JP7024405B2 - Information processing equipment, programs and information processing methods - Google Patents

Description

The present invention relates to an information processing apparatus, a program and an information processing method.

Conventionally, a measuring device capable of measuring a subject by image analysis has been proposed (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2017-3399

However, in the conventional technique, it is necessary to measure the actual distance between the shooting center point and an arbitrary object in the image in advance, and there is a problem that simple measurement cannot be performed.

One aspect is to provide an information processing device or the like capable of realizing simple measurement.

In one proposal, an acquisition unit that acquires image data obtained by irradiating a measurement target surface with three or more laser beams from an image pickup device, and a specific unit that specifies first coordinates corresponding to each laser beam on the image data. , An equation for specifying the measurement target surface based on the specified first coordinate and the second coordinate of each laser beam on the measurement target surface specified from the first coordinate and the camera parameter of the image pickup device. It is equipped with a calculation unit for calculation.

On one side, it is possible to realize simple measurement.

It is explanatory drawing which shows the outline of an information processing system. It is a block diagram which shows the hardware group of a computer. It is explanatory drawing which shows the calculation procedure of the 1st coordinate. It is explanatory drawing which shows the image of the laser beam which irradiates the object surface. It is explanatory drawing which shows the relationship between image data and an object surface. It is a flowchart which shows the calculation procedure of the object plane equation. It is a flowchart which shows the distance calculation procedure. It is explanatory drawing explaining the selection process of 4 points. It is explanatory drawing which shows the photographed image data. It is explanatory drawing which shows the procedure of a projective transformation process. It is explanatory drawing which shows the projective transformation. It is explanatory drawing for demonstrating the resolution. It is explanatory drawing which shows the calculation procedure of the distance on a corrected image. It is a flowchart which shows the resolution calculation procedure. It is a flowchart which shows the calculation procedure of a distance. It is a functional block diagram of the computer of the above-mentioned form. It is a block diagram which shows the hardware group of the computer which concerns on Embodiment 2. FIG.

Embodiment 1
Hereinafter, embodiments will be described with reference to the drawings. FIG. 1 is an explanatory diagram showing an outline of an information processing system. The information processing system includes an information processing device 1, a measuring device 2, and the like. The information processing device 1 is, for example, a server computer, a personal computer, a tablet, a smartphone, or the like. In the embodiment, the information processing apparatus 1 will be referred to as the computer 1 and will be described. The measuring device 2 includes a laser module and an image pickup device that irradiate three or more laser beams. In the embodiment, an example in which the measuring device 2 and the computer 1 are separated will be described, but the present invention is not limited to this. The measuring device 2 and the computer 1 may be integrated.

Laser light is emitted from the laser module toward the measurement target surface of a facility such as a bridge, a building, a house, an elevated or a tunnel, or a moving object such as an airplane, a train, an automobile or a ship. At the same time, the image pickup device captures the image of the target surface irradiated with the laser beam. In the example of FIG. 1, laser light is irradiated to the target surface from four laser modules, and the four irradiation spots are captured as captured images.

The computer 1 takes in image data from the image pickup apparatus and specifies the coordinates corresponding to each laser beam. In the following, the coordinates on the image data are referred to as the first coordinates, and the coordinates in the real space are referred to as the second coordinates. The computer 1 calculates the equation of the target surface based on the second coordinates of each laser beam on the target surface and the specified first coordinates. The computer 1 accepts two first coordinates desired to be measured, such as the length of damage to the target surface, from the image data. The computer 1 calculates the corresponding two second coordinates based on the two received first coordinates and the equation, and calculates the distance between the second coordinates based on the obtained two second coordinates. The details will be described below.

FIG. 2 is a block diagram showing a hardware group of the computer 1. The computer 1 includes a CPU (Central Processing Unit) 11 as a control unit, a RAM (Random Access Memory) 12, an input unit 13, a display unit 14, a storage unit 15, a clock unit 18, a communication port 19, a communication unit 16, and the like. include. The CPU 11 is connected to each part of the hardware via the bus 17. The CPU 11 controls each hardware unit according to the control program 15P stored in the storage unit 15. The CPU 11 may be a multi-core processor equipped with a plurality of processor cores. The RAM 12 is, for example, an SRAM (Static RAM), a DRAM (Dynamic RAM), a flash memory, or the like. The RAM 12 also functions as a storage unit, and temporarily stores various data generated when various programs are executed by the CPU 11.

The input unit 13 is an input device such as a mouse, a keyboard, a touch panel, and a button, and outputs the received operation information to the CPU 11. The display unit 14 is a liquid crystal display, an organic EL (electroluminescence) display, or the like, and displays various information according to the instructions of the CPU 11. The communication unit 16 is a communication module, and transmits / receives information to / from another computer 1 (not shown) via a communication network such as the Internet. The clock unit 18 outputs date and time information to the CPU 11.

The storage unit 15 is a large-capacity memory or a hard disk, and stores the control program 15P and the like. The communication port 19 is, for example, a USB (Universal Serial Bus) port, and is an interface for transmitting and receiving information between the laser module (irradiation device) 22 and the image pickup device 21 of the measuring device 2 and the computer 1. Information may be transmitted / received between the computer 1 and the measuring device 2 by wireless communication using a short-range wireless communication module such as Bluetooth (registered trademark).

Each laser module 22 outputs a laser beam according to the instruction of the CPU 11. In the embodiment, the target surface is assumed to be a substantially flat surface for ease of explanation. The image pickup apparatus 21 outputs the acquired image data to the CPU 11. In the embodiment, an example of photographing the target surface from an oblique direction is shown, but the image may be taken from the front. The CPU 11 temporarily stores the acquired image data in the RAM 12. In addition to executing various processes by one computer 1, the computer 1 may be distributed by a plurality of computers 1, 1, ... And execute various processes. Further, various processes may be executed on the virtual machine of the computer 1. When the computer 1 and the measuring device 2 are integrated, the photographing device 21 may be arranged at the center of the back surface of the touch panel of the tablet or smartphone, and the laser modules 22 may be arranged at the four corners.

FIG. 3 is an explanatory diagram showing a procedure for calculating the first coordinates. The CPU 11 performs binarization processing on the captured image data. This identifies the region of the laser beam. Next, the CPU 11 performs an elliptical approximation with respect to the coordinates of the edge region obtained by binarization. The CPU 11 specifies the center coordinates of the approximated ellipse as the first coordinates. The CPU 11 stores the four first coordinates in the RAM 12. In the embodiment, an example using ellipse approximation is shown, but the present invention is not limited to this. For example, the CPU 11 performs edge detection and calculates the first coordinate based on the average value of the maximum and minimum coordinates in the x-axis direction of the edge region and the average value of the maximum and minimum coordinates in the y-axis direction. You may. Further, when the image is taken from the front, the center of the circle specified by the edge detection may be set as the first coordinate.

FIG. 4 is an explanatory diagram showing an image of a laser beam applied to a target surface. The measuring device 2 has a support plate 23 that supports the image pickup device 21 and the laser module 22. The laser modules 22, 22 ... Are arranged so that the irradiation surfaces are parallel to each other at appropriate distances so that the laser beams do not overlap with each other.

The image pickup apparatus 21 is arranged at a position equidistant from each laser module 22. In the example of FIG. 4, the image pickup apparatus 21 is attached to the center of the square support plate 23, and the laser modules 22 are attached to the four corners of the support plate 23 with the emission surfaces facing in the same direction. In the following, for convenience of explanation, the shooting direction of the camera and the irradiation direction of the laser beam are the z-axis positive direction, the plane of the support plate 23 is the xy-axis plane, and the lower side of the paper surface is the x-axis positive direction in the xy-axis plane toward the back of the paper surface. The direction is the positive y-axis direction. In the embodiment, an example in which the four laser modules 22 are used is shown, but the present invention is not limited to this. The laser module 22 of FIG. 4 may be deleted. Further, 5 or 6 laser modules 22 may be used. In this case, the image pickup device 21 may be arranged at the center point of the polygon formed by each laser module 22.

