Edge enhancement with texture optimization

A non-transitory computer readable medium (CRM) comprising instructions that, when executed by an apparatus, cause the apparatus to:

• receive, from a capturing device, one or more frames of depth data and texture data;
• generate, from the depth data, a 3D mesh representation of a 3D space, wherein the 3D mesh representation comprises vertices which define triangular surfaces of the 3D mesh representation, and the mesh representation comprises adjacent planes of an object;
• identify triangular surfaces in the 3D mesh representation which span a common edge of the adjacent planes;
• determine a mesh-based line which represents a common edge of the adjacent planes based on the identified triangular surfaces;
• move a plurality of vertices of the identified triangles to the mesh-based line;
• and
• determine, from the texture data and the moved plurality of vertices, a texture-based line which represents the common edge.

A system, comprising:

• a processor;
• and
• a storage device in communication with the processor, wherein the storage device includes instructions that, when executed by the processor, cause the processor to:
• receive, from a capturing device, one or more frames of depth data and color data;
• convert the color data to grayscale data;
• generate, from the depth data, a 3D mesh representation of an object in a 3D space, wherein the 3D mesh representation comprises vertices which define triangular surfaces of the 3D mesh representation, and the mesh representation comprises adjacent planes of the object;
• identifying triangular surfaces in the 3D mesh representation having two vertices in one of the adjacent planes and an outlier vertex in another of the adjacent planes;
• fit a line to the outlier vertices to provide a mesh-based line;
• move the outlier vertices to the mesh-based line;
• for each of the moved outlier vertices, determining a corresponding set of pixels of the grayscale data, a peak brightness gradient in the set of pixels, and a point in the mesh corresponding to a location of the peak brightness gradient in the set of pixels;
• fitting a texture-based line to the points in the mesh;
• and
• measuring the object based on a length of the texture-based line.