or equivalent arrangements not heretofore described, but which are commensurate with the spirit and scope of the invention. Additionally, while various embodiments of the invention have been described, it is to be understood that aspects of the invention may include only some of the described embodiments. Accordingly, the invention is not to be seen as limited by the foregoing description, but is only limited by the scope of the appended claims.