JP2018173275A - Notification device, notification processing program and notification processing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a notification device, a notification processing program and a notification processing method allowing a user to promptly know whether or not imaging can be performed under the imaging condition before imaging for measurement.SOLUTION: A stereo image on which a reinforcing bar arrangement is imaged is acquired, three-dimensional point group coordinates are generated based on the stereo image obtained, a plane formed by reinforcing bars constituting the reinforcing bar arrangement is specified based on the three-dimensional point group coordinates generated, it is determined whether measurement of the reinforcing bars is possible or not at the time of generating the three-dimensional point group coordinates or specifying the plane, and information indicating that measurement is impossible is notified if the measurement is determined to be impossible. If a generation of the three-dimensional point group coordinates is impossible, or if an inclination angle of the specified plane or a distance to the plane does not satisfy the first condition stored in a determination condition storage section, the condition being related to an inclination angle of or a distance to a plane formed by the plural of reinforcing bars constituting the reinforcing bar arrangement, the measurement of reinforcing bars is determined to be impossible.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an informing device, an informing processing program, and an informing processing method for informing whether or not the imaging for inspecting the arrangement of reinforcing bars can be appropriately performed.

  2. Description of the Related Art Conventionally, a bar arrangement inspection support system that inspects whether or not a completed shape is valid (whether a reinforcing bar is correctly arranged) in a construction of a reinforced concrete structure based on a captured image is known. Such a bar arrangement inspection support system images, for example, an imaging target region such as a column including a reinforcing bar with a stereo camera. A three-dimensional image is generated from the captured stereo image. Then, by comparing and collating the generated three-dimensional image or a confronting image obtained by direct conversion (projective conversion) of the three-dimensional image with design drawing information, it is determined whether or not the finished shape is valid.

  In such a bar arrangement inspection support system, when performing a bar arrangement measurement using a stereo camera, the measurement target plane is inclined more than the specified value, and the measurement target plane is not within the specified value. There may be cases where measurement conditions are not suitable, such as measurement being impossible or measurement accuracy being insufficient due to reasons such as (too far, too close). Such a measurement condition incompatibility is found as a bar arrangement measurement result after imaging, and therefore the user of the bar arrangement inspection support system needs to return to the site and perform imaging. And on the premise of the need for re-imaging, it is necessary to stop the construction work on site until the final confirmation, and the work is very inefficient. In addition, if the construction is proceeded quickly, the same on-site state cannot be imaged.

  Therefore, in order to determine whether or not measurement can be performed quickly on site, the user needs to know that measurement is possible in real time. For this reason, a technique for preventing re-imaging is disclosed. For example, a technology of a three-dimensional shape acquisition device that presents a three-dimensional shape reconstructed image to a user as an image viewed from various viewpoints and can easily and effectively determine the quality of the acquired image as a three-dimensional shape reconstructed image Is disclosed (for example, see Patent Document 1).

JP 2002-352271 A

  However, in the conventional technology as described above, since the quality of the captured image is determined after imaging under the imaging conditions for measurement, the user knows whether or not the imaging may be performed before imaging for measurement. There was a problem that it was not possible.

  The present invention has been made in view of the above-described situation, and a notification device and a notification process that enable a user to quickly know whether or not an image may be captured under the imaging conditions before imaging for measurement. An object is to provide a program and a notification processing method.

The present invention employs the following configuration in order to solve the above problems.
That is, according to one aspect of the present invention, the notification device of the present invention is a notification device for notifying information related to measurement related to reinforcing bars constituting a reinforcing bar, and acquires a stereo image obtained by imaging the reinforcing bar. An image acquisition means, a 3D point cloud coordinate generation means for generating a 3D point cloud coordinate based on the stereo image acquired by the image acquisition means, and a 3 generated by the 3D point cloud coordinate generation means When generating the three-dimensional point group coordinates by the plane specifying means for specifying the plane formed by the reinforcing bars constituting the bar arrangement based on the three-dimensional point group coordinates and the three-dimensional point group coordinate generating means, or When specifying the plane by the plane specifying means, the determination means for determining whether or not the reinforcing bar can be measured, and the measurement is impossible when the determination means determines that the measurement is impossible so Informing information indicating that, when the three-dimensional point group coordinate generation unit cannot generate the three-dimensional point group coordinates, the rebar measurement is impossible. It is determined that there is a plane formed by a plurality of reinforcing bars constituting the bar arrangement, in which the inclination angle of the plane specified by the plane specifying unit or the distance to the plane is stored in the determination condition storage unit. When the first condition regarding the inclination angle or the distance to the plane is not satisfied, it is determined that the measurement of the reinforcing bar is impossible.

  Moreover, the notification device of the present invention further includes a measuring unit that measures the reinforcing bar based on the plane information specified by the plane specifying unit, and the three-dimensional point group coordinate generating unit is configured to be used by the image acquiring unit. Three-dimensional point cloud coordinates are generated using the acquired stereo image as a first stereo image, and the determination unit can perform the measurement due to the first stereo image acquired by the image acquisition unit The image acquisition means newly acquires a second stereo image having a resolution higher than that of the first stereo image, and the three-dimensional point cloud coordinate generation means is determined by the image acquisition means. Based on the newly acquired second stereo image, three-dimensional point group coordinates are newly generated, and the plane specifying means is newly generated by the three-dimensional point group coordinate generating means. Based on the three-dimensional point group coordinates, a plane formed by reinforcing bars constituting the bar arrangement is newly specified, and the measuring means is based on the information on the plane newly specified by the plane specifying means. It is desirable to measure the reinforcing bars.

  In the notification device of the present invention, the image acquisition unit acquires a stereo image captured at a first resolution as the first stereo image, and the stereo image captured at the second resolution is the first resolution. It is desirable to obtain two stereo images, or to generate and obtain the first stereo image from the second stereo image.

  In addition, the notification device of the present invention further includes a measuring unit that measures the reinforcing bar based on the plane information specified by the plane specifying unit, and the plane specifying unit is provided by the three-dimensional point group coordinate generating unit. Sample the generated three-dimensional point group coordinates with a first number of samples and specify a plane by performing a step of calculating a plane parameter from the sampled three-dimensional point group coordinates a plurality of times. However, when it is determined that the measurement is possible based on the information of the plane specified by the plane specifying unit by performing the calculation of the plane parameter a plurality of times, the plane specifying unit A plane is newly specified with a second number of samples greater than the number, and the measuring means is configured to generate the iron based on the information on the plane newly specified by the plane specifying means. It is desirable to carry out the measurement.

