JP2001208521A - Three-dimensional data processor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a three-dimensional data processor which enables effective utilization of a working area of work. SOLUTION: Plane distance images 81 and 82 are formed by the orthogonal projection of a distance image 8 as three-dimensional data onto XY and YZ planes. A reference surface 83a is parallel with the XY plane passing at a point 8m having the maximum value of Z in the distance image. A boundary surface 83b is presented by moving the reference surface 83a by Zd in the direction Z corresponding to a depth of a machining area of work to be machined. In the distance image 8, parts outside the reference surface 83a and the boundary surface 83b are defined as undesired images 82b and the distance image data corresponding to the undesired images 82b are deleted. This enables the deletion of the data not within the width of the working area of the work thereby accomplishing a data processing effectively utilizing the working area of the work.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional data processing device for creating three-dimensional data representing an object having a three-dimensional shape.

[0002]

2. Description of the Related Art For example, as disclosed in Japanese Patent Application Laid-Open No. 9-145319, a portable non-contact type three-dimensional photographing apparatus (three-dimensional camera) has been commercialized, and has been developed into a CG (computer graphic) system and a CAD system. It is used for data input, body measurement, and visual recognition of robots. As a non-contact measurement method, a slit light projection method (light cutting method) is generally used.
A stereoscopic method, an interference fringe method, and the like are known.

[0003] Also, three-dimensional CG software that can be used in personal computers and small three-dimensional cutting machines for hobbies are commercially available. If these are used, models and creations can be easily manufactured even in ordinary households.

[0004]

According to the above-described three-dimensional photographing apparatus, it is possible to convert the shapes of various persons including a human body into data as easily as taking a photograph. Since it is a non-contact type, even when measuring a human body, the person to be measured does not feel troublesome. Therefore, the three-dimensional photographing apparatus can be used for creating a facial model. That is, when combined with a three-dimensional processing machine, it is possible to measure a person's face, process a workpiece, and create a model with an appropriate magnification on the spot.

[0005] In such machining, it is desired to effectively utilize the machining target area of the work.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a three-dimensional data processing device capable of effectively utilizing a processing target area of a work.

[0007]

In order to solve the above-mentioned problems, the invention according to claim 1 is based on distance image data representing a distance from a predetermined viewpoint to each part of a three-dimensional object facing surface. A three-dimensional data processing apparatus that generates three-dimensional data representing the object and thereby obtains information for three-dimensional processing of a workpiece, comprising: (a) the distance image according to a processing target area of the workpiece; A conversion unit that deletes a part of the data and thereby obtains converted distance image data; and (b) uses the converted distance image data to convert three-dimensional data as processing information of the work. Generating means.

According to a second aspect of the present invention, in the three-dimensional data processing apparatus according to the first aspect of the present invention, the converting means includes: (a-1) a processing target area of the workpiece with respect to the distance image data; A defining means for defining two surfaces separated from each other by a width corresponding to the depth of (a-2), in the distance image data, deleting data existing outside a section between the two surfaces. Means for obtaining converted distance image data.

According to a third aspect of the present invention, in the three-dimensional data processing apparatus according to the first aspect of the present invention, the conversion means includes: (a-3) a processing target area of the workpiece for the distance image data; Means for defining two planes separated from each other by a width corresponding to the depth of (a-4), in the distance image data, data existing within a section between the two planes is defined as effective image data Means for defining, (a-5) means for calculating the ratio of the projected area of the effective image data projected to the predetermined plane, relative to the projected area of the distance image data projected to a predetermined plane, (a- 6) the ratio is a determining means for determining whether or not the ratio is greater than a predetermined threshold; (a-7) if the ratio is greater than the predetermined threshold, than the section between the two surfaces Delete data existing outside and if the ratio is smaller than the predetermined threshold, Means for changing the width and redefining the two planes.

According to a fourth aspect of the present invention, in the three-dimensional data processing apparatus according to the first aspect of the present invention, the conversion means comprises: (a-8) an operation input means; and (a-9) an operation input means. Means for specifying the range of the part of the data in response to the above operation.

According to a fifth aspect of the present invention, three-dimensional data representing the object is generated based on a distance image representing a distance from a predetermined viewpoint to each part of the opposing surface of the three-dimensional object, A three-dimensional data processing apparatus that obtains information for three-dimensional processing of a workpiece, thereby: (a) rotating the distance image so as to conform to a reference plane in a processing target area of the workpiece; And (b) means for using the converted distance image to generate three-dimensional data as processing information of the work.

