JP2003216970A - Device, system, method and program for three-dimensional image processing - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve a problem of a conventional three-dimensional image processing device that reproduction of the texture or glossiness of an object has not been taken into consideration. <P>SOLUTION: The three-dimensional data 3 of a real object and the surface attribute data 1 of the real object are obtained, and the three-dimensional data and the surface attribute data are integrated to prepare the three-dimensional integrated data 5. More specifically, in obtaining the surface attribute data, the surface attribute (such as the color and the reflection characteristic of the object) of the real object are estimated based on the actual data obtained from the taken image of the real object and the surface attribute data are prepared based on the estimation. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional image processing apparatus, method and program for generating a three-dimensional image in which the shape, color, texture and the like of a target real object are reproduced more realistically. .

[0002]

2. Description of the Related Art Conventionally, as an image processing apparatus for inputting three-dimensional information (shape, surface attribute) of a real object, a method using a contact type position sensor is known. In this method, the probe is brought into contact with each point of the object, the three-dimensional position coordinates of the probe are detected by a position sensor, and the three-dimensional position information of each point of the object is input.

However, in the method using the contact-type position sensor, the probe has to be brought into contact with each point of the object. Therefore, the object to be measured is limited to an object having a certain strength, and is used for measurement. There are restrictions such as requiring a certain amount of time.

A non-contact type three-dimensional measuring device is also known. Since this non-contact type three-dimensional measuring device is capable of higher-speed measurement than the contact type, it is used for data input to a CG system or CAD system, body measurement, and visual recognition of a robot.

As a non-contact three-dimensional measurement method, a slit light projection method (also called a light section method) and a pattern projection method are known. These methods are active measurement in which a specific reference light (also referred to as detection light) is applied to a measurement target to obtain a distance image (also referred to as three-dimensional image, three-dimensional data, or three-dimensional shape data) based on the principle of triangulation measurement. It is a kind of method.

In the slit light projection method, a measuring object is scanned by irradiating and deflecting slit light. Moreover, in the pattern projection method, a plurality of two-dimensional pattern lights are sequentially irradiated. The obtained distance image is a set of pixels indicating the three-dimensional positions of a plurality of parts on the measurement target.

In such a three-dimensional measuring apparatus, a distance measuring optical system for obtaining a distance image of the object to be measured and a color optical system (also called a monitor optical system) for acquiring texture information on the surface of the object. And are provided.

The distance measuring optical system includes a light projecting unit for irradiating the measurement target object with the reference light, a light receiving sensor for receiving the reflected light of the reference light by the measurement target object, and the like. Three-dimensional shape data is calculated based on the output from the light receiving sensor.

The color optical system includes an image sensor for picking up a color image (also referred to as a monitor image, two-dimensional image, two-dimensional data, or two-dimensional image data) of the same object to be measured. The color image obtained by the color optical system is used to acquire the texture information of the surface of the target object, and the range of the distance image obtained by the distance measurement is confirmed in advance when the measurement by the distance measuring optical system is started. Used for. Further, when the obtained distance image is corrected, it is also used for specifying the corrected portion.

[0010]

However, in the conventional three-dimensional image processing apparatus, reproduction of the texture and glossiness of the target object is not considered. Moreover, when the shape, position, and color of the illumination light source differ between the shooting environment and the reproduction environment, the state of specular reflection on the target object changes, which greatly changes the appearance. When the image processing device is used, it is difficult to accurately convey the texture and glossiness of the target object.

Therefore, it is an object of the present invention to provide a three-dimensional image processing apparatus, method and program capable of generating a three-dimensional image that more realistically reproduces the texture, glossiness, stereoscopic effect, etc. of an actual object. .

[0012]

In order to achieve the above object, the present invention obtains three-dimensional shape data of a real object and surface attribute data of the real object to obtain the three-dimensional shape data and the surface. Three-dimensional integrated data is generated by integrating the attribute data.

More specifically, in the acquisition of the surface attribute data, for example, the surface attributes (color and reflection characteristics of the object) of the real object are estimated based on actual measurement data obtained from a photographed image of the real object. Generate surface attribute data.

By thus generating the three-dimensional integrated data including the surface attribute data of the real object, not only the shape / texture / color of the real object, but also the texture, gloss feeling of the real object,
It is possible to create a three-dimensional image that more realistically reproduces a three-dimensional effect.

