JP2020091590A - Display data generation apparatus, display data generation method, and display data generation program - Google Patents

Abstract

To obtain a display data generation apparatus, a display data generation method, and a display data generation program capable of superimposing a plurality of points corresponding to a three-dimensional point cloud of an object on a two-dimensional drawing of the object.SOLUTION: A display data generation apparatus 1 is provided with a data acquisition unit 33, a point cloud data generation unit 34, and a display data generation unit 35. The point cloud data generation unit 34 generates two-dimensional point cloud data that is two-dimensional point cloud data obtained by projecting a plurality of three-dimensional points included in a three-dimensional point cloud indicated in three-dimensional point cloud data to an orthogonal plane orthogonally crossing a trajectory based on the three-dimensional point cloud data and trajectory data acquired by the data acquisition unit 33. The display data generation unit 35 generates display data to display on a display device 2 an image in which the two-dimensional point cloud is superimposed on a drawing based on drawing data acquired by the data acquisition unit 33 and the two-dimensional point cloud data generated by the point cloud data generation unit 34.SELECTED DRAWING: Figure 1

Description

The present invention relates to a display data generation device, a display data generation method, and a display data generation program that generate display data for displaying an image based on three-dimensional point cloud data of an object on a display device.

Conventionally, there is known a display data generation device that generates display data for displaying an image of a three-dimensional point cloud of an object on a display device based on three-dimensional point cloud data of the object. In Patent Document 1, three-dimensional position information based on three-dimensional point group data is given to three or more points on a two-dimensional color image obtained by imaging the object A display data generation device that superimposes a color image of an object on a point cloud is disclosed.

JP-A-2005-77385

However, the display data generation device described in Patent Document 1 superimposes a color image of an object on a three-dimensional point group, and a plurality of points corresponding to the three-dimensional point group of the object are two-dimensional. Cannot be superimposed on the drawing.

The present invention has been made in view of the above, and provides a display data generation device capable of superposing a plurality of points corresponding to a three-dimensional point cloud of an object on a two-dimensional drawing of the object. With the goal.

In order to solve the above-mentioned problems and achieve the object, the display data generation device of the present invention includes a data acquisition unit, a point cloud data generation unit, and a display data generation unit. The data acquisition unit acquires three-dimensional point cloud data of the target object, drawing data including data of a two-dimensional drawing of the target object, and trajectory data that is data of a trajectory along the extension direction of the target object. The point cloud data generation unit orthogonally intersects a plurality of three-dimensional points included in the three-dimensional point cloud represented by the three-dimensional point cloud data with the locus based on the three-dimensional point cloud data and the locus data acquired by the data acquisition unit. 2D point group data that is data of a 2D point group including a plurality of 2D points obtained by projecting onto an orthogonal plane is generated. The display data generation unit displays, on the display device, an image in which a two-dimensional point cloud is superimposed on the drawing based on the drawing data acquired by the data acquisition unit and the two-dimensional point cloud data generated by the point cloud data generation unit. Generate the display data to display.

According to the present invention, there is an effect that a plurality of points corresponding to a three-dimensional point group of an object can be superimposed on a two-dimensional drawing of the object.