According to a sixth aspect of the present invention, in the three-dimensional data processing apparatus according to the fifth aspect of the present invention, the conversion means rotates the distance image by a predetermined angle around a fixed point.

According to a seventh aspect of the present invention, in the three-dimensional data processing apparatus according to the fifth aspect of the present invention, the converting means (a-1) determines a specific point in the distance image and the predetermined viewpoint. Means for defining a connecting straight line, and (a-2) means for rotating the distance image so that the line of sight matches the line of sight passing through the predetermined viewpoint, thereby obtaining a converted distance image. Prepare.

According to an eighth aspect of the present invention, in the three-dimensional data processing apparatus according to the fifth aspect of the present invention, the conversion means includes: Means for defining a perpendicular from the predetermined viewpoint, (a-
4) means for rotating the distance image so that the perpendicular line matches the line of sight passing through the predetermined viewpoint, thereby obtaining a converted distance image.

According to a ninth aspect of the present invention, in the three-dimensional data processing apparatus according to the fifth aspect of the present invention, the conversion means includes: (a-5) an operation input means; and (a-6) an operation input means. Means for rotating the distance image in response to the above operation, thereby obtaining a converted distance image.

According to a tenth aspect of the present invention, three-dimensional data representing the object is generated based on a distance image representing a distance from a predetermined viewpoint to each part of the opposing surface of the three-dimensional object, A three-dimensional data processing apparatus that obtains information for three-dimensional processing of a workpiece, thereby: (a) dividing means for dividing the distance image into a plurality of regions by a boundary surface orthogonal to a depth direction of the distance image (B) changing means for changing the position of the boundary line, and (c) scale-converting the plurality of areas in a depth direction at a predetermined magnification, thereby obtaining a converted distance image. Conversion means; and (d) means for using the converted distance image to generate three-dimensional data as processing information of the work.

According to an eleventh aspect of the present invention, in the three-dimensional data processing apparatus according to the tenth aspect of the present invention, the conversion means comprises: (c-1) an operation input means; and (c-2) an operation input means. Means for setting the predetermined magnification in response to the above operation.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS <Main Configuration of Solid Model Making Apparatus>
FIG. 1 is an external view of a three-dimensional model creation device 1 in which a three-dimensional data processing device according to the present invention is incorporated. The overall configuration of the three-dimensional model creation device 1 is an example common to each embodiment described later.

The three-dimensional model creation device 1 is a three-dimensional original object (hereinafter, "object") for creating a three-dimensional model.
It has the function of measuring the shape of the object and processing the material on the spot based on the measurement data, and is used as a vending machine for small articles in the shape of a customer's face. The article to be created is a three-dimensional body in which a model of the face protrudes in a relief shape from a plate of a predetermined shape (for example, a square). It is also possible to add a specific undulating pattern to the plate surface (background portion). If an appropriate metal fitting is attached to such an article, it becomes an accessory such as a pendant, a broach, or a key holder.
A metal fitting may be attached to the material in advance.

The three-dimensional model forming apparatus 1 is provided with a box-shaped processing system 2 for processing a work 9 as a processing material. The processing system 2 includes a processing device 21 for processing the work 9, an outlet 22 for removing the processed work, and a lamp 23 that is turned on at the time of processing. For the workpiece 9, the rearmost surface of the cutting process, that is, the surface 9s farthest from the processing device 21 is defined as a processing reference surface, and a direction perpendicular to the processing reference surface is defined as a depth direction.

On the upper surface of the processing system 2, a display 4 for confirming a pose of the user, a data processing device 5, and a mouse 6 for inputting operation are mounted together with a photographing device 3 for photographing the customer. ing. The imaging device 3 is provided with a light emitting window 31 and a light receiving window 32 for optical three-dimensional measurement. The light receiving window 32 is also used for two-dimensional color photography.

FIG. 2 is a functional block diagram of the three-dimensional model forming apparatus 1.

The three-dimensional model forming apparatus 1 includes a modeling system 10 for generating a three-dimensional model having a model size,
And a machining system 2 for realizing a three-dimensional shape model.

The modeling system 10 includes a photographing device 3 for converting (converting) the appearance information of a user who is an original object into digital data. The photographing device 3
Outputting three-dimensional distance image data (three-dimensional image data) DS by converting the shape information into data by the slit light projection method 3
It comprises a two-dimensional imaging device 32 for converting color information into data to output two-dimensional color image data DC, and a controller 33.

Here, the distance image data DS is data given as coordinate values in the XYZ orthogonal coordinate system, and is opposed to the object from a viewpoint (center of the photographing lens) which is a measurement reference point in the three-dimensional photographing apparatus 31. It is distance distribution image data that gives distribution information of the distance to each measurement point on the surface. The distance image data DS also includes information on a valid flag indicating whether measurement data of reflected light from the target object has been obtained.

On the other hand, the color image data DC represents each pixel of the two-dimensional color image of the object as three primary color data, that is,
This is data expressed by the gradation of each color component of R (red), G (green), and B (blue). Here, since the imaging device 3 that performs three-dimensional measurement and two-dimensional imaging from the same viewpoint (single-lens lens) is used, it is possible to extremely easily associate the distance image data DS with the color image data DC. it can. The distance image data DS and the color image data DC are input to a three-dimensional data processing device 5 described later.

As the three-dimensional measurement method, another method may be used instead of the slit light projection method.

The three-dimensional data processing device 5 performs various data processing including data correction to generate processed data DM usable in the processing system 2. The controller 51 of the three-dimensional data processing device 5 includes a CPU and a memory, and performs various data processing including image processing in accordance with predetermined software while cooperating with peripheral hardware circuits. The controller 51 also controls the overall operation of the three-dimensional model creation device 1 and the imaging device 3.
To the controller 33 of the machining system 2 and the controller 25 of the machining system 2. The display 4 and the operation input unit 6 are connected to the controller 51. Further, a storage device 7 for storing distance image data DS and the like is connected to the three-dimensional data processing device 5.

On the other hand, the processing system 2 includes a processing device 21 for cutting a material such as a metal or a resin block, and a material supply device 24 for supplying a workpiece 9 to a processing position and transporting a workpiece to an outlet 22. , A controller 25, and a storage device 26 connected to the controller 25.

The control of the photographing apparatus 3 and the processing system 2 is assigned to the controller 51, and the controller 33
Alternatively, a circuit configuration in which the controller 25 is omitted may be employed.

<Overview of Operation of Solid Model Creation Apparatus 1> FIG.
3 is a flowchart illustrating an outline of the operation of the three-dimensional model creation device 1. The outline of the operation of the three-dimensional model creation device 1 is an example common to each embodiment described later. Hereinafter, a processing procedure of the basic operation will be described with reference to FIG.

In step S1, a color image photographed by the photographing device 3 disposed at the reference position is displayed in real time with the vicinity of the head of the customer as an object. Here, an outline corresponding to the shape of the processing target area of the work 9 prepared and stored in advance is displayed over the color image. Note that a region other than the processing target region may be displayed in a predetermined color, and a color image captured only in the processing target region may be displayed.

In step S2, it is determined whether an operation input for photographing for data acquisition has been performed. here,
The above color image and the outline are almost in conformity,
When the user determines that the size and position are as desired,
The user clicks the start button (not shown) displayed on the display 4 with the mouse 6, and
Determine the position and size of the color image. When the operation input is performed, the process proceeds to step S3, and when the operation input is not performed, the process returns to step S1.

In step S3, the photographing device 3 acquires two-dimensional color image data DC of the user. Here, when the acquisition of the two-dimensional color image captured in step S1 is performed at a high resolution, the image at the time when the start button is clicked with the mouse 6 among the two-dimensional image data repeatedly captured. May be adopted as the color image data DC. However, when the image is obtained at a low resolution, high-resolution imaging is performed at this time to obtain a high-resolution image for three-dimensional processing.
The two-dimensional color image data DC is obtained.

In step S4, the photographing device 3
The three-dimensional data of the object, that is, the distance image data DS is obtained.

In step S5, an editing operation is performed so that the distance image data DS can be effectively used for the work 9. That is, the two-dimensional color image data DC is displayed on the display 4.
Is edited so that this image and the above-mentioned outline are properly matched. This is an operation for further fine-tuning the state where the color image and the outline are substantially matched in step S2.

In step S6, since the distance image data DS obtained in step S4 is raw data including noise, missing data (for example, a hair portion), data correction processing is performed on the distance image data DS.

In step S7, a data adjustment process of a distance image expressing the distance image data DS in a three-dimensional manner is performed in order to adapt to the processing target area of the work 9 (described later).

In step S8, processing control data is generated by referring to a processing condition database based on the three-dimensional shape model.

In step S9, the work 9 is machined based on the machining data. Then, the completed work 9 is discharged to the outlet 22.

The operation of the above distance image data adjustment processing will be described below.

FIG. 4 is a flowchart for explaining the operation of the data adjustment process.
7 is supported.

First, in step S71, similarity conversion of a distance image is performed so as to conform to a processing target area of the work 9 based on a geometric relationship between an outline of the work 9 and a color image.

In step S72, the distance image data DS
Delete unnecessary data in. The specific operation will be described later.

In step S73, the distance image is rotated so as to match the processing reference surface 9s of the work 9. The specific operation will be described later. Step S72 and step S72
The processing may be performed by changing the order of 73.

In step S74, the distance image is compressed in the depth direction so as to match the processing target area of the work 9. The specific operation will be described later.

In the following, these steps S72 to S7
4 will be described sequentially.

<First Embodiment (First Unnecessary Data Deletion)
Example) The first embodiment corresponds to the first example of step S72 in FIG. 4, and is an operation of deleting unnecessary data in the distance image data DS using the three-dimensional model creating device 1 having the above-described configuration. This is the controller 5 of the data processing device 5.
1 automatically.

FIG. 5 is a conceptual diagram for explaining the operation of deleting unnecessary data from the distance image 8.

The plane distance image 81 and the plane distance image 82
Is a plane image obtained by orthogonally projecting the three-dimensional distance image 8 represented by the distance image data DS onto the XY plane and the YZ plane.

The reference plane 83a is provided with the distance image data D
This plane is parallel to the XY plane through the point 8m having the maximum value of Z in S. Here, the contour 8r in the distance image 8
Area where the variation of the Z value of the pixel is small (non-dispersion area)
For example, if it is known that this is the upper part of the face (broken line portion U in the figure), a plane passing through a point having the minimum value of Z in the non-dispersion area may be used as the reference plane 83a.

The boundary surface 83b is formed by moving the reference surface 83a in the Z direction and a Zd corresponding to the depth width of the processing target area of the workpiece 9.
It is a plane that has been translated only.

The reference plane 83a of the distance image 8
(Target section) S sandwiched by the boundary surface 83b
C is defined as an effective image 82a, and the target section S
Unnecessary image 82b (parallel shaded portion) is a portion existing outside C
As the distance image data DS corresponding to the unnecessary image 82a.
Remove. As a result, it is possible to easily delete data that extends beyond the depth width of the processing target area of the work 9 and perform data processing that effectively utilizes the processing target area of the work 9.

FIG. 18 shows a flowchart relating to the operation of the first embodiment.

In the first embodiment, two planes 83
Instead of a and 83b, a predetermined curved surface may be adopted as a reference surface or a boundary surface.

<Second embodiment (second of unnecessary data deletion)
Example) Also in the second embodiment, unnecessary data in the distance image data DS is deleted using the three-dimensional model creating apparatus 1 having the above-described configuration. In the second embodiment, in addition to the operation of the first embodiment, an operation of determining whether a deletion area as unnecessary data is appropriate is added. Hereinafter, an operation according to the second embodiment will be described.

First, using the initially set width Zd,
Similar to the first embodiment, the distance image 8 is divided into an effective image 82a and an unnecessary image 82b (see FIG. 5).

Next, as shown in FIG. 6, the projected area A of the projected image 81a obtained by orthogonally projecting the three-dimensional effective image 82a and the unnecessary image 82b onto the XY plane is calculated. Then, the ratio R = (A / A0) of the projected area of the projected image 81a to the projected area A0 (total area of the projected image 81a and the projected image 81b) obtained by projecting the entire image of the distance image 8 on the XY plane is calculated. This area ratio R is equal to a predetermined threshold T
If it is larger than H (for example, 90%), data deletion similar to that of the first embodiment is performed using this Zd. Here, when the area ratio R is smaller than the threshold value TH, the width Zd is increased by a predetermined change value (for example, Zd / 10), and the boundary surface 83b with respect to the reference surface 83a is reset, and The area ratio R is calculated again. And
The calculation of the area ratio R is repeated until the area ratio R becomes larger than the threshold value TH, and the distance image data DS is deleted based on the value of the width Zd when the area ratio R becomes larger than the threshold value TH.