Here, when the image pickup device 21 is the origin, the coordinates of one laser module 22 are (x ₀ , y ₀ , 0), and the equation of the target surface is z = ax + by + c, the laser module 22 irradiates. The second coordinate at which the laser beam is applied to the target surface is (x ₀ , y ₀ , ax ₀ + by ₀ + c). The position and irradiation direction of the laser module 22 are known. Further, as for the coordinate axes on the captured image data, the direction toward the right is the u-axis positive direction, and the downward direction is the v-axis positive direction. Here, it is the first coordinate (u ₀ , v ₀ ) on the image data of one laser module 22 described above.

The CPU 11 reads out the camera parameters of the image pickup apparatus 21 that have been acquired in advance and stored in the storage unit 15. The CPU 11 calculates unknowns a, b and c from the equation z = ax + by + c of the target surface based on the first coordinates (u ₀ , v ₀ ) on the image data and the camera parameters. If there are at least three first coordinates, three equations can be established and three unknowns a, b, and c can be obtained. The CPU 11 stores the equation including the calculated coefficient in the RAM 12. If the number of laser points is large, the number of equations will be large. Therefore, when calculating a, b, and c, the least squares method or the like is used to reduce errors due to noise caused by elliptic approximation, etc., and to accurately measure the target surface. It is possible to calculate the coefficients of the equation.

FIG. 5 is an explanatory diagram showing the relationship between the image data and the target surface. The CPU 11 accepts the designation of the first coordinates of two points desired to be measured on the image data through the input unit 13. FIG. 5 shows an example of measuring the length of damage extending in the v direction. Here, the first coordinates are (u ₀ , v ₀ ), (u ₁ , v ₁ ), and the second coordinates of the target surface corresponding to these two first coordinates are (x ₀ , y ₀ , z ₀ ), respectively. , (X ₁ , y ₁ , z ₁ ).

The CPU 11 reads out the camera parameters and the equations of the target surface stored in the RAM 12. The CPU 11 calculates the second coordinate of the target surface based on the first coordinate, the camera parameter and the equation. Specifically, the second coordinate on the unknown three-dimensional coordinate is (x, y, z), the first coordinate on the known image is (u, v), the known camera parameter is M, and the scale is s (scale). When the factor) is used, the following equation (1) holds.

The three-dimensional coordinates exist on a known plane (z = ax + by + c), and a, b, and c are known. Therefore, since there are four unknowns, x, y, z, and s, and there are four equations, the second coordinate (x, y, z) can be obtained by solving the simultaneous equations. The CPU 11 obtains the actual size between the two points by calculating the calculated Euclidean distances of the two second coordinates.

Various software processes in the above hardware group will be described using a flowchart. FIG. 6 is a flowchart showing the calculation procedure of the target surface equation. The measurer irradiates the laser beam toward an arbitrary part of the object to be measured. When the CPU 11 receives the information to start the measurement through the input unit 13, it outputs a command to the laser module 22 and irradiates the target surface with the laser beam from the laser module 22 (step S61). The CPU 11 also captures image data (step S62).

The CPU 11 specifies a region irradiated with laser light based on information such as brightness. The CPU 11 performs binarization processing on the image data in the vicinity of the laser beam on the image data (step S63). The CPU 11 performs ellipse approximation processing based on the coordinates of the edge region (step S64). The CPU 11 specifies the center of the ellipse as the first coordinate (step S65). The CPU 11 stores the first coordinates on the four image data in the RAM 12 (step S66). The CPU 11 reads the camera parameters from the RAM 12 (step S67).

The CPU 11 calculates the equation of a plane of interest based on the camera parameters and the four first coordinates (step S68). The CPU 11 stores the calculated equation in the RAM 12 (step S69).