The figure which shows the structural example of the display data generation apparatus concerning Embodiment 1 of this invention. FIG. 3 is a diagram showing a relationship between a three-dimensional point cloud of an object, a trajectory, and an orthogonal plane according to the first embodiment. FIG. 3 is a diagram showing an example of an image in which a two-dimensional point cloud is superimposed on the drawing of the object according to the first embodiment. FIG. 3 is a diagram showing an example of a detailed configuration of a display data generation device according to the first embodiment. The figure which shows an example of the data table of the three-dimensional point cloud database concerning Embodiment 1. The figure which shows an example of the data table of the drawing database concerning Embodiment 1. The figure which shows an example of the data table of the locus database concerning Embodiment 1. FIG. 3 is a diagram for explaining a sampling process by the display data generation device according to the first embodiment. FIG. 3 is a diagram for explaining an orthogonal plane calculated by the display data generation device according to the first embodiment. FIG. 3 is a diagram for explaining a three-dimensional point extraction process by the display data generation device according to the first embodiment. FIG. 3 is a diagram for explaining projection points calculated by the display data generation device according to the first embodiment. FIG. 3 is a diagram for explaining two-dimensional point cloud data generated by the display data generation device according to the first embodiment. FIG. 3 is a diagram showing an example of an image displayed on the display device by the display data generated by the display data generating device according to the first embodiment. FIG. 3 is a diagram showing another example of an image displayed on the display device by the display data generated by the display data generating device according to the first embodiment. FIG. 3 is a diagram showing another example of an image displayed on the display device by the display data generated by the display data generating device according to the first embodiment. FIG. 3 is a diagram showing another example of an image displayed on the display device by the display data generated by the display data generating device according to the first embodiment. FIG. 3 is a diagram showing another example of an image displayed on the display device by the display data generated by the display data generating device according to the first embodiment. FIG. 3 is a diagram showing another example of an image displayed on the display device by the display data generated by the display data generating device according to the first embodiment. The flowchart which shows an example of the 1st display data generation process of the display data generation apparatus concerning Embodiment 1. 2 is a flowchart showing an example of a two-dimensional point cloud data generation process of the display data generation device according to the first embodiment. The flowchart which shows an example of the 2nd display data generation process of the display data generation apparatus concerning Embodiment 1. The flowchart which shows an example of the 3rd display data generation process of the display data generation apparatus concerning Embodiment 1. The flowchart which shows an example of the 4th display data generation process of the display data generation apparatus concerning Embodiment 1. The flowchart which shows an example of the 5th display data generation process of the display data generation apparatus concerning Embodiment 1. FIG. 3 is a diagram showing an example of a hardware configuration of a display data generation device according to the first embodiment.

Hereinafter, a display data generation device, a display data generation method, and a display data generation program according to an embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment.

Embodiment 1.
FIG. 1 is a diagram showing a configuration example of a display data generation device according to the first exemplary embodiment of the present invention. As shown in FIG. 1, the display data generation device 1 according to the first embodiment includes a storage unit 20 and a processing unit 30, and superimposes a two-dimensional point group based on three-dimensional point data on a drawing of an object. Display data for displaying an image on the display device 2 is generated. The objects are structures such as tunnels, roads, bridges, guardrails, and water pipes.

The storage unit 20 stores three-dimensional point cloud data of an object, trajectory data, and drawing data. The three-dimensional point cloud data is data representing an object with a three-dimensional point cloud. The three-dimensional point group is a set of a plurality of three-dimensional points. The three-dimensional point cloud data includes a plurality of three-dimensional point data, and each three-dimensional point data includes data indicating the three-dimensional position of the three-dimensional point.

The locus data is data of a locus along the extending direction of the object. Such locus data is, for example, data of a line along the extending direction of the object. The drawing data is data of a two-dimensional drawing of an object drawn by orthographic projection, and is, for example, data of a design drawing.

The processing unit 30 includes a data acquisition unit 33, a point cloud data generation unit 34, a display data generation unit 35, and a display data output unit 36. The data acquisition unit 33 acquires three-dimensional point cloud data, trajectory data, and drawing data of the object from the storage unit 20.

The point cloud data generation unit 34 traces a plurality of three-dimensional points included in the three-dimensional point cloud indicated by the three-dimensional point cloud data, based on the three-dimensional point cloud data and the trajectory data acquired by the data acquisition unit 33. Two-dimensional point group data, which is data of a two-dimensional point group including a plurality of two-dimensional points obtained by projecting on an orthogonal plane orthogonal to the, is generated.

FIG. 2 is a diagram showing a relationship between the three-dimensional point group of the object, the locus, and the orthogonal plane according to the first embodiment. In the example shown in FIG. 2, a three-dimensional point group 60 of the object, a trajectory 61 extending along the extending direction of the object, and an orthogonal plane 62 orthogonal to the trajectory 61 are shown. In the example shown in FIG. 2, the object is a tunnel.

The locus 61 shown in FIG. 2 extends inside the tunnel, but may extend along the tunnel extending direction, or may extend outside the tunnel. Further, in the example shown in FIG. 2, since the trajectory 61 is a straight line, one orthogonal plane 62 is shown, but when the trajectory 61 is a curve, the orthogonal plane 62 is provided in the extending direction of the trajectory 61.

The display data generation unit 35 superimposes the two-dimensional point cloud on the drawing of the object based on the drawing data acquired by the data acquisition unit 33 and the two-dimensional point cloud data generated by the point cloud data generation unit 34. Display data for displaying the selected image on the display device 2 is generated.

The display data output unit 36 outputs the display data generated by the display data generation unit 35 to the display device 2. The display device 2 can display an image in which the two-dimensional point group based on the three-dimensional point data is superimposed on the drawing of the object based on the display data acquired from the display data output unit 36. The display device 2 includes, for example, an LCD (Liquid Crystal Display) or an OEL (Organic Electro-Luminescence).

FIG. 3 is a diagram showing an example of an image in which a two-dimensional point cloud is superimposed on the drawing of the object according to the first embodiment. As shown in FIG. 3, the image 70 in which the two-dimensional point cloud 72 is superimposed on the drawing 71 of the object is displayed on the display device 2. Therefore, by confirming the difference between the drawing 71 and the two-dimensional point cloud 72, for example, it is possible to grasp whether the actual object is constructed according to the drawing 71, or the deformation caused by the deterioration of the object over time. Can be grasped. As a result, for example, the time and cost for inspecting the object can be reduced.

Hereinafter, the configuration of the display data generation device according to the first embodiment will be described in more detail. FIG. 4 is a diagram illustrating an example of a detailed configuration of the display data generation device according to the first embodiment. As shown in FIG. 4, the display data generation device 1 according to the first embodiment includes a communication unit 10, a storage unit 20, and a processing unit 30.

The communication unit 10 is communicatively connected to the three-dimensional point cloud measuring apparatus 4 via the network 7 by, for example, wireless LAN (Local Area Network) communication, WAN (Wide Area Network) communication, or mobile phone communication. .. The network 7 is, for example, the Internet.

The storage unit 20 includes a three-dimensional point cloud database 21, a drawing database 22, and a trajectory database 23. The three-dimensional point cloud database 21 includes three-dimensional point cloud data of the object 5 obtained by the three-dimensional point cloud measuring device 4 at each measurement date and time. The data of the three-dimensional point includes, for example, data indicating coordinates of the three-dimensional point in the XYZ axis coordinate system as data indicating the three-dimensional position of the three-dimensional point.

The three-dimensional point cloud measuring device 4 generates three-dimensional point cloud data from the imaged data of the object 5 obtained by the image pickup device or the measurement data obtained by the laser scanner device. For example, the three-dimensional point cloud measuring device 4 measures the phase difference between the time and the wavelength of the laser pulse going back and forth with respect to the surface of the object 5 and the direction in which the laser pulse is emitted to measure the object 5. The shape is detected, and the detected shape is output as the three-dimensional point group data which is the data of the above-described three-dimensional point group 60. Although FIG. 4 shows one object 5, the three-dimensional point cloud measuring device 4 measures each of the plurality of objects 5 and outputs three-dimensional point cloud data based on the measurement result. be able to.

FIG. 5 is a diagram showing an example of a data table of the three-dimensional point cloud database according to the first embodiment. As shown in FIG. 5, in the data table of the three-dimensional point cloud database 21, “object ID (Identifier)”, “point cloud ID”, “measurement date and time”, and “three-dimensional point cloud data” are associated with each other. Included data.

The “target object ID” is identification information unique to each target object 5. The “point cloud ID” is identification information unique to each three-dimensional point cloud data. The “measurement date and time” is the date and time when the object 5 was measured by the three-dimensional point cloud measuring device 4 to obtain the three-dimensional point cloud data. “Three-dimensional point cloud data” is three-dimensional point cloud data obtained by the three-dimensional point cloud measuring device 4.

In the example shown in FIG. 5, three-dimensional point group data DT ₁ , DT ₂ , DT ₃ , DT ₄ , DT ₅ are included as the three-dimensional point group data of the object ID “O001”, and the object ID “O002” is included. It is shown that the three-dimensional point group data DT ₆ and DT ₇ are included as the three-dimensional point group data. For example, the three-dimensional point cloud data DT ₁ is data of the three-dimensional point cloud 60 measured by the three-dimensional point cloud measuring device 4 on February 1, 2014, and the three-dimensional point cloud data DT ₂ is 2015. It is data of the three-dimensional point cloud 60 measured by the three-dimensional point cloud measuring device 4 on February 12. Hereinafter, when the three-dimensional point cloud data DT ₁ , DT ₂ , DT ₃ , DT ₄ , DT ₅ , DT ₆ , