Using linear functions to calculate depth information for scenes illuminated with structured light

摘要

Technologies are described herein for using linear functions to calculate depth information for scenes illuminated with structured light. Instead of performing matrix operations to determine depth information for each dot of light projected onto a scene, the depth information associated with each projected dot is calculated of light using a linear function.

主权项

1. A method to determine depth information for a scene, comprising:
projecting, from a projector, a structured light pattern onto the scene, wherein the structured light pattern projected onto the scene includes dots of light arranged in a grid pattern; capturing, with a camera, an image of the scene that includes a representation of the structured light pattern; accessing calibration data, the calibration data including a first linear function that determines points on a first line that includes a first calibration dot within the a first calibration image and a corresponding first calibration dot within a second calibration image and a second linear function that determines points on a second line that includes a second calibration dot within the first calibration image and a corresponding second calibration dot within the second calibration image; identifying a representation of a first projected dot within the image of the scene, the first projected dot corresponding to the first calibration dot and to the corresponding first calibration dot; calculating first depth data for the first projected dot using the first linear function, the first depth data indicating a first distance of the first projected dot from the projector; identifying a representation of a second projected dot within the image of the scene, the second projected dot corresponding to the second calibration dot and to the corresponding second calibration dot; and calculating second depth data for the second projected dot using the second linear function, the second depth data indicating a second distance of the second projected dot from the projector.