Further, in the present invention, the integrated data of the three-dimensional shape data and the surface attribute data acquired from the real object and the observation environment of the three-dimensional image set according to the operation of the image observer (position of the illumination light source, A three-dimensional image of a real object under a set observation environment is generated based on data such as color, shape, direction, and observer position and direction.

This makes it possible to create a three-dimensional image that more realistically reproduces the texture, glossiness, stereoscopic effect, etc. of the real object in a manner that reflects the observation environment.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION (First Embodiment) FIG. 1 shows the configuration of a three-dimensional image processing system according to the first embodiment of the present invention. The three-dimensional image processing system of this embodiment sets an illumination environment used for observation arbitrarily when reproducing a target object (real object) captured as an image, and sets the position and orientation of the target object in the observation space. By freely changing with, the three-dimensional image of the target object under the desired observation environment is displayed and printed out.

This three-dimensional image processing system includes a three-dimensional shape acquisition unit 3 for acquiring three-dimensional shape data of a target object, a surface attribute acquisition unit 1 for acquiring surface attribute data such as color, gloss, and texture of the target object. A three-dimensional image processing apparatus 10 having a three-dimensional data integration unit 5 that integrates these three-dimensional data, and an operation unit 9 that sets an observation environment during reproduction are provided.
It is composed of an arbitrary environment image generation device 7 that constructs a three-dimensional image of the target object based on the observation environment at the time of reproduction, and an image output device 11 that displays and prints out the three-dimensional image.

The three-dimensional shape acquisition unit 3 uses a laser radar method,
Three-dimensional solid shape model data is generated from actual measurement data obtained from a three-dimensional measuring device using a slit light projection method, a pattern projection method, or the like. Here, the three-dimensional solid shape model data can be expressed as, for example, a surface model using polygons or a set of surface shape elements having different shapes.

The surface attribute acquisition unit 1 obtains image data obtained from an image input device such as a digital still camera, a video camera, a multi-spectral camera, etc., which photoelectrically converts an optical image into image data and inputs the image data and the three-dimensional shape acquisition unit 3. Using the three-dimensional shape model data obtained by, the surface attribute parameters related to the color, gloss, and texture of the target object are estimated, and the surface attribute data is generated.

From the surface attribute data, the position / spreading / shape / intensity of the specular reflection in the reproduced image according to the observing environment such as the positional relationship among the target object / illumination light source / viewpoint at the time of reproduction and the color / brightness / shape of the illumination light source. Etc. can be changed, and the texture, glossiness, stereoscopic effect, etc. of the target object can be expressed in a more realistic manner.

The three-dimensional measuring device for generating the three-dimensional shape model data and the image input device for generating the surface attribute data may be separate or integrated.

The three-dimensional data integration unit 5 integrates the three-dimensional shape model data obtained by the three-dimensional shape acquisition unit 3 and the surface attribute data obtained by the surface attribute acquisition unit 1,
Create three-dimensional integrated data of the target object.

The observer also sets the observation environment such as desired illumination conditions and the position and orientation of the target object using the operation unit 9.

The arbitrary environment image generation device 7 constructs a three-dimensional image of the target object in the observation environment desired by the observer according to the observation environment data set by the operation unit 9.

The image output device 11 is composed of a TV monitor, a printer and the like, and displays and prints out the three-dimensional image constructed by the arbitrary environment image generation device 7.

FIG. 2 is a schematic view of an apparatus for acquiring a three-dimensional shape and a surface attribute according to this embodiment. Target object 2
1 is placed on a rotatable stage 25 and rotates about a rotation shaft 26. Rotation axis 2 in measurement environment
The position of 6 and its rotation angle are known.

The illumination light source 27 is an illumination used for obtaining the surface attribute, and the illumination light spectrum, the light intensity, the illumination light shape, the number, and the position in the measurement environment are known.

Three-dimensional measuring device 22 and image input device 2
3 is arranged at a position distant from the target object 21, rotates the target object 21 about the rotation axis 26, and performs three-dimensional shape measurement and image input (imaging) at constant angles. The three-dimensional measuring device 22 and the image input device 23 may be integrated.

FIG. 3 is a diagram showing an example of the three-dimensional integrated data created by the three-dimensional data integrating section 5. The three-dimensional integrated data has a data structure in which three-dimensional coordinates of one vertex of the target object and surface attribute parameters such as object color information and reflection characteristic information are stored as one data element, and this data element is set on the target object. The structure is prepared only for the number of vertices.

Each time a data element corresponding to a new vertex is generated and added as an element of the three-dimensional integrated data, the number of elements of the three-dimensional integrated data is expanded.

This three-dimensional integrated data is placed in the memory (not shown) of the apparatus 10 during the acquisition of the three-dimensional shape and the acquisition of the surface attributes, and when the acquisition of the three-dimensional shape and the acquisition of the surface attributes is completed, a hard disk or the like is obtained. Stored in a storage medium (not shown).

Next, the surface attribute estimation processing performed in the surface attribute acquisition unit 1 of this embodiment will be described with reference to the flowchart of FIG. Here, the reflected light on the surface of the object is 2
The characteristic of the dichroic reflection model that it can be divided into two is used. Thus, the surface attribute at each vertex can be estimated by analyzing the change in the brightness / color of the corresponding point of each vertex in the measured data measured under a plurality of environments.

When the surface attribute estimation process is started (step <abbreviated as S in the figure> 1), the surface attribute acquisition unit 1 firstly determines the three-dimensional measuring device 22 and the image for each vertex on the surface of the target object. Of the actual measurement data (S3) input from the input device 23, data that lacks information or contains a large error due to the effects of noise, shadow, occlusion, color mixture, etc. is removed, and the actual measurement data is selected. (S5).

Then, only the selected actual measurement data is used to extract the data of only the diffuse reflection component (S7). Then, of the surface attribute parameters, parameters corresponding to the object color are estimated from the extracted data (S9).

Next, the specular reflection component is separated from the data including the specular reflection component (S11), and the parameter corresponding to the reflection characteristic of the surface attribute parameters is estimated (S1).
3).

By performing the above process for each vertex, the surface attribute parameter at each vertex is estimated, and when the estimation of the entire surface of the target object is finished (S15), the surface attribute estimation process is finished (S17).

Next, in the present embodiment, the processing in the arbitrary environment image generating device 7 for constructing the three-dimensional image of the target object under the observation environment desired by the observer will be described with reference to FIG. To do.

The observer uses the illumination light setting unit 37 (displayed) provided in the operation unit 9 to determine the position, brightness and shape (point light source, line light source, illumination light source) of the illumination light source (virtual light source) that illuminates the target object. Surface light source, parallel light, etc.) and color. Here, it is also possible to set a plurality of illumination light sources. As a result, an arbitrary brightness in the observation space,
One or more illumination sources of different shapes and colors can be placed at any location, as shown at 33.

Further, the observer uses the target object arrangement setting unit 35 (displayed) provided in the operation unit 9 to move the target object up and down, left and right, front and back in three dimensions and to set an arbitrary axis. Set the rotation angle around. As a result, in the observation space, the target object can be moved and rotated in any direction as indicated by reference numeral 31, and the target object can be observed from the desired direction.

The arbitrary environment image generation device 7 is an image of the target object under the observation environment desired by the observer according to the observation environment data set by the illumination light setting unit 37 and the target object arrangement setting unit 35 of the operation unit 9. Is constructed and output to the image output device 11. As a result, the position, spread, shape, intensity, etc. of specular reflection in the reproduced image can be changed according to the observation environment such as the target object, illumination light source, viewpoint positional relationship set by the observer, and the color, brightness, and shape of the illumination light source. It is possible to obtain a three-dimensional image that more realistically expresses the texture, glossiness, and stereoscopic effect of the target object.

As described above, in the present embodiment, the three-dimensional shape data and the surface attribute data are acquired from the measured data of the target object, integrated as the three-dimensional integrated data, and further under the observation environment set by the observer. Since the image of the target object is constructed, the observer can observe a three-dimensional image that more realistically reproduces the texture, glossiness, and stereoscopic effect of the target object.

In addition, the surface attribute acquisition unit 1 can improve the accuracy of the surface attribute estimation by performing the selection process of the input measured data, and can create a more realistic three-dimensional image. it can.

(Second Embodiment) In this embodiment, the system configuration for acquiring the three-dimensional shape data and surface attribute data described in the first embodiment is replaced as follows.