As a result, similarly to the effect of the first embodiment, data processing that effectively utilizes the processing target area of the work 9 can be performed. Furthermore, in the second embodiment, excessive deletion of the distance image data DS can be prevented.

FIG. 19 shows a flowchart relating to the operation of the second embodiment.

<Third Embodiment (Third Embodiment of Deleting Unnecessary Data)
Example) Also in the third embodiment, unnecessary data in the distance image data DS is deleted using the three-dimensional model creation device 1 having the above-described configuration. This operation is performed by operating the mouse 6 by the user himself while checking the display on the display 4.

FIG. 7 is a diagram showing an example of a display on the display 4 relating to an operation of deleting unnecessary data of a distance image.

First, as shown in FIG. 7A, planar distance images 81 and 82 of a three-dimensional distance image viewed from two desired viewpoints, for example, from the front and right are displayed on the display 4. As shown in FIG. 8, the plane distance images 81 and 82 are subjected to gradation display in which the brightness decreases as the Z value increases in the distance images, so that the distance images can be easily recognized visually. Note that a gradation display in which the color is changed according to the distance (coordinate) of the Z value may be performed.

Note that the screen shown in FIG.
As shown in FIG. 7B, “front”, “rear”, “right”, “left”
The viewpoint may be selected by clicking a predetermined button with the mouse 6 from the buttons representing the six viewpoints “up” and “down”. Specifically, the distance image 81 viewed from the front is selected by clicking the “front” button 41a, and the distance image 82 viewed from the right is selected by clicking the “right” button 41b.

As shown in FIG. 7C, the mouse 6
By pressing the left button of the button, “front”, “back”, “right”, “left”
The distance image 81 whose viewpoint has been changed in the order of "up" and "down",
82 may be displayed. The mark 42 in the figure indicates that the viewpoint can be changed by the button of the mouse 6.

Next, as shown in FIG.
A method of designating a region to be deleted with respect to the plane distance images 81 and 82 displayed by the device operation will be described. In FIG. 8, for convenience, the images of the faces shown in FIGS. 9 to 11 are indicated by elliptical spheres.

First, a pen 43 is displayed on the display 4 as shown in FIG. Then, the pen 43 is moved by the operation of the mouse 6 to designate a deletion portion 82b (black portion) of the distance image to be deleted as shown in FIG. 9B. When the area to be deleted is determined, the data of the deleted portion 82b in the distance image 8 is deleted by pressing the mouse 6 button. In addition, in order to reflect the area designated by the plane distance image 82 on the plane distance image 81, the corresponding portion 81b is highlighted to facilitate the user's visual recognition.

Note that, as shown in FIG.
3, a rectangle 44 displayed by a drag operation of the mouse 6 is used to delete a deleted portion 82 in the distance image 8.
b may be deleted.

Further, as shown in FIG.
Instead of 3, the boundary line 45 may be moved by operating the mouse 6 to delete the deleted portion 82b in the distance image 8.

By the above operation, desired data can be deleted from the distance image, and data processing that effectively utilizes the processing target area of the work 9 can be performed.

FIG. 20 shows a flowchart relating to the operation of the third embodiment.

<Fourth Embodiment (First Example of Rotating Operation)> The fourth embodiment corresponds to the first example of step S73 in FIG. 4, and uses the three-dimensional model forming apparatus 1 having the above-described configuration. This is an operation of rotating the distance image. This operation is automatically performed by the controller 51 of the data processing device 5.

FIG. 12 is a conceptual diagram illustrating the rotation operation of the distance image.

Here, an operation of rotating the distance image 8 by a predetermined angle α in a predetermined direction (for example, a rotation direction in the XY plane) around a fixed point in three-dimensional coordinates, for example, the viewpoint 0v is performed. This angle α is calculated by a geometric calculation based on the inclination when the inclination of the subject with respect to the processing reference surface 9s of the work 9 can be assumed.
In addition, statistical calculation is performed in advance based on a plurality of photographing results.

Thus, even if the plane distance image 82 is inclined with respect to the processing reference plane 9s (FIG. 1) as shown in FIG. Thus, the direction of the distance image can be appropriately adapted to the processing reference plane 9s. As a result, the distance image can be fitted to the work 9, and data processing that effectively utilizes the processing target area of the work 9 can be performed.