FIG. 7 is a flowchart showing the distance calculation procedure. The CPU 11 receives the first coordinates of two points desired to be measured on the image data from the input unit 13 (step S71). The CPU 11 reads the camera parameters and equations from the RAM 12 (step S72). The CPU 11 calculates the second coordinate on the target surface based on the first coordinate, the camera parameter, and the equation (step S73). The CPU 11 calculates the distance between the two second coordinates (step S74). The CPU 11 outputs the calculated distance to the display unit 14 (step S75). The calculated distance may be output to another computer via the communication unit 16. This makes it possible to easily calculate the distance on the target surface. In addition, it is possible to calculate the distance without measuring the distance on the target surface in advance. Further, even if the shooting and irradiation directions are oblique to the target surface, the distance can be calculated appropriately. Further, the first coordinate can be easily specified by performing ellipse approximation. In addition, it is possible to further improve the accuracy by increasing the number of laser modules 22.

Embodiment 2
The second embodiment relates to a form of image correction. FIG. 8 is an explanatory diagram illustrating a selection process of four points. The CPU 11 reads the equation from the RAM 12. The CPU 11 selects any four points that are square when the read target surface is viewed from the normal direction. The CPU 11 obtains the second coordinates of the selected four points. In the example of FIG. 8, one second coordinate is (x _i , y _i , ax _i + by _i + c) from the equation. Since the known length of each side of the square is constant, the second coordinates of the other three points can also be obtained.

FIG. 9 is an explanatory diagram showing captured image data. The CPU 11 calculates the first coordinates (u _i , v _i ) in which the four selected second coordinates appear on the image by the known camera parameters and the following equation (2). It is assumed that the camera parameter M is a 4 × 3 matrix. In this case, three unknowns u, v, s can be obtained by three equations.

The CPU 11 stores the calculated first coordinates of the four points in the RAM 12. FIG. 10 is an explanatory diagram showing the procedure of the projective transformation process. The CPU 11 calculates a projective transformation matrix for correcting the calculated four first coordinates (u _i , v _i ) to a square. Here, the first coordinate on the target image data is (u _i ', v _i '), and the projective transformation matrix H represented by the following equation (3) in which the four points match is calculated.

FIG. 11 is an explanatory diagram showing a projective transformation. The CPU 11 accepts the input of image data. The CPU 11 applies the calculated projective transformation matrix to the image data to convert the entire image into an image taken from the front of the target surface. FIG. 11A is a captured image before conversion, and FIG. 11B is a corrected image after projection return. The image that was distorted by shooting from an angle is corrected as if it was shot from the front.

FIG. 12 is an explanatory diagram for explaining the resolution. The CPU 11 reads the equation of a plane of interest from the RAM 12. The CPU 11 uses the read equation to calculate the second coordinates on the target surface of the two points reflected by the laser beam. The CPU 11 calculates the distance between the two second coordinates. The CPU 11 obtains the first coordinates of the corresponding two points in the corrected image data described above, and obtains the number of pixels between the first coordinates of the two points. The CPU 11 obtains the resolution on the corrected image, that is, the length of each pixel by dividing the distance between the obtained second coordinates by the number of pixels. The CPU 11 stores the obtained resolution in the RAM 12.

FIG. 13 is an explanatory diagram showing a procedure for calculating the distance on the corrected image. The CPU 11 generates a corrected image using a projective transformation matrix. The user selects two points on the corrected image to be measured for distance from the input unit 13. The CPU 11 receives the first coordinates of the two points input from the input unit 13. The CPU 11 obtains the number of pixels between the two received first coordinates. The CPU 11 calculates the distance between two points by multiplying the resolution stored in the RAM 12 by the obtained number of pixels. The CPU 11 displays the calculated distance on the display unit 14.

FIG. 14 is a flowchart showing the resolution calculation procedure. The CPU 11 reads out the equation stored in the RAM 12 (step S141). The CPU 11 specifies four second coordinates that are square when the target surface is viewed from the normal direction (step S142). The CPU 11 calculates the corresponding four first coordinates on the image data based on the four second coordinates and the camera parameters (step S143). The CPU 11 calculates a projective transformation matrix for correcting the four first coordinates to a square (step S144).