FIG. 6 shows a schematic configuration of the three-dimensional image processing system of this embodiment. The target object 51 is placed on a computer controllable rotary stage 55,
It continuously rotates about the rotary shaft 56 at an angle instructed by the computer 59. Rotating axis 5 in measurement environment
The position of 6 is known.

The illumination light source 57 is an illumination used when acquiring the surface attribute, and one or a plurality of illumination light sources are arranged, and according to a command from the computer 59, the illumination light spectrum, the light intensity, the illumination light shape, the number, the measurement environment. It is possible to control the position at.

Three-dimensional measuring device 52 and image input device 5
3 is arranged at a position distant from the target object 51, and can move to an arbitrary position in the measurement space and input data by a command from the computer 59.

The computer 59 includes a rotary stage 55,
After the command is sent to the illumination light source 57 to determine the measurement environment, the command is sent to the three-dimensional measuring device 52 and the image input device 53 to perform three-dimensional shape measurement and image input (imaging). Here, the three-dimensional measuring device 52 and the image input device 53 may be integrated.

Further, three-dimensional shape data and surface attribute data are acquired from this measured data to create three-dimensional integrated data.

In order to improve the accuracy of the three-dimensional shape measurement and the surface attribute estimation, the positions of the target object and the three-dimensional measuring device 52 and the image input device 53 depending on the complexity of the shape of the target object and the degree of occlusion. The relationship and the rotation angle pitch of the rotary stage 55 are set to optimal values, the similarity between the color of the illumination light source 57 and the color of the target object 51, the diffuse reflection component and the specular reflection component of the reflected light from the target object 51. , The state of peak value of specular reflection component, the uniformity of color distribution of corresponding points, etc.
It is necessary to set the positional relationship between the No. 3 and the illumination light source 57, the color / intensity / shape of the illumination light, and the number of light sources to optimal values.

In the present embodiment, by performing computer control, the arrangement of the target object 51, the image input device 53, the illumination light source 57 and the setting of the characteristics of the illumination light source 57 suitable for the shape and surface attribute of the target object 51 are realized. It is possible to improve the accuracy of three-dimensional shape measurement and surface attribute estimation.

The surface attribute estimation processing and the processing relating to the creation / output of the arbitrary environment image are the same as those in the first embodiment.

As described above, according to the present embodiment, the computer 59 as a control unit that can arbitrarily change the position, color, brightness, shape, and number of the illumination light sources 57.
By including, it is possible to input more useful actual measurement data that is less susceptible to noise, shading, occlusion, color mixture, etc., and improve the accuracy of three-dimensional shape measurement and surface attribute estimation. Therefore, it is possible to create a more realistic three-dimensional image. Further, the computer 59 drives the rotary stage 55 and the illumination light source 5
7. By collectively controlling the three-dimensional measuring device 52 and the image input device 53, the three-dimensional shape and the surface attribute can be acquired efficiently and accurately.

(Third Embodiment) In this embodiment, the system configuration for acquiring the three-dimensional shape data and surface attribute data described in the first embodiment is replaced as follows.

The three-dimensional integrated data in this embodiment is
Although it is similar to that described with reference to FIG. 3 in the first embodiment, the constituent unit of each data element is expanded from the vertex unit of the first embodiment to the microfacet unit. That is, the three-dimensional integrated data has a structure in which one data element has a data structure for storing three-dimensional position data and surface attribute data of a minute surface, and the data elements are prepared by the number of minute surfaces.

The minute surface which becomes the data element is generated by integrating the neighboring vertices or minute surfaces having similar surface attribute data. Further, the three-dimensional position data of the minute surface is represented by, for example, the coordinates of the three vertices of a triangle and the normal vector.

The surface attribute data of the minute surface is composed of object color information and reflection characteristic information, and is expressed in a parameter format or an image format corresponding to the minute surface. The number of elements of the three-dimensional integrated data is expanded each time a new minute surface is created and added as a component of the three-dimensional integrated data.

This three-dimensional integrated data is placed on the memory (not shown) of the apparatus during the acquisition of the three-dimensional shape and the surface attribute, and when the three-dimensional shape acquisition and the surface attribute acquisition are completed, the hard disk, etc. Stored in a storage medium (not shown).

As described above, in the present embodiment, as the three-dimensional integrated data, a plurality of regions having similar surface attribute data are partially integrated and expressed as one component, thereby reducing the data capacity. Therefore, it is very effective when it is stored in a storage medium such as a hard disk or when it is sent to a remote image reproduction place via a network as in the embodiment described later.