FIG. 21 shows a flowchart relating to the operation of the fourth embodiment.

<Fifth Embodiment (Second Example of Rotating Operation)> In the operation according to the fifth embodiment, the distance image is rotated using the three-dimensional model creating apparatus 1 having the above-described configuration. This operation is automatically performed by the controller 51 of the data processing device 5.

FIG. 14A is a conceptual diagram for explaining the rotation operation of the distance image.

First, from the center of gravity G on the distance image 8 to the viewpoint Ov
Is obtained. In addition, not from the center of gravity G,
A straight line passing through the viewpoint Ov may be obtained from a feature point (for example, an eye, a nose tip, or the like) of the object serving as a model of the distance image 8.

Next, an angle β for matching the straight line 85 with the line of sight Lv extending from the viewpoint Ov is determined. Here, the line of sight Lv is, as shown in FIG. 14B, the center 3 of the CCD 35 for three-dimensional imaging in the three-dimensional imaging device 31.
5c and a straight line connecting the center 36c of the lens 36.
Based on the angle β, data conversion for rotating the distance image 8 about the viewpoint Ov is performed.

As a result, as shown in FIG.
The data processing can be performed to effectively utilize the processing target area of the work 9.

FIG. 22 shows a flowchart relating to the operation of the fifth embodiment.

<Sixth Embodiment (Third Example of Rotating Operation)> In the operation according to the sixth embodiment as well, the distance image is rotated using the three-dimensional model creating apparatus 1 having the above-described configuration. This operation is automatically performed by the controller 51 of the data processing device 5.

FIG. 15 is a conceptual diagram illustrating the rotation operation of the distance image.

First, a plane 8p that fits the contour 8f of the distance image 8 is obtained by using the least squares method or the like. Then, a perpendicular line 86 is drawn from the viewpoint Ov to the plane 8p.

Next, an angle γ for making the perpendicular 86 coincide with the line of sight Lv passing through the viewpoint Ov is determined. Based on the angle γ, data conversion for rotating the distance image 8 about the viewpoint Ov is performed.

As a result, as shown in FIG.
The data processing can be performed to effectively utilize the processing target area of the work 9.

FIG. 23 shows a flowchart relating to the operation of the sixth embodiment.

<Seventh Embodiment (Third Example of Rotating Operation)> Also in the operation according to the seventh embodiment, the distance image is rotated by using the three-dimensional model creating apparatus 1 having the above-described configuration. This operation is performed by operating the mouse 6 by the user himself while checking the display on the display 4.

FIG. 16 is a diagram for explaining the rotation operation of the distance image.

First, as shown in FIG. 16 (b), planar distance images 81 and 82 of a three-dimensional distance image viewed from two predetermined viewpoints, specifically, from the front and right are displayed on the display 4. .

Here, by operating the button of the mouse 6,
The distance image 8 is rotated about the horizontal axis as shown in FIG. 16A as the plane distance images 81s and 82s, or the distance image 8 is shown as the plane distance images 81t and 82t shown in FIG. Is rotated about a vertical axis.

If a desired rotation is obtained in the distance image 8 by such a mouse operation, pressing the button of the mouse 6 determines the rotation angle and performs data conversion for rotating the distance image 8 three-dimensionally. Will be

By the above operation, desired rotation can be performed on the distance image, and data processing that effectively utilizes the processing target area of the work 9 can be performed.

FIG. 24 shows a flowchart relating to the operation of the seventh embodiment.

<Eighth Embodiment (Example of Depth Scaling)> The eighth embodiment corresponds to the example of depth compression (generally depth scaling) in step S74, and the three-dimensional model creating apparatus having the above-described configuration is used. 1, the distance image is compressed in the depth direction. This operation is performed by operating the mouse 6 by the user himself while checking the display on the display 4.

FIG. 17 is a diagram for explaining the compression operation of the distance image.

First, as shown in FIG. 17A, a plane distance image 82 is displayed on the display 4, and three areas Ra, Rb, and Rc are divided into two areas.
The two border lines 46a and 46b are displayed. Further, a compression ratio display 47 for each area is performed.