The CPU 11 accepts the input of image data (step S145). The CPU 11 generates corrected image data by the projection conversion matrix and outputs it to the display unit 14 (step S146). The CPU 11 calculates the second coordinates of the two points irradiated with the laser beam on the target surface based on the equation (step S147). The CPU 11 calculates the distance between the two second coordinates on the target surface (step S148). The CPU 11 calculates the number of pixels between the two first coordinates on the corrected image data corresponding to the second coordinates (step S149).

The resolution is calculated by dividing the distance obtained in step S148 by the number of pixels obtained in step S149 (step S1410). The CPU 11 stores the calculated resolution in the RAM 12 (step S1411).

FIG. 15 is a flowchart showing the procedure for calculating the distance. The CPU 11 reads out the image data (step S151). The CPU 11 reads the projective transformation matrix from the RAM 12 (step S152). The CPU 11 generates corrected image data based on the read projective transformation matrix and outputs it to the display unit 14 (step S153). The CPU 11 receives inputs of two first coordinates desired to be measured from the input unit 13 (step S154). The CPU 11 calculates the number of pixels between the first coordinates (step S155). The CPU 11 reads the resolution from the RAM 12 (step S156).

The CPU 11 multiplies the resolution by the number of pixels to calculate the distance (step S157). The CPU 11 outputs the calculated distance to the display unit 14 (step S158). This makes it possible to easily grasp the damage situation. In addition, it is possible to easily calculate the distance between any two points. In each embodiment, an example is shown in which the measuring device 2 and the computer 1 are integrally formed or provided in the vicinity thereof, but the present invention is not limited to this. The measuring device 2 and the computer 1 may be connected via a communication network N such as the Internet or a public line network. The measuring device 2 irradiates the laser beam and transmits the captured image data to the server computer 1. The computer 1 calculates the equation of the target surface based on the image data and the camera parameters. In addition, the computer 1 calculates a projective transformation matrix and the like. The input device on the measuring device 2 side or the input device on the computer 1 side accepts the selection of two first coordinates for which measurement is desired. The computer 1 calculates the distance corresponding to the two first coordinates by the above-mentioned process. This makes it possible to easily calculate the distance at different bases even when irradiating and shooting at a remote location.

Since the second embodiment is as described above and the other parts are the same as those of the first embodiment, the corresponding reference numbers are assigned to the corresponding parts and detailed description thereof will be omitted.

Embodiment 3
FIG. 16 is a functional block diagram of the computer 1 in the above-described form. When the CPU 11 executes the control program 15P, the computer 1 operates as follows. The acquisition unit 161 acquires image data obtained by irradiating the measurement target surface with three or more laser beams from the image pickup device 21. The specifying unit 162 specifies the first coordinates corresponding to each laser beam on the image data. The calculation unit 163 calculates an equation for specifying the measurement target surface based on the specified first coordinate and the second coordinate of each laser beam on the measurement target surface. The reception unit 164 receives input of a plurality of first coordinates on the image data. The distance calculation unit 165 calculates the distance between the plurality of second coordinates on the measurement target surface corresponding to the first coordinate based on the received first coordinate and the formula.

FIG. 17 is a block diagram showing a hardware group of the computer 1 according to the second embodiment. The program for operating the computer 1 is such that the reading unit 10A such as a disk drive or a memory card slot reads a portable recording medium 1A such as a CD-ROM, a DVD disk, a memory card, or a USB memory, and the storage unit 15 is used. You may remember it. Further, a semiconductor memory 1B such as a flash memory storing the program may be mounted in the computer 1. Further, the program can also be downloaded from another server computer (not shown) connected via a communication network N such as the Internet. The contents will be described below.

The computer 1 shown in FIG. 17 reads a program for executing various software processes described above from the portable recording medium 1A or the semiconductor memory 1B, or downloads the program from another server computer (not shown) via the communication network N. do. The program is installed as a control program 15P, loaded into the RAM 12, and executed. As a result, it functions as the computer 1 described above.

Since the third embodiment is as described above and the other parts are the same as those of the first and second embodiments, the same reference numbers are assigned to the corresponding parts and detailed description thereof will be omitted. It should be noted that each of the above-described embodiments can be combined as appropriate.

Further, the following appendices will be disclosed with respect to the embodiments including the above embodiments 1 to 3.
(Appendix 1)
An acquisition unit that acquires image data obtained by irradiating the measurement target surface with three or more laser beams from an image pickup device, and an acquisition unit.
A specific part that specifies the first coordinates corresponding to each laser beam on the image data, and
An information processing device including a calculation unit that calculates an expression for specifying the measurement target surface based on the specified first coordinates and the second coordinates of each laser beam on the measurement target surface.
(Appendix 2)
A reception unit that accepts input of a plurality of first coordinates on the image data,
The information processing apparatus according to Appendix 1, further comprising a distance calculation unit that calculates a distance between a plurality of second coordinates on the measurement target surface corresponding to the first coordinate based on the received first coordinate and the formula. ..
(Appendix 3)
The distance calculation unit
Based on the received first coordinate, the formula, and the parameters of the image pickup device, a plurality of second coordinates on the measurement target surface corresponding to the first coordinate are calculated, and the calculated distance between the second coordinates is calculated. The information processing device according to Appendix 2.
(Appendix 4)
Three or more irradiation devices that are distributed and irradiate parallel laser beams, and
The information processing device according to any one of Supplementary note 1 to 3, further comprising an image pickup device arranged in an area surrounded by the irradiation device.
(Appendix 5)
The calculation unit
The information processing according to any one of Supplementary note 1 to 4, wherein the formula is calculated based on the plurality of first coordinates on the image data, the plurality of second coordinates on the measurement target surface, and the parameters of the image pickup apparatus. Device.
(Appendix 6)
The information processing apparatus according to any one of Supplementary note 1 to 5, further comprising a correction matrix calculation unit for calculating a correction matrix for correcting the image data based on a plurality of first coordinates on the acquired image data.
(Appendix 7)
A second coordinate distance calculation unit that calculates the distance between a plurality of second coordinates on the measurement target surface based on the above equation, and a second coordinate distance calculation unit.
A pixel number calculation unit that calculates the number of pixels of a plurality of first coordinates on the image data corrected based on the correction matrix, and a pixel number calculation unit.
The information processing apparatus according to Appendix 6, further comprising a resolution calculation unit that calculates the resolution of the image data by dividing the distance between the second coordinates by the number of pixels.
(Appendix 8)
An input reception unit that accepts input of multiple first coordinates from the corrected corrected image data,
The information processing apparatus according to Appendix 7, further comprising a first coordinate distance calculation unit that calculates a distance between the first coordinates based on the number of pixels between the received first coordinates and the resolution.
(Appendix 9)
The correction matrix calculation unit
Based on the above equation, four second coordinates that are square when the measurement target surface is viewed from the normal direction are specified.
Based on the four second coordinates and the parameters, the four first coordinates on the image data corresponding to the second coordinates are calculated.
The information processing apparatus according to any one of Supplementary note 6 to 8, which calculates a correction matrix for correcting the calculated first coordinates to a square.
(Appendix 10)
Four irradiation devices that are distributed and irradiate laser light parallel to each other,
The information processing device according to any one of Supplementary note 1 to 9, further comprising an image pickup device arranged at a position equidistant from each irradiation device.
(Appendix 11)
The information according to any one of Supplementary note 1 to 10, further comprising a first coordinate specifying unit that approximates an ellipse of a region specified by a laser beam on the image data and specifies a first coordinate that is the center of the approximated ellipse. Processing equipment.
(Appendix 12)
Image data obtained by irradiating the measurement target surface with 3 or more laser beams is acquired from the image pickup device.
The first coordinates corresponding to each laser beam on the image data are specified, and
A program that causes a computer to execute a process of calculating an expression for specifying the measurement target surface based on the specified first coordinates and the second coordinates of each laser beam on the measurement target surface.
(Appendix 13)
Image data obtained by irradiating the measurement target surface with 3 or more laser beams is acquired from the image pickup device.
The first coordinates corresponding to each laser beam on the image data are specified, and
An information processing method for causing a computer to execute a process of calculating an expression for specifying the measurement target surface based on the specified first coordinates and the second coordinates of each laser beam on the measurement target surface.