  In addition, the notification device of the present invention further includes a measuring unit that measures the reinforcing bar based on the plane information specified by the plane specifying unit, and the plane specifying unit is provided by the three-dimensional point group coordinate generating unit. The generated three-dimensional point group coordinates are sampled with a predetermined number of samples, and the plane parameter is calculated from the sampled three-dimensional point group coordinates, and the plane is identified by performing the process a plurality of times. When the determination unit determines that the measurement is possible based on the plane information specified by the plane specification unit by performing the calculation of the plane parameter for the first number of times, the plane specification is performed. The means performs a second number of times for performing the step, which is larger than the first number, to newly specify a plane, and the measuring means newly determines the plane by the plane specifying means. I based on the information for that the plane, it is preferable to perform the measurement of the rebar.

  Further, in the notification device of the present invention, the three-dimensional point cloud coordinate generation unit performs a stereo matching process using the stereo image acquired by the image acquisition unit, and the plane specifying unit is operated by the image acquisition unit. An area where the reinforcing bars belonging to the specified plane are present due to the first stereo image obtained by using the acquired stereo image as a first stereo image, and the determination means includes the image When it is determined whether the measurement is possible due to the first stereo image acquired by the acquisition unit, the image acquisition unit newly acquires a second stereo image, and the 3 The dimension point group coordinate generation means is configured to acquire the first newly acquired image by the image acquisition means based on the area that has already been specified based on the first stereo image. The stereo matching processing range to be performed on the stereo image is set to a part of the processing range, and the newly acquired second stereo image is set to the set part of the processing range. The stereo matching process is performed only on the basis of the three-dimensional point cloud coordinates generated by performing the stereo matching process only on the set partial processing range. Therefore, it is desirable to newly determine whether or not the rebar can be measured.

  Further, in the notification device of the present invention, the plane specifying unit specifies the plane by calculating plane parameters from the three-dimensional point group coordinates generated by the three-dimensional point group coordinate generation unit, and the determining unit Determining whether or not the rebar can be measured based on the plane information specified using the plane parameter calculated by the plane specifying means, and the three-dimensional point cloud coordinate generating means Or a part of the second stereo image newly acquired after the stereo image and located within a predetermined distance from the plane estimated from the plane parameter already calculated by the plane specifying unit. The three-dimensional point group is generated, and the plane specifying unit newly specifies a plane from a part of the three-dimensional point group generated by the three-dimensional point group coordinate generating unit. It is desirable

  In the notification device according to the present invention, the three-dimensional point cloud coordinate generation unit is based on at least one viewpoint image of two viewpoint images constituting the first stereo image acquired by the image acquisition unit. The feature point existing on the plane specified by the plane specifying unit is detected, and the determination unit can perform the measurement due to the first stereo image acquired by the image acquiring unit. The image acquisition means newly acquires a second stereo image, and the three-dimensional point group coordinate generation means newly acquires the second stereo image acquired by the image acquisition means. The feature that has already been detected based on the first stereo image based on the viewpoint image that is the same as the viewpoint image from which the feature points are extracted from the two viewpoint images constituting the stereo image. And the plane specifying means newly specifies a plane based on the feature points detected in the second stereo image newly acquired by the image acquisition means. desirable.

  In the notification device of the present invention, the plane specifying unit samples the 3D point group coordinates generated by the 3D point group coordinate generation unit and calculates plane parameters from the sampled 3D point group coordinates. The plane is identified by performing the step of performing a plurality of times, and the determination means stores the inclination angle of the plane specified by the plane specification means or the distance to the plane as the first condition and the determination condition. When the second condition different from the first condition is satisfied and the other is not satisfied, it is determined that the reinforcing bar cannot be measured, and the plane specifying means Increase the number of samples of the three-dimensional point group to be specified, or increase the number of steps, specify the plane again, and the determination means is specified again by the plane specification means. Based on the plane, it is desirable to determine whether it is possible to measure the rebar.

  In the notification device of the present invention, the plane specifying unit samples the 3D point group coordinates generated by the 3D point group coordinate generation unit and calculates plane parameters from the sampled 3D point group coordinates. The plane is identified by performing the step of performing a plurality of times, and the determination means determines whether the inclination angle of the plane specified by the plane specification means or the distance to the plane satisfies the first condition. If any one of the second conditions different from the first condition that is stored in the storage unit is satisfied and the other is not satisfied, it is determined that the measurement of the reinforcing bar is impossible, and the image acquisition unit has already acquired The obtained stereo image is used as a first stereo image, a second stereo image having a higher resolution than the first stereo image is newly acquired, and the determination unit includes the image acquisition unit. Thus due to the newly acquired second stereo image, it is desirable to determine whether it is possible to measure the rebar.

  In the notification device of the present invention, the image acquisition unit acquires a stereo image captured at a first resolution as the first stereo image, and the stereo image captured at the second resolution is the first resolution. Or a stereo image captured at a third resolution higher than the second resolution is generated as a third stereo image, and the first stereo image is generated from the third stereo image. It is desirable to generate the stereo image and the second stereo image.

  Moreover, according to one aspect of the present invention, the notification processing program of the present invention obtains a stereo image in which the reinforcement is imaged by using the computer of the notification device that notifies information related to the measurement related to the reinforcing bars constituting the reinforcement. 3D point group coordinate generation means for generating 3D point cloud coordinates based on the stereo image acquired by the image acquisition means, 3D generated by the 3D point cloud coordinate generation means Plane specifying means for specifying a plane formed by reinforcing bars constituting the bar arrangement based on point group coordinates, when generating three-dimensional point group coordinates by the three-dimensional point group coordinate generating means, or specifying the plane When the plane is specified by the means, the determination means for determining whether or not the rebar can be measured. If the determination means determines that the measurement is impossible, the measurement is not possible. A notification processing program for functioning as notification means for notifying information indicating that the three-dimensional point group coordinate generation means is not capable of generating the three-dimensional point group coordinates. In this case, it is determined that the reinforcing bar cannot be measured, and the inclination angle of the plane specified by the plane specifying unit or the distance to the plane is stored in the determination condition storage unit. When the first condition relating to the inclination angle of a plane formed by a plurality of reinforcing bars or the distance to the plane is not satisfied, it is determined that measurement of the reinforcing bars is impossible.

  Moreover, according to one aspect of the present invention, the notification processing method of the present invention is a notification processing method that is executed in a notification device that notifies information related to measurement relating to a reinforcing bar constituting a reinforcement, and the reinforcement is A captured stereo image is acquired, a three-dimensional point cloud coordinate is generated based on the acquired stereo image, and a reinforcing bar constituting the bar arrangement is generated based on the generated three-dimensional point cloud coordinate. When the plane to be formed is specified and the three-dimensional point group coordinates are generated, or when the plane is specified, it is determined whether the rebar can be measured and the measurement is impossible. If it is determined, information indicating that the measurement is impossible is notified, and if the generation of the three-dimensional point group coordinates is impossible in the determination, the measurement of the reinforcing bar is impossible. Judgment and inclination of the identified plane Alternatively, when the distance to the plane does not satisfy the first condition relating to the inclination angle of the plane formed by a plurality of reinforcing bars constituting the reinforcement, or the distance to the plane, stored in the determination condition storage unit, It is judged that the measurement of the reinforcing bar is impossible.

  According to the present invention, it is possible for a user to quickly know whether or not imaging for inspecting the arrangement of reinforcing bars may be performed under the imaging conditions before imaging for measurement.

It is a hardware block diagram of the alerting | reporting apparatus in embodiment. It is a flowchart which shows the flow of the alerting | reporting process in embodiment. It is a functional block diagram of the alerting | reporting apparatus in embodiment. It is a figure which shows the example of a display screen. It is a flowchart which shows the flow of the alerting | reporting process in other embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a hardware configuration diagram of a notification device according to an embodiment.
In FIG. 1, the notification device 100 is realized, for example, on a so-called smart phone terminal, a portable information terminal device such as a tablet terminal, or a computer system such as a personal computer.

  The notification device 100 includes a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, and a RAM (Random Access Memory) 103. The notification device 100 includes a storage unit 104, a communication interface 105, an input unit 106, and a display unit 107. In addition, the notification device 100 includes a portable recording medium driving unit 108. Furthermore, the notification device 100 may include an imaging unit 111. The devices 101 to 108 are connected to each other via a bus 110. When the notification device 100 includes the imaging unit 111, the imaging unit 111 is also connected to the devices 101 to 108 via the bus 110.

  The ROM 102 stores a control program (notification processing program) for notification processing exemplified in flowcharts of FIGS. 2 and 5 to be described later, in addition to a program and table data for controlling general operations of the notification device 100 as a whole. The RAM 103 stores a frame buffer for the display unit 107, some application programs, and the like. The CPU 101 reads the notification processing program from the ROM 102 and executes the RAM 103 as a work memory.

  The storage unit 104 is a storage that stores various programs and information necessary for executing these programs in a nonvolatile manner. The storage unit 104 is, for example, a hard disk device. The communication interface 105 is a device for connecting, for example, a LAN (local area network) or WAN (wide area network) communication line.

  The input unit 106 inputs various data and signals such as a keyboard, a joystick, a light pen, a mouse, a touch pad, a touch panel, and a trackball. The display unit 107 is various displays such as an LCD (Liquid Crystal Display), and displays images and other information. For example, the input unit 106 and the display unit 107 can be integrated as a touch panel display device provided in a portable information terminal device.

  The portable recording medium drive unit 108 accommodates a portable recording medium 109 such as an SD / micro SD memory card, a USB (Universal Serial Bus) memory card, a CD-ROM, a DVD, or a magneto-optical disk. Are read out and output to the CPU 101. Similar to the storage unit 104, the portable recording medium 109 is a storage that stores various programs and information necessary for executing these programs in a nonvolatile manner.

  The imaging unit 111 is a stereo camera mechanism that can capture an image with two or more digital camera mechanisms, and includes a lens, an autofocus drive control device, an exposure control device, an imaging sensor, and the like. Note that the notification device 100 may acquire an image from an external stereo camera or the like without including the imaging unit 111.

  The notification process in the present embodiment is realized by the CPU 101 executing a notification process program equipped with the functions realized by the flowcharts of FIGS. 2 and 5. The notification processing program may be stored and distributed, for example, in the storage unit 104 or the portable recording medium 109, or may be acquired from the network by the communication interface 105.

FIG. 2 is a flowchart showing a flow of notification processing in the embodiment.
The notification process illustrated in FIG. 2 is realized by the hardware configuration of the notification apparatus 100 described with reference to FIG.

  First, in step S201, the CPU 101 of the notification device 100 performs a first image acquisition. For example, a live view image obtained by sequentially updating a captured image captured by the imaging unit 111 or an external stereo camera at a predetermined frame rate is acquired. Note that the first image acquired by the first image acquisition is not limited to the live view image, but may be a low-resolution image obtained by performing a reduction process for reducing the resolution of the captured still image.

  In step S202, the CPU 101 performs the first three-dimensional reconstruction. For example, stereo matching processing is performed on the first image acquired in step S201, and three-dimensional data is generated from the stereo image.

  In step S203, the CPU 101 performs a first three-dimensional reconstruction determination as to whether or not the first three-dimensional reconstruction in step S202 has been completed (OK or NG). For example, it is determined whether or not two-dimensional stereo matching processing has been performed and whether or not three-dimensional coordinates have been generated by two-dimensional stereo matching (a projection matrix from three dimensions to two dimensions has been calculated).

If the determination result is NG (three-dimensional reconstruction was not possible), the CPU 101 generates error information to be displayed on the display unit 107 in step S204.
On the other hand, if the determination result is OK (three-dimensional reconstruction is possible), in step S205, the CPU 101 performs first plane detection. For example, the surface layer plane parameter is estimated from the three-dimensional data generated in step S202. A known technique (RANdom AC: RANdom SAmple Consensus) is used to estimate a plane including the most points from a three-dimensional point group.

  RANSAC is one of robust estimation techniques for appropriately estimating a transformation matrix representing a correct frame fluctuation from a feature point group including an error due to mismatching in stereo matching. RANSAC samples a part of a feature point pair randomly from the entire feature point group to calculate a transformation matrix, and evaluates how much frame fluctuation is expressed for the entire feature point. This series of processes is repeated a plurality of times, and a conversion matrix having the best evaluation result is selected from the processes. As a result, it is possible to estimate a transformation matrix that correctly represents the fluctuation of the frame from the feature point group including an error.

  Step S205 Estimated plane detection data, for example, areas on the input image (2D) of the estimated plane (3D), estimated plane parameters, and other data obtained during three-dimensional reconstruction and plane detection Is used in the second three-dimensional reconstruction in step S208 described later and the second plane detection in step S210.

  In step S206, the CPU 101 determines the first plane condition whether or not the first plane detection in step S205 has been completed (OK or NG). For example, it is determined whether the angle between the estimated plane and the imaging unit 111 and the angle formed by the camera optical axis of the imaging unit 111 are within the measurement conditions.

  If the determination result is NG (plane detection has not been performed), the CPU 101 generates error information to be displayed on the display unit 107 in step S204. For example, when the distance between the estimated plane and the imaging unit 111 is too far or too close to the distance of the measurement condition, or the angle formed by the estimated plane and the camera optical axis is too inclined compared to the angle of the measurement condition. In such a case, it is determined that the plane cannot be detected, and error information is generated.

  On the other hand, when the result of the determination is OK (plane detection has been performed), in step S207, the CPU 101 acquires a second image. For example, in the second image acquisition, when a live view image is acquired in step S201, a newly captured still image is acquired. If a low resolution image is acquired in step S201, a still image that is the source of the low resolution image is acquired.

  In step S208, the CPU 101 performs the second three-dimensional reconstruction. For example, stereo matching processing is performed on the second image acquired in step S207, and three-dimensional data is generated from the stereo image.

  In step S209, the CPU 101 determines whether or not the second three-dimensional reconstruction in step S208 has been completed (OK or NG). For example, it is determined whether or not two-dimensional stereo matching processing has been performed, and whether or not three-dimensional coordinates have been generated by two-dimensional stereo matching.

If the determination result is NG (three-dimensional reconstruction was not possible), the CPU 101 generates error information to be displayed on the display unit 107 in step S204.
On the other hand, if the determination result is OK (three-dimensional reconstruction is possible), in step S210, the CPU 101 performs second plane detection. For example, the surface layer plane parameter is estimated from the three-dimensional data generated in step S208. RANSAC is used to estimate a plane containing the most points from a three-dimensional point group.

  In step S211, the CPU 101 performs second plane condition determination as to whether or not the second plane detection in step S210 has been performed (OK or NG). For example, it is determined whether the angle between the estimated plane and the imaging unit 111 and the angle formed by the camera optical axis of the imaging unit 111 are within the measurement conditions.

If the determination result is NG (plane detection has not been performed), the CPU 101 generates error information to be displayed on the display unit 107 in step S204.
On the other hand, if the result of the determination is OK (plane detection has been completed), this notification processing is terminated, and whether or not the finished shape in the construction process of the reinforced concrete building is valid, as in the conventional reinforcement inspection support system. Is inspected based on the captured image acquired in step S207.

FIG. 3 is a functional block diagram of the notification device according to the embodiment, and FIG. 4 is a diagram illustrating an example of a display screen.
As described with reference to FIG. 1, the CPU 101 reads a notification processing program from the ROM 102 and executes the RAM 103 as a work memory. Thereby, the notification processing function shown by the functional block in FIG. 3 is realized.

  In FIG. 3, the notification device 100 notifies information related to the measurement related to the reinforcing bars constituting the bar arrangement. The notification device 100 includes an image acquisition unit 301, a three-dimensional point group coordinate generation unit 302, a plane specifying unit 303, a determination unit 304, a notification unit 305, and a determination condition storage unit 306.

  The image acquisition unit 301 acquires a stereo image obtained by imaging the bar arrangement. The three-dimensional point group coordinate generation unit 302 generates a three-dimensional point group coordinate based on the stereo image acquired by the image acquisition unit 301. The plane specifying unit 303 specifies a plane formed by the reinforcing bars constituting the bar arrangement based on the three-dimensional point group coordinate generated by the three-dimensional point group coordinate generating unit 302. The judging unit 304 judges whether or not the reinforcing bar can be measured when the three-dimensional point group coordinate generating unit 302 generates the three-dimensional point group coordinates or when the plane specifying unit 303 specifies the plane. . For example, when the three-dimensional point group coordinate generation unit 302 cannot generate the three-dimensional point group coordinates, the determination unit 304 determines that the reinforcing bar cannot be measured. For example, if stereo matching cannot be performed due to changes in the lighting environment due to camera shake, noise, or parallax (such as the effect of when a light is visible or hidden), it is impossible to generate 3D point cloud coordinates. Is determined to be impossible. Further, the determination unit 304 is a plane formed by a plurality of reinforcing bars constituting the bar arrangement, in which the inclination angle of the plane specified by the plane specifying unit 303 or the distance to the plane is stored in the determination condition storage unit 306. If the first condition regarding the inclination angle or the distance to the plane is not satisfied, it is determined that the reinforcing bar cannot be measured. For example, when the intervals between the reinforcing bars are clearly unequal intervals, it is determined that the measurement of the reinforcing bars is not possible because the condition is not satisfied. When the determination unit 304 determines that measurement is impossible, the notification unit 305 notifies information indicating that measurement is impossible. For example, it outputs a sound (error sound) that it cannot be measured.

  Since information indicating that measurement is impossible is notified before imaging for measurement, it is possible to quickly know whether or not imaging can be performed under the imaging conditions.

In addition, the notification device 100 can detect and measure a reinforcing bar with a higher-resolution image than the image on which the measurement is determined as follows.
The three-dimensional point group coordinate generation unit 302 generates a three-dimensional point group coordinate using the stereo image acquired by the image acquisition unit 301 as the first stereo image. When the determination unit 304 determines that measurement is possible due to the first stereo image acquired by the image acquisition unit 301, the image acquisition unit 301 has a resolution higher than that of the first stereo image. 2 stereo images are newly acquired. The three-dimensional point group coordinate generation unit 302 newly generates a three-dimensional point group coordinate based on the second stereo image newly acquired by the image acquisition unit 301. The plane specifying unit 303 newly specifies a plane formed by the reinforcing bars constituting the bar arrangement based on the three-dimensional point group coordinates newly generated by the three-dimensional point group coordinate generating unit 302. The measuring unit 307 measures the reinforcing bar based on the plane information newly specified by the plane specifying unit 303.

As shown in FIG. 3, the notification device 100 further includes a measurement unit 307.
The measuring unit 307 measures the reinforcing bars based on the plane information specified by the plane specifying unit 303.

The notification device 100 can also generate a low-resolution image.
For example, the image acquisition unit 301 acquires a stereo image captured at the first resolution as a first stereo image, and acquires a stereo image captured at the second resolution as a second stereo image. Alternatively, the first stereo image is generated from the second stereo image and acquired.

Further, the notification device 100 can perform error detection with a small number of samples and perform rebar detection with a large number of samples as follows.
The plane specifying unit 303 samples the 3D point group coordinates generated by the 3D point group coordinate generation unit 302 with the first number of samples and calculates the plane parameter from the sampled 3D point group coordinates a plurality of times. Implement to identify the plane. When the determination unit 304 determines that the measurement is possible based on the plane information specified by the plane specifying unit 303 by performing the calculation of the plane parameter a plurality of times, the plane specifying unit 303 sets the first sample. A plane is newly identified with a second number of samples greater than the number. Then, the measuring unit 307 measures the reinforcing bars based on the plane information newly specified by the plane specifying unit 303.

Moreover, the alerting | reporting apparatus 100 can increase the frequency | count of repetition in the RANSAC process for plane estimation as follows.
The plane specifying unit 303 samples the 3D point group coordinates generated by the 3D point group coordinate generation unit 302 with a predetermined number of samples and calculates the plane parameters from the sampled 3D point group coordinates a plurality of times. The plane is specified by performing a certain first number of times. When the determination unit 304 determines that the measurement is possible based on the plane information specified by the plane specification unit 303 by performing the calculation of the plane parameter for the first time, the plane specification unit 303 performs the process. The number of times of execution is increased by a second number that is greater than the first number of times, and a new plane is specified. Then, the measuring unit 307 measures the reinforcing bars based on the plane information newly specified by the plane specifying unit 303.

Further, the notification device 100 can reduce stereo matching processing as follows.
The three-dimensional point group coordinate generation unit 302 performs a stereo matching process using the stereo image acquired by the image acquisition unit 301. The plane specifying unit 303 specifies an area where a reinforcing bar belonging to the specified plane exists due to the first stereo image in which the stereo image acquired by the image acquisition unit 301 is the first stereo image. When the determination unit 304 determines whether the measurement is possible due to the first stereo image acquired by the image acquisition unit 301, the image acquisition unit 301 newly sets the second stereo image. get. The three-dimensional point cloud coordinate generation unit 302 performs a stereo matching process to be performed on the second stereo image newly acquired by the image acquisition unit 301 based on the area already specified based on the first stereo image. This processing range is set to a part of the processing range, and the stereo matching process is performed only on the part of the set processing range for the newly acquired second stereo image. Then, the determination unit 304 newly determines whether or not the rebar can be measured based on the three-dimensional point cloud coordinates generated by performing the stereo matching process only on a part of the set processing range. to decide.

Moreover, the alerting | reporting apparatus 100 can reduce a plane detection process as follows.
The plane specifying unit 303 specifies a plane by calculating plane parameters from the 3D point group coordinate generated by the 3D point group coordinate generating unit 302. The determination unit 304 determines whether or not the reinforcing bar can be measured based on the plane information specified by using the plane parameter calculated by the plane specifying unit 303. The three-dimensional point group coordinate generation unit 302 generates a part of the three-dimensional point group located within a predetermined distance from the plane, which is estimated from the plane parameters already calculated by the plane specifying unit 303 based on the stereo image. . Alternatively, the three-dimensional point group coordinate generation unit 302 is based on the second stereo image newly acquired after the stereo image and is estimated from the plane parameter already calculated by the plane specifying unit 303, and is a predetermined distance from the plane. A part of the three-dimensional point group located inside is generated. The plane specifying unit 303 newly specifies a plane from a part of the three-dimensional point group generated by the three-dimensional point group coordinate generating unit 302.

Moreover, the alerting | reporting apparatus 100 can reduce a plane detection process as follows.
The three-dimensional point cloud coordinate generation unit 302 is specified by the plane specifying unit 303 based on at least one viewpoint image of two viewpoint images constituting the first stereo image acquired by the image acquisition unit 301. A feature point existing on a plane is detected. The determination unit 304 determines whether or not measurement is possible due to the first stereo image acquired by the image acquisition unit 301. The image acquisition unit 301 newly acquires a second stereo image. The three-dimensional point cloud coordinate generation unit 302 is based on the viewpoint image that is the same as the viewpoint image from which the feature points are extracted from the two viewpoint images that form the second stereo image newly acquired by the image acquisition unit 301. Then, feature points corresponding to feature points already detected based on the first stereo image are detected. Then, the plane specifying unit 303 newly specifies a plane based on the feature points detected in the second stereo image newly acquired by the image acquisition unit 301.

Moreover, the alerting | reporting apparatus 100 can raise the specific precision of a plane as follows.
The plane specifying unit 303 samples the 3D point group coordinates generated by the 3D point group coordinate generation unit 302 and calculates a plane by performing the process of calculating plane parameters from the sampled 3D point group coordinates a plurality of times. Identify. The determination unit 304 stores the inclination angle of the plane specified by the plane specification unit 303 or the distance to the plane in the first condition and the determination condition storage unit 306 and is one of the second conditions different from the first condition. When one is satisfied and the other is not satisfied, it is determined that the reinforcing bar cannot be measured. The plane specifying unit 303 increases the number of samples of the three-dimensional point group that specifies the plane, or increases the number of steps, and specifies the plane again. Then, the determination unit 304 determines whether or not the reinforcing bar can be measured based on the plane specified again by the plane specifying unit 303.

In addition, the notification device 100 can increase the measurement accuracy of measurement possibility using a high-resolution image as follows.
The plane specifying unit 303 samples the 3D point group coordinates generated by the 3D point group coordinate generation unit 302 and calculates a plane by performing the process of calculating plane parameters from the sampled 3D point group coordinates a plurality of times. Identify. The determination unit 304 stores the first condition in the inclination angle of the plane specified by the plane specification unit 303 or the distance to the plane in the determination condition storage unit 306, and any of the second conditions different from the first condition. If one of them is satisfied and the other is not satisfied, it is determined that the reinforcing bar cannot be measured. The image acquisition unit 301 newly acquires a second stereo image having a higher resolution than that of the first stereo image, using the already acquired stereo image as the first stereo image. Then, the determination unit 304 determines whether or not the reinforcing bar can be measured due to the second stereo image newly acquired by the image acquisition unit 301.

  As described above, the notification device 100 can display a live view image, or can perform three-dimensional reconstruction or planar parameter detection so that the necessity of re-imaging can be recognized in a short time immediately after imaging, preferably in real time. Is performed on the reduced image. And it is possible to reduce the work processing time at the construction site by confirming incomplete imaging conditions and notifying the user. Further, the notification device 100 can reduce the processing time by using the live view image and using it as the initial value of stereo matching and the initial value of RANSAC at the time of detecting the plane parameter after the second time. Further, the processing time can be further reduced by using the live view image and performing stereo matching only on a part of the region included in the target plane. Further, by using only the points near the target frame specified in the previous frame for plane parameter detection of the current frame, the estimation accuracy can be maintained even if the number of RANSAC executions is limited.