In this embodiment, the configuration of the three-dimensional image processing system in the first embodiment is replaced as follows.

FIG. 7 is a schematic diagram showing the system configuration of this embodiment. The place where the image is reproduced in the three-dimensional image processing system of the present embodiment is remote from the place where the data of the target object is taken in, and the image is reproduced using data transmission by the network.

The system of this embodiment includes a three-dimensional shape acquisition unit 63 for acquiring three-dimensional shape data of a target object, a surface attribute acquisition unit 61 for acquiring surface attribute data such as color, gloss, and texture of the target object, and these. 3D image processing apparatus 100 having a 3D data integration unit 65 that integrates the 3D data of 3 to create 3D integrated data 66 similar to that shown in FIG. 3, and the 3D image processing apparatus 100 and the network. 3D integrated data 66 transmitted through the network, including an operation unit 69 for setting an observation environment at the time of image reproduction, connected to the three-dimensional target object based on the observation environment at the time of image reproduction. An arbitrary environment image generation device 67 for constructing an image and an image output device 71 for displaying and printing out a three-dimensional image.

The three-dimensional shape acquisition unit 63 generates three-dimensional solid shape model data from data obtained from a three-dimensional measuring device using a laser radar method, a slit light projection method, a pattern projection method, or the like. Here, the three-dimensional solid shape model data can be expressed as, for example, a surface model using polygons or a set of surface shape elements having different shapes.

The surface attribute acquisition unit 61 photoelectrically converts an optical image into image data and inputs the image data, which is obtained from an image input device such as a digital still camera, a video camera, or a multispectral camera, and a three-dimensional shape acquisition unit 63.
Using the 3D solid shape model data obtained by
Surface attribute parameters relating to the color, gloss, and texture of the target object are estimated and surface attribute data is generated.

The surface attribute data allows the position, spread, and shape of the specular reflection in the reproduced image to be reproduced in accordance with the observation environment such as the positional relationship among the target object, the illumination light source, and the viewpoint when reproducing the image, and the color, brightness, and shape of the illumination light source. It is possible to change the strength and the like, and it is possible to more realistically express the texture, glossiness, and stereoscopic effect of the target object.

The three-dimensional measuring device for generating the three-dimensional solid model and the image input device for generating the surface attribute data may be separate or integrated.

The three-dimensional data integration unit 65 integrates the three-dimensional solid shape model data obtained by the three-dimensional shape acquisition unit 63 and the surface attribute data obtained by the surface attribute acquisition unit 61, and the third order of the target object is obtained. The original integrated data 66 is created. Further, the created three-dimensional integrated data 66 is transmitted through the network.

The observer sets a desired illumination condition and the observation environment such as the position and orientation of the target object using the operation unit 69. Then, the arbitrary environment image generation unit 67 receives the three-dimensional integrated data 66 transmitted through the network, and according to the observation environment data set by the operation unit 69, an image of the target object under the observation environment desired by the observer. To build.

The image output device 71 is composed of a TV monitor, a printer and the like, and displays and prints out the image constructed by the arbitrary environment image generation unit 67.

As described above, according to the present embodiment, by transmitting and receiving the three-dimensional integrated data via the network, the place where the data of the target object is taken in and the place where the image is reproduced are at remote locations. Even in such a case, it is possible to reproduce the three-dimensional image of the target object under the observation environment desired by the observer. Moreover, the reproduced image can be a more realistic reproduction of the texture, glossiness, and stereoscopic effect of the target object.

[0071]

As described above, according to the present invention,
Since the 3D integrated data including the surface attribute data of the real object is generated, the shape, texture,
It is possible to create a three-dimensional image that more realistically reproduces not only the color but also the texture, glossiness, and stereoscopic effect of the real object.

Further, in the present invention, the observation environment set based on the integrated data of the three-dimensional shape data and the surface attribute data and the observation environment data of the three-dimensional image set according to the operation of the image observer. Since the 3D image of the real object below is generated, it is possible to create a 3D image that more realistically reproduces the texture, glossiness, and stereoscopic effect of the real object in a form that reflects the observation environment. it can.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a configuration of a three-dimensional image processing system that is a first embodiment of the present invention.

FIG. 2 is a schematic diagram showing a configuration for acquiring three-dimensional shape data and surface attribute data in the three-dimensional image processing system.

FIG. 3 is a diagram showing an example of 3D integrated data generated in the 3D image processing system.

FIG. 4 is a flowchart showing surface attribute estimation processing in the three-dimensional image processing system.

FIG. 5 is a diagram showing an arbitrary environment image generation device and an operation unit in the three-dimensional image processing system.

FIG. 6 is a schematic diagram showing a configuration for acquiring three-dimensional shape data and surface attribute data in the three-dimensional image processing system according to the second embodiment of the present invention.

FIG. 7 is a schematic configuration diagram showing a configuration of a three-dimensional image processing system which is a fourth embodiment of the present invention.

[Explanation of symbols]

1 Surface attribute acquisition section 3 3D shape acquisition unit 5 3D data integration section 7 Optional environment image generator 9 Operation part 11 Image output device 21 target object 22 Three-dimensional measuring device 23 Image input device 25 rotation stage 26 rotation axis 27 Illumination light source 31 target object 33 Illumination light source 35 Target Object Placement Setting Section 37 Illumination light source setting section 51 target object 52 Three-dimensional measuring device 53 Image input device 55 rotation stage 56 rotation axis 57 Illumination light source 59 Computer 61 Surface attribute acquisition unit 63 Three-dimensional shape acquisition unit 65 3D Data Integration Department 66 three-dimensional integrated data 67 Arbitrary environment image generation unit 69 Operation part 71 Image output device

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Claims (27)

[Claims] 1. A three-dimensional image processing apparatus for obtaining data for creating a three-dimensional image of a real object from a real object, comprising: a three-dimensional shape acquisition unit for obtaining three-dimensional shape data of the real object; A surface attribute acquisition unit that obtains the surface attribute data of the real object, a three-dimensional shape by integrating the three-dimensional shape data obtained by the three-dimensional shape acquisition unit and the surface attribute data obtained by the surface attribute acquisition unit. A three-dimensional image processing device, comprising: a three-dimensional data integration unit that generates integrated data. 2. The surface attribute acquisition unit generates surface attribute data by estimating a surface attribute of the real object based on actual measurement data obtained from a captured image of the real object. The three-dimensional image processing device according to 1. 3. The surface attribute acquisition unit obtains diffuse reflection component data and specular reflection component data respectively from actual measurement data obtained from a photographed image of the real object, and based on these reflection component data, the real object of the real object is obtained. The three-dimensional image processing apparatus according to claim 2, wherein the reflection characteristic of the surface attributes is estimated. 4. The tertiary according to claim 2, wherein the surface attribute acquisition unit selects actual measurement data used for estimating a surface attribute from actual measurement data obtained from a captured image of the real object. Original image processing device. 5. The three-dimensional image processing apparatus according to claim 2, further comprising a control unit that changes a shooting environment of the real object according to an operation of an image observer. 6. The three-dimensional image processing apparatus according to claim 5, wherein the control unit changes at least one of a position, a color, and a shape of the light source as the photographing environment. 7. A three-dimensional image processing device for obtaining three-dimensional shape data and surface attribute data of the real object from a real object, and integrated data of the three-dimensional shape data and surface attribute data obtained by the three-dimensional image processing device. And an image generation device for generating a three-dimensional image of the real object under the set observation environment based on the observation environment data of the three-dimensional image set according to the operation of the image observer. A three-dimensional image processing system characterized by. 8. The three-dimensional integrated data is configured by integrating three-dimensional shape data and surface attribute data of each part on the real object from which the three-dimensional shape data and surface attribute data are acquired. The three-dimensional image processing system according to claim 7, which is characterized in that. 9. The three-dimensional integrated data includes three-dimensional shape data and surfaces of a plurality of parts having similar surface attribute data among the parts on the real object from which the three-dimensional shape data and surface attribute data are acquired. The three-dimensional image processing system according to claim 7, characterized in that a combination of attribute data is used as a constituent element. 10. A three-dimensional image processing method for obtaining data for creating a three-dimensional image of a real object from a real object, comprising: a shape data acquisition step for obtaining three-dimensional shape data of the real object; A surface attribute data acquisition step of obtaining surface attribute data of the body; and a three-dimensional data integration step of integrating data obtained in the shape data acquisition step and the surface attribute data acquisition step to generate three-dimensional integrated data, A three-dimensional image processing method comprising: 11. The surface attribute data is generated by estimating the surface attribute of the real object based on actual measurement data obtained from a photographed image of the real object in the surface attribute data acquisition step. Item 3. The three-dimensional image processing method according to Item 10. 12. In the surface attribute data acquisition step, diffuse reflection component data and specular reflection component data are respectively obtained from actual measurement data obtained from a photographed image of the real object, and the real object is obtained based on these reflection component data. The three-dimensional image processing method according to claim 10, wherein the reflection characteristic is estimated from among the surface attributes of. 13. The actual measurement data used for estimating the surface attribute from the actual measurement data obtained from the photographed image of the real object in the surface attribute data acquisition step, wherein the actual measurement data is selected. Three-dimensional image processing method. 14. The three-dimensional image processing method according to claim 11, further comprising a shooting environment setting step of changing a shooting environment of the real object according to an operation of an image observer. 15. In the photographing environment setting step,
15. The three-dimensional image processing method according to claim 14, wherein at least one of a position, a color, and a shape of the light source as the shooting environment is changed. 16. A data acquisition step of obtaining three-dimensional shape data and surface attribute data of this real object from a real object, integrated data of the three-dimensional shape data and surface attribute data obtained by this data acquisition step, and image observation. An image generation step of generating a three-dimensional image of the real object under the set observation environment based on the data indicating the observation environment of the three-dimensional image set according to the operation of the user. And a three-dimensional image processing method. 17. The three-dimensional integrated data is configured by integrating three-dimensional shape data and surface attribute data of each part on the real object from which three-dimensional shape data and surface attribute data are acquired. 16. The method according to claim 16,
The three-dimensional image processing method described in. 18. The three-dimensional integrated data includes three-dimensional shape data and surfaces of a plurality of parts having similar surface attribute data among the parts on the real object from which the three-dimensional shape data and the surface attribute data are acquired. The three-dimensional image processing method according to claim 16, characterized in that the attribute data is integrated. 19. A three-dimensional image processing program for operating a computer to obtain data for creating a three-dimensional image of a real object from the real object, wherein shape data acquisition for obtaining three-dimensional shape data of the real object. A step, a surface attribute data acquisition step for obtaining the surface attribute data of the real object, a third step for generating three-dimensional integrated data by integrating the data respectively obtained in the shape data acquisition step and the surface attribute data acquisition step A three-dimensional image processing program having an original data integration step. 20. In the surface attribute acquisition step,
20. The three-dimensional image processing program according to claim 19, wherein the surface attribute data is generated by estimating a surface attribute of the real object based on actual measurement data obtained from a captured image of the real object. 21. In the surface attribute acquisition step,
Diffuse reflection component data and specular reflection component data are respectively obtained from the actual measurement data obtained from the photographed image of the real object, and the reflection characteristics of the surface attributes of the real object are estimated based on these reflection component data. The three-dimensional image processing program according to claim 20. 22. In the surface attribute acquisition step,
The three-dimensional image processing program according to claim 20, wherein actual measurement data used for estimating a surface attribute is selected from actual measurement data obtained from a captured image. 23. The three-dimensional image processing program according to claim 20, further comprising a step of changing a shooting environment of the real object according to an operation of an image observer. 24. The three-dimensional image processing program according to claim 23, wherein in the surface attribute data acquisition step, at least one of a position, a color and a shape of a light source can be changed as the photographing environment. . 25. A three-dimensional image processing program for operating a computer, comprising: a data obtaining step of obtaining three-dimensional shape data and surface attribute data from a real object; and the three-dimensional shape data obtained by the data obtaining step, and A three-dimensional image of the real object under the set observation environment is generated based on the integrated data of the surface attribute data and the data indicating the observation environment of the three-dimensional image set according to the operation of the image observer. A three-dimensional image processing program, comprising: an image generating step. 26. The three-dimensional integrated data is configured by integrating three-dimensional shape data and surface attribute data of each part on the real object for which three-dimensional shape data and surface attribute data are acquired. 26. The method according to claim 25
The three-dimensional image processing program described in. 27. The three-dimensional integrated data includes three-dimensional shape data and surfaces of a plurality of parts having similar surface attribute data among respective parts on the real object from which the three-dimensional shape data and the surface attribute data are acquired. 26. The three-dimensional image processing program according to claim 25, wherein the attribute data is integrated to be a constituent element.