Method of plane tracking
AssigneeSnap Inc.
InventorsOzi Egri, Eyal Zak
Life of this patent
Estimating the term…
Abstract
A method of plane tracking comprising: capturing by a camera a reference frame of a given plane from a first angle; capturing by the camera a destination frame of the given plane from a second angle different than the first angle; defining coordinates of matching points in the reference frame and the destination frame; calculating, using the first and second angles, first and second respective rotation transformations to a simulated plane parallel to the given plane; applying an affine transformation between the reference frame coordinate on the simulated plane and the destination frame coordinate on the simulated plane; and applying a projective transformation on the simulated plane destination frame coordinate to calculate the destination frame coordinate.
Claims12
A method comprising:
- defining coordinates for a set of reference frame tracking points based on a reference frame of a given plane from a first angle;
- defining coordinates for a set of destination frame tracking points based on a destination frame of the given plane from a second angle, wherein the set of destination frame tracking points match an orientation of the reference frame tracking points;
- calculating, using the first angle and the set of reference frame tracking points, a first rotation transformation to a simulated plane parallel to the given plane;
- calculating, using the second angle and the set of destination frame tracking points, a second rotation transformation to the simulated plane parallel to the given plane and the second rotation transformation is an inverse rotation transformation;
- applying an affine transformation to the set of reference frame coordinates;
- applying the affine transformation to the set of destination frame coordinates after applying the affine transformation to the set of reference frame coordinates;
- and
- applying a projective transformation to the simulated plane to calculate a set of destination frame coordinates, the projective transformation comprising applying the affine transformation to the first rotation transformation of the reference frame and the inverse rotation transformation of the destination frame.
A device comprising:
- a processor configured to perform operations comprising:
- defining coordinates for a set of reference frame tracking points based on a reference frame of a given plane from a first angle;
- defining coordinates for a set of destination frame tracking points based on a destination frame of the given plane from a second angle, wherein the set of destination frame tracking points match an orientation of the reference frame tracking points;
- calculating, using the first angle and the set of reference frame tracking points, a first rotation transformation to a simulated plane parallel to the given plane;
- calculating, using the second angle and the set of destination frame tracking points, a second rotation transformation to the simulated plane parallel to the given plane and the second rotation transformation is an inverse rotation transformation;
- applying an affine transformation to the set of reference frame coordinates;
- applying the affine transformation to the set of destination frame coordinates after applying the affine transformation to the set of reference frame coordinates;
- and
- applying a projective transformation to the simulated plane to calculate a set of destination frame coordinates, the projective transformation comprising applying the affine transformation to the first rotation transformation of the reference frame and the inverse rotation transformation of the destination frame.
Dependencies are inferred from the claim text.