1 Computer (information processing device)
1A Portable recording medium 1B Semiconductor memory 2 Measuring device 10A Reader 11 CPU
12 RAM
13 Input unit 14 Display unit 15 Storage unit 15P Control program 16 Communication unit 18 Clock unit 19 Communication port 21 Image pickup device 22 Laser module 23 Support plate 161 Acquisition unit 162 Specific unit 163 Calculation unit 164 Reception unit 165 Distance calculation unit N Communication network

Claims (8)

An acquisition unit that acquires image data obtained by irradiating the measurement target surface with three or more laser beams from an image pickup device, and an acquisition unit.
A specific part that specifies the first coordinates corresponding to each laser beam on the image data, and
Based on the specified first coordinate and the second coordinate of each laser beam on the measurement target surface specified from the first coordinate and the camera parameter of the image pickup device, an equation for specifying the measurement target surface is calculated. An information processing device equipped with a calculation unit. A reception unit that accepts input of a plurality of first coordinates on the image data,
The information processing according to claim 1, further comprising a distance calculation unit that calculates a distance between a plurality of second coordinates on the measurement target surface corresponding to the first coordinate based on the received first coordinate and the formula. Device. The distance calculation unit
Based on the received first coordinate, the formula, and the parameters of the image pickup device, a plurality of second coordinates on the measurement target surface corresponding to the first coordinate are calculated, and the calculated distance between the second coordinates is calculated. The information processing apparatus according to claim 2. Three or more irradiation devices that are distributed and irradiate parallel laser beams, and
The information processing device according to any one of claims 1 to 3, further comprising an image pickup device arranged in an area surrounded by the irradiation device. A correction matrix calculation unit that calculates a correction matrix that corrects the image data based on a plurality of first coordinates on the acquired image data.
A second coordinate distance calculation unit that calculates the distance between a plurality of second coordinates on the measurement target surface based on the above equation, and a second coordinate distance calculation unit.
A pixel number calculation unit that calculates the number of pixels of a plurality of first coordinates on the image data corrected based on the correction matrix, and a pixel number calculation unit.
The information processing apparatus according to any one of claims 1 to 4, further comprising a resolution calculation unit that calculates the resolution of the image data by dividing the distance between the second coordinates by the number of pixels. An input reception unit that accepts input of multiple first coordinates from the corrected corrected image data,
The information processing apparatus according to claim 5, further comprising a first coordinate distance calculation unit that calculates a distance between the first coordinates based on the number of pixels between the received first coordinates and the resolution. Image data obtained by irradiating the measurement target surface with 3 or more laser beams is acquired from the image pickup device.
The first coordinates corresponding to each laser beam on the image data are specified, and
A formula for specifying the measurement target surface is calculated based on the specified first coordinates and the second coordinates of each laser beam on the measurement target surface specified from the first coordinates and the camera parameters of the image pickup device. A program that causes a computer to perform processing. Image data obtained by irradiating the measurement target surface with 3 or more laser beams is acquired from the image pickup device.
The first coordinates corresponding to each laser beam on the image data are specified, and
A formula for specifying the measurement target surface is calculated based on the specified first coordinates and the second coordinates of each laser beam on the measurement target surface specified from the first coordinates and the camera parameters of the image pickup device. An information processing method that causes a computer to perform processing.

Images