  Note that the notification device 100 can also display on the display unit 107 a parameter for which the condition has not been met. At that time, the applicable range can also be displayed. For example, as illustrated in FIG. 4, a quadrangular detection plane portion 401 simulating the detected plane is displayed on the display image 400 to visually notify the degree of displacement. Further, when the compatible range is displayed on the display image 400 with the guide frame 402 and the detection plane portion 401 can be displayed in the guide frame 402, it is visually used as to whether or not the rebar can be measured. Can know.

FIG. 5 is a flowchart showing a flow of notification processing in another embodiment.
The description of the same steps as those of the notification process described with reference to FIG. 2 is simplified.

First, in step S201, the CPU 101 of the notification device 100 performs a first image acquisition.
In step S202, the CPU 101 performs the first three-dimensional reconstruction.

In step S203, the CPU 101 performs a first three-dimensional reconstruction determination as to whether or not the first three-dimensional reconstruction in step S202 has been completed (OK or NG).
In step S204, the CPU 101 generates error information to be displayed on the display unit 107.

In step S205, the CPU 101 performs first plane detection.
In step S501, the CPU 101 determines whether the first plane detection in step S205 has been performed (OK or NG) using a predetermined first condition. For example, when the first condition is “the inclination angle is less than 15 degrees”, the angle formed between the estimated plane and the imaging unit 111 and the camera optical axis of the imaging unit 111 is less than 15 degrees. It is determined whether or not.

  When the determination result under the first condition is OK (first condition is satisfied), in step S502, the CPU 101 determines whether or not the first plane detection in step S205 has been performed (OK or NG). The second condition is used for determination. For example, when the second condition is “the tilt angle is less than an angle obtained by adding or minus the estimated error amount to 15 degrees”, the distance between the estimated plane and the imaging unit 111 and the camera optical axis of the imaging unit 111 Is determined to be less than “15 degrees plus or minus estimated error amount”. Note that the estimated error amount may be a preset amount or may be changed depending on the condition of the target image. A table corresponding to the condition of the target image may be prepared and referred to. For example, when the resolution is 320 × 240, it is plus or minus 10 degrees, and when it is 640 × 480, it is plus or minus 5 degrees. Further, when the number of repetitions is 1000, it is plus or minus 10 degrees, and when it is 100,000 times, it is plus or minus 5 degrees.

  If the determination result under the second condition is OK (the second condition is satisfied), the process proceeds to step S207. On the other hand, if the result of the determination under the second condition is NG (does not satisfy the second condition), in step S503, the CPU 101 performs a third image acquisition and returns to step S202. For example, in the third image acquisition, when a live view image is acquired in step S201, a newly captured still image is acquired. If a low resolution image is acquired in step S201, a still image that is the source of the low resolution image is acquired.

  If it is determined in step S501 that the result of the determination under the first condition is NG (does not satisfy the first condition), in step S504, the CPU 101 determines whether or not the first plane detection in step S205 has been performed. (OK or NG) is determined using the second condition described above.

  When the result of the determination under the second condition is OK (the second condition is satisfied), the process proceeds to step S503. On the other hand, if the result of the determination under the second condition is NG (does not satisfy the second condition), the CPU 101 generates error information to be displayed on the display unit 107 in step S204.

The determinations in steps S501, S502, and S504 are summarized as follows.
If “determination under the first condition is OK” and “determination under the second condition is OK”, the entire plane condition determination is OK, so the process proceeds to detailed measurement with the high-resolution image in step S207.

  If “judgment under the first condition is OK” and “judgment under the second condition is NG”, it is difficult to make a judgment as a whole plane condition judgment. And change the plane detection parameter (increase the number of points used, increase the number of repetitions), and perform the determination again.

  If “determination under the first condition is NG” and “determination under the second condition is OK”, it is difficult to determine as a whole plane condition determination. Do.

When “determination under the first condition is NG” and “determination under the second condition is NG”, since the overall plane condition determination is NG, the process proceeds to generation of error information in step S204.
In step S207, the CPU 101 acquires a second image.

In step S208, the CPU 101 performs the second three-dimensional reconstruction.
In step S209, the CPU 101 determines whether or not the second three-dimensional reconstruction in step S208 has been completed (OK or NG).

In step S210, the CPU 101 performs second plane detection.
In step S211, the CPU 101 performs second plane condition determination as to whether or not the second plane detection in step S210 has been performed (OK or NG).

  In the notification process in another embodiment, the image acquisition unit 301 acquires a stereo image captured at the first resolution as the first stereo image, and the stereo image captured at the second resolution is the second. Acquired as a stereo image. Alternatively, the image acquisition unit 301 generates a stereo image captured at a third resolution higher than the second resolution as a third stereo image, and the first stereo image and the first stereo image are generated from the third stereo image. 2 stereo images are generated.

  In the notification process in another embodiment, (1) an image used for the first determination, (2) an image used for measurement when the first determination is OK, and (3) NG for the first determination. Various cases are conceivable for the image to be used in the case of the first determination, and (4) the image to be used for the second determination when the first determination is ambiguous. For example, the following case 1, case 2, and case 3 are conceivable.

(Case 1)
(1) The image used for the first determination is an image obtained by reducing the live view image to 1/4 of the vertical and horizontal directions. (2) The image used for measurement is captured when the first determination is OK. When it is a captured image with a higher resolution than the acquired live view image, and (3) the image used when it is NG in the first determination is an image obtained by reducing the live view image to half the length and width, (4) The image used for the second determination when the first determination is ambiguous changes the image used for the second determination stepwise multiple times.

(Case 2)
(1) The image used for the first determination is a live view image. (2) If the first determination is OK, the image used for measurement has a higher resolution than the live view image acquired by imaging. (3) An image used in the case of NG in the first determination is an image obtained by reducing a captured image having a resolution higher than that of a live view image acquired by imaging to 1/8 in length and width (live view) (4) When the first determination is ambiguous, the image used for the second determination is “NG” when the image used for the second determination is NG again. , Reduce the reduction ratio to a quarter and try multiple times step by step.

(Case 3)
(1) The image used for the first determination is an image obtained by reducing the captured image to 1/16 of the vertical and horizontal directions. (2) If the first determination is OK, the image used for measurement is the original resolution. (3) The image used when the determination is NG in the first determination is an image obtained by reducing the captured image to 1/8 vertical and horizontal, and (4) 2 when the initial determination is ambiguous. Even if the image used for the determination at the second time is “NG” when the image is NG again, if the image is NG again, the reduction rate can be reduced to a quarter and multiple trials can be made step by step.

  Although the embodiment of the present invention has been described in detail with reference to the drawings, stereo matching may fail in 3D reconstruction when generating 3D coordinates. This occurs when the target image is blurred, when the target object is not clearly captured, or when erroneous detection of the target region such as a repetitive pattern is induced. In this case, it is determined that the reinforcing bar cannot be measured when generating the three-dimensional coordinates.

As mentioned above, although embodiment of this invention has been described with reference to drawings, the alerting | reporting apparatus to which this invention is applied is not limited to the above-mentioned embodiment.
The embodiment of the present invention described above can be realized by hardware or firmware or software on a DSP (Digital Signal Processor) board or CPU board as one function of the notification device.

  In addition, the notification device to which the present invention is applied is not limited to the above-described embodiment as long as the function is executed, and a single device or a system composed of a plurality of devices or an integrated device may be used. Needless to say, the apparatus may be a system that performs processing via a network such as a LAN or a WAN.

  It can also be realized by a system including a CPU, a ROM or RAM memory connected to a bus, an input device, an output device, an external recording device, a medium driving device, and a network connection device. That is, a ROM or RAM memory, an external recording device, or a portable recording medium that records a software program that implements the system of the above-described embodiment is supplied to the notification device, and the computer of the notification device reads the program. Needless to say, it can also be achieved through implementation.

  In this case, the program itself read from the portable recording medium or the like realizes the novel function of the present invention, and the portable recording medium or the like on which the program is recorded constitutes the present invention.

  Examples of portable recording media for supplying the program include flexible disks, hard disks, optical disks, magneto-optical disks, CD-ROMs, CD-Rs, DVD-ROMs, DVD-RAMs, magnetic tapes, and nonvolatile memory cards. Various recording media recorded via a network connection device (in other words, a communication line) such as a ROM card, electronic mail or personal computer communication can be used.

  The computer (information processing apparatus) executes the program read out on the memory, thereby realizing the functions of the above-described embodiment, and an OS running on the computer based on the instructions of the program. Performs part or all of the actual processing, and the functions of the above-described embodiments are also realized by the processing.

  Furthermore, a program read from a portable recording medium or a program (data) provided by a program (data) provider is stored in a memory provided in a function expansion board inserted into the computer or a function expansion unit connected to the computer. After being written, the CPU of the function expansion board or function expansion unit performs part or all of the actual processing based on the instructions of the program, and the functions of the above-described embodiments are also realized by the processing. obtain.

  That is, the present invention is not limited to the embodiment described above, and can take various configurations or shapes without departing from the gist of the present invention.

100 Notification Device 101 CPU (Central Processing Unit)
102 ROM (Read Only Memory)
103 RAM (Random Access Memory)
DESCRIPTION OF SYMBOLS 104 Memory | storage part 105 Communication interface 106 Input part 107 Display part 108 Portable recording medium drive part 109 Portable recording medium 110 Bus | bath 111 Image pick-up part 301 Image acquisition means 302 Three-dimensional point group coordinate generation means 303 Plane identification means 304 Judgment means 305 Information Means 306 Judgment condition storage unit 307 Measuring unit 400 Display image 401 Detection plane unit 402 Guide frame

Claims (13)

In a notification device for notifying information related to measurement related to reinforcing bars constituting the bar arrangement,
Image acquisition means for acquiring a stereo image in which the reinforcing bar is imaged;
3D point cloud coordinate generation means for generating 3D point cloud coordinates based on the stereo image acquired by the image acquisition means;
Plane specifying means for specifying a plane formed by reinforcing bars constituting the bar arrangement based on the three-dimensional point group coordinate generated by the three-dimensional point group coordinate generating means;
Determining means for determining whether or not the reinforcing bar can be measured when generating the three-dimensional point group coordinates by the three-dimensional point group coordinate generating means, or when specifying the plane by the plane specifying means;
An informing means for informing information indicating that the measurement is impossible when the determination means determines that the measurement is impossible;
With
The determination means includes
If it is impossible to generate the three-dimensional point group coordinates by the three-dimensional point group coordinate generating means, it is determined that the reinforcing bar cannot be measured;
The inclination angle of the plane specified by the plane specifying means or the distance to the plane is stored in the judgment condition storage unit, or the inclination angle of the plane formed by a plurality of reinforcing bars constituting the bar arrangement or the plane If the first condition related to the distance to is not satisfied, it is determined that measurement of the reinforcing bar is impossible.
A notification device characterized by the above. Measuring means for measuring the reinforcing bars based on information of the plane specified by the plane specifying means;
Further comprising
The three-dimensional point group coordinate generation unit generates a three-dimensional point group coordinate using the stereo image acquired by the image acquisition unit as a first stereo image;
When the determination unit determines that the measurement is possible due to the first stereo image acquired by the image acquisition unit,
The image acquisition means newly acquires a second stereo image having a higher resolution than the first stereo image,
The three-dimensional point group coordinate generation unit generates a new three-dimensional point group coordinate based on the second stereo image newly acquired by the image acquisition unit,
The plane specifying means newly specifies a plane formed by reinforcing bars constituting the bar arrangement based on the three-dimensional point group coordinates newly generated by the three-dimensional point group coordinate generation means,
The measuring means measures the reinforcing bar based on the information of the plane newly specified by the plane specifying means.
The notification device according to claim 1.   The image acquisition means acquires a stereo image captured at a first resolution as the first stereo image and acquires a stereo image captured at the second resolution as the second stereo image; or The notification apparatus according to claim 2, wherein the first stereo image is generated and acquired from the second stereo image. Measuring means for measuring the reinforcing bars based on information of the plane specified by the plane specifying means;
Further comprising
The plane specifying unit samples the three-dimensional point group coordinates generated by the three-dimensional point group coordinate generation unit with a first number of samples and calculates a plane parameter from the sampled three-dimensional point group coordinates. Identify the plane by performing multiple times,
When the determination unit determines that the measurement is possible based on the plane information specified by the plane specification unit by performing the calculation of the plane parameter a plurality of times,
The plane specifying means newly specifies a plane with a second number of samples larger than the first number of samples,
The measuring means measures the reinforcing bar based on the information of the plane newly specified by the plane specifying means.
The notification device according to claim 1. Measuring means for measuring the reinforcing bars based on information of the plane specified by the plane specifying means;
Further comprising
The plane specifying means samples the three-dimensional point group coordinates generated by the three-dimensional point group coordinate generation means with a predetermined number of samples and calculates a plurality of plane parameters from the sampled three-dimensional point group coordinates. Identifying the plane by performing a first number of times,
When the determination unit determines that the measurement is possible based on the plane information specified by the plane specification unit by performing the calculation of the plane parameter for the first number of times,
The plane specifying means performs a second number of times that the step is performed more than the first number of times to newly specify a plane,
The measuring means measures the reinforcing bar based on the information of the plane newly specified by the plane specifying means.
The notification device according to claim 1. The three-dimensional point cloud coordinate generation means performs a stereo matching process using the stereo image acquired by the image acquisition means,
The plane specifying means is an area where the reinforcing bars belonging to the specified plane exist due to the first stereo image in which the stereo image acquired by the image acquisition means is the first stereo image. Identify
When the determination unit determines whether the measurement is possible due to the first stereo image acquired by the image acquisition unit,
The image acquisition means newly acquires a second stereo image,
The three-dimensional point group coordinate generation unit performs the second stereo image newly acquired by the image acquisition unit based on the area that has already been specified based on the first stereo image. The processing range of the stereo matching process is set to a part of the processing range, and for the newly acquired second stereo image, the stereo matching is performed only for the set part of the processing range. Process
The determination means determines whether or not the reinforcing bar can be measured based on the three-dimensional point group coordinates generated by performing the stereo matching process only on the set partial processing range. Make a new decision,
The notification device according to claim 1. The plane specifying means specifies a plane by calculating plane parameters from the three-dimensional point group coordinates generated by the three-dimensional point group coordinate generation means,
The determining means determines whether or not the reinforcing bar can be measured based on the plane information specified by using the plane parameter calculated by the plane specifying means,
The three-dimensional point group coordinate generation means is estimated from the plane parameter already calculated by the plane specifying means from the stereo image or from a second stereo image newly acquired after the stereo image. Generating a part of the three-dimensional point group located within a predetermined distance from the plane,
The plane specifying means newly specifies a plane from a part of the three-dimensional point group generated by the three-dimensional point group coordinate generating means;
The notification device according to claim 1. The three-dimensional point group coordinate generation means is specified by the plane specifying means based on at least one viewpoint image of two viewpoint images constituting the first stereo image acquired by the image acquisition means. Detecting feature points existing on the plane,
The determination means determines whether the measurement is possible due to the first stereo image acquired by the image acquisition means;
The image acquisition means newly acquires a second stereo image,
The three-dimensional point group coordinate generation means is the same viewpoint as the viewpoint image from which the feature points are extracted, out of two viewpoint images constituting the second stereo image newly acquired by the image acquisition means. Detecting a feature point corresponding to the feature point already detected based on the first stereo image based on the image;
The plane specifying means newly specifies a plane based on the feature points detected in the second stereo image newly acquired by the image acquisition means;
The notification device according to claim 2. The plane specifying unit samples the 3D point group coordinates generated by the 3D point group coordinate generation unit and calculates a plane parameter from the sampled 3D point group coordinates a plurality of times. Identify the plane;
The determination means stores a tilt angle of the plane specified by the plane specifying means or a distance to the plane stored in the first condition and the determination condition storage unit and is different from the first condition. If one of the conditions is satisfied and the other is not satisfied, it is determined that the measurement of the reinforcing bar is impossible,
The plane specifying means increases the number of samples of the three-dimensional point group that specifies the plane, or increases the number of times of the process, and specifies the plane again,
The determining means determines whether or not the reinforcing bar can be measured based on the plane specified again by the plane specifying means.
The notification device according to claim 1. The plane specifying unit samples the 3D point group coordinates generated by the 3D point group coordinate generation unit and calculates a plane parameter from the sampled 3D point group coordinates a plurality of times. Identify the plane;
The determination means stores an inclination angle of the plane specified by the plane specifying means or a distance to the plane in the determination condition storage unit according to the first condition, and is different from the first condition. If one of the two conditions is satisfied and the other is not satisfied, it is determined that the measurement of the reinforcing bar is impossible,
The image acquisition means newly acquires a second stereo image having a higher resolution than the first stereo image, using the already acquired stereo image as a first stereo image,
The determination unit determines whether or not the reinforcing bar can be measured due to the second stereo image newly acquired by the image acquisition unit.
The notification device according to claim 1.   The image acquisition means acquires a stereo image captured at a first resolution as the first stereo image and acquires a stereo image captured at the second resolution as the second stereo image; or A stereo image captured at a third resolution higher than the second resolution is generated as a third stereo image, and the first stereo image and the second stereo are generated from the third stereo image. The notification device according to claim 10, wherein an image is generated. A computer of a notification device that notifies information related to the measurement related to the reinforcing bars constituting the bar arrangement,
Image acquisition means for acquiring a stereo image in which the bar arrangement is imaged;
3D point cloud coordinate generation means for generating 3D point cloud coordinates based on the stereo image acquired by the image acquisition means;
Plane specifying means for specifying a plane formed by reinforcing bars constituting the bar arrangement based on the three-dimensional point group coordinate generated by the three-dimensional point group coordinate generating means;
Determining means for determining whether or not the reinforcing bar can be measured when generating the three-dimensional point group coordinates by the three-dimensional point group coordinate generating means or specifying the plane by the plane specifying means;
Informing means for informing information indicating that the measurement is impossible when the determination means determines that the measurement is impossible;
A notification processing program for functioning as
The determination means includes
If it is impossible to generate the three-dimensional point group coordinates by the three-dimensional point group coordinate generating means, it is determined that the reinforcing bar cannot be measured;
The inclination angle of the plane specified by the plane specifying means or the distance to the plane is stored in the judgment condition storage unit, or the inclination angle of the plane formed by a plurality of reinforcing bars constituting the bar arrangement or the plane If the first condition related to the distance to is not satisfied, it is determined that measurement of the reinforcing bar is impossible.
The information processing program characterized by the above-mentioned. A notification processing method that is executed in a notification device that notifies information related to measurement relating to a reinforcing bar constituting a bar arrangement,
Obtain a stereo image in which the reinforcement is imaged,
Based on the acquired stereo image, three-dimensional point cloud coordinates are generated,
Based on the generated three-dimensional point group coordinates, a plane formed by reinforcing bars constituting the reinforcement is specified,
When generating the three-dimensional point cloud coordinates, or when specifying the plane, determine whether the rebar can be measured,
When it is determined that the measurement is impossible, information indicating that the measurement is impossible is notified,
In the judgment,
If the generation of the three-dimensional point cloud coordinates is impossible, it is determined that the rebar measurement is impossible,
The specified inclination angle of the plane or the distance to the plane relates to the inclination angle of the plane formed by a plurality of reinforcing bars constituting the bar arrangement or the distance to the plane, which is stored in the determination condition storage unit. If the first condition is not satisfied, it is determined that measurement of the reinforcing bar is impossible.
A notification processing method characterized by the above.