Then, as shown in FIG.
, The boundary line 46b moves in parallel in the Z direction, and the areas Ra, Rb, and Rc having desired sizes can be set. By inputting a numerical value into the compression ratio display 47, a desired compression ratio can be set for each of the areas Ra, Rb, and Rc. The compression ratio for each of the areas Ra, Rb, Rc may be different from each other, or may be the same as each other.

Next, when the button of the mouse 6 is pressed, the distance image is compressed in the depth direction (Z direction) at the compression ratio set for each of the areas Ra, Rb and Rc as shown in FIG. Is done. Here, the depth of the compressed distance image corresponds to the depth of the processing target area of the work 9.

As a result, the distance image can be fitted to the work 9 and data processing for effectively utilizing the processing target area of the work 9 can be performed.

FIG. 25 shows a flowchart relating to the operation of the eighth embodiment.

The area division in the eighth embodiment is not necessarily three, but may be two or four or more.

When the depth of the processing target area of the work 9 is larger than the depth of the distance image, it is desirable to perform data processing for expanding the distance image.

[0105]

As described above, according to the first to eleventh aspects of the present invention, since data processing is performed on a distance image according to a work target area of a work, the work target area of the work is effectively used. it can.

In particular, according to the second aspect of the present invention, the two parts separated from each other by a width corresponding to the depth of the processing target area of the work.
Since the data existing outside the section between the surfaces is deleted, the data of the distance image can be easily deleted.

According to the third aspect of the present invention, whether data is deleted using the ratio of the projected area of the effective image data to the predetermined plane to the projected area of the range image data to the predetermined plane. Is determined, the excessive deletion of the distance image data can be prevented.

According to the seventh aspect of the present invention, since the distance image is rotated so that a straight line connecting a specific point and a predetermined viewpoint in the distance image coincides with the line of sight, the rotation of the distance image can be simplified. .

According to the eighth aspect of the present invention, since the distance image is rotated so that a perpendicular from a predetermined viewpoint with respect to the plane to which the contour line of the distance image is adapted coincides with the line of sight, the distance image is rotated. Can do properly.

[Brief description of the drawings]

FIG. 1 is an external view of a three-dimensional model creation device 1 in which a three-dimensional data processing device according to the present invention is incorporated.

FIG. 2 is a functional block diagram of the three-dimensional model creation device 1.

FIG. 3 is a flowchart illustrating an outline of an operation of the three-dimensional model creation device 1.

FIG. 4 is a flowchart illustrating an operation of a data adjustment process.

FIG. 5 is a conceptual diagram illustrating an operation of deleting unnecessary data from a distance image.

FIG. 6 shows an effective image 82a and an unnecessary image 8 in the distance image.
2b is an orthographic projection of FIG.

FIG. 7 is a diagram illustrating an example of display on the display 4 according to an operation of deleting unnecessary data of a distance image.

FIG. 8 is a diagram showing a gradation display of a distance image.

FIG. 9 is a diagram illustrating an operation of deleting unnecessary data from a distance image.

FIG. 10 is a diagram illustrating an operation of deleting unnecessary data of a distance image.

FIG. 11 is a diagram illustrating an operation of deleting unnecessary data from a distance image.

FIG. 12 is a conceptual diagram illustrating a rotation operation of a distance image.

FIG. 13 is a diagram illustrating adaptation of a distance image to a processing reference plane 9s.

FIG. 14 is a conceptual diagram illustrating a rotation operation of a distance image.

FIG. 15 is a conceptual diagram illustrating a rotation operation of a distance image.

FIG. 16 is a diagram illustrating a rotation operation of a distance image.

FIG. 17 is a diagram illustrating a compression operation of a distance image.

FIG. 18 is a flowchart related to the operation of the first embodiment.

FIG. 19 is a flowchart according to the operation of the second embodiment.

FIG. 20 is a flowchart related to the operation of the third embodiment.

FIG. 21 is a flowchart relating to the operation of the fourth embodiment.

FIG. 22 is a flowchart related to the operation of the fifth embodiment.

FIG. 23 is a flowchart related to the operation of the sixth embodiment.

FIG. 24 is a flowchart related to the operation of the seventh embodiment.

FIG. 25 is a flowchart related to the operation of the eighth embodiment.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 solid model creating device 3 photographing device 4 display 5 data processing device 8 distance image 9 work 9 s processing reference plane 21 processing device 81, 82 plane distance image

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2F065 AA04 AA06 AA53 BB05 CC16 EE00 FF01 FF02 FF04 FF09 HH05 JJ03 JJ05 JJ26 LL04 NN20 QQ00 QQ03 QQ21 QQ23 QQ24 QQ25 QQ26 SS02 SS13 5B050 BA09 DA09 FA07 HH24 HH28 HH29 JJ50 KK54

Claims (11)

[Claims] 1. Three-dimensional data representing an object is generated based on distance image data representing a distance from a predetermined viewpoint to each part of a facing object facing the three-dimensional object. A three-dimensional data processing apparatus for obtaining information for: (a) deleting a part of the distance image data according to a processing target area of the work, thereby converting the converted distance image data Converting means for obtaining; (b) means for using the converted distance image data to generate three-dimensional data as processing information of the work;
A three-dimensional data processing device comprising: 2. The three-dimensional data processing device according to claim 1, wherein the conversion unit is configured to: (a-1) mutually exchange the distance image data by a width corresponding to a depth of a processing target area of the work. And (a-2) in the distance image data, deleting data existing outside the section between the two surfaces, and thereby converting the distance image. And a means for obtaining data. 3. The three-dimensional data processing apparatus according to claim 1, wherein the conversion unit is configured to: (a-3) mutually exchange the distance image data by a width corresponding to a depth of a processing target area of the work. Means for defining two planes apart from each other; (a-4) means for defining, in the distance image data, data existing within a section between the two planes as effective image data; 5) means for calculating the ratio of the projected area of the effective image data projected on the predetermined plane to the projected area of the distance image data projected on the predetermined plane, and (a-6) the ratio is a predetermined area. Determining means for determining whether it is greater than a threshold, and (a-7) if the ratio is greater than the predetermined threshold,
Means for deleting data existing outside the section between the two planes and, if the ratio is smaller than the predetermined threshold, changing the width and redefining the two planes; A three-dimensional data processing device, comprising: 4. The three-dimensional data processing device according to claim 1, wherein the conversion unit comprises: (a-8) an operation input unit; and (a-9) an operation input unit, Means for specifying a partial data range. 5. A three-dimensional data representing the object is generated based on a distance image representing a distance from a predetermined viewpoint to each part of the opposed surface of the three-dimensional object. A three-dimensional data processing apparatus that obtains information for: (a) rotating the distance image so as to conform to a reference plane in a processing target area of the work, thereby obtaining a converted distance image And (b) means for using the converted distance image to generate three-dimensional data as processing information of the workpiece. 6. The three-dimensional data processing device according to claim 5, wherein the conversion unit rotates the distance image by a predetermined angle around a fixed point. 7. The three-dimensional data processing apparatus according to claim 5, wherein the conversion unit includes: (a-1) a unit that defines a straight line connecting a specific point in the range image and the predetermined viewpoint; (a-2) means for rotating the distance image so that the line of sight passes the line of sight passing through the predetermined viewpoint, thereby obtaining a converted distance image, thereby providing a three-dimensional image. Data processing device. 8. The three-dimensional data processing apparatus according to claim 5, wherein the converting means comprises: (a-3) a plane to which a contour line of the distance image fits;
Means for defining a perpendicular from the predetermined viewpoint, (a-4) causing the rotation of the distance image to match the perpendicular to the line of sight passing through the predetermined viewpoint, thereby converting the converted distance image Means for obtaining the three-dimensional data. 9. The three-dimensional data processing device according to claim 5, wherein the conversion unit comprises: (a-5) an operation input unit; and (a-6) an operation input unit in response to an operation of the operation input unit. Means for rotating the distance image to obtain a converted distance image, thereby obtaining a converted distance image. 10. A three-dimensional data representing the object is generated based on a distance image representing a distance from a predetermined viewpoint to each part of the facing surface of the three-dimensional object. (A) dividing means for dividing the distance image into a plurality of regions by a boundary surface orthogonal to a depth direction of the distance image, and (b) the boundary Changing means for changing the position of the line; (c) converting the plurality of areas in the depth direction at a predetermined magnification, thereby obtaining a converted distance image, (d) Means for generating three-dimensional data as processing information of the work using the converted distance image. 11. The three-dimensional data processing device according to claim 10, wherein the conversion unit comprises: (c-1) an operation input unit; and (c-2) an operation input unit, A means for setting a predetermined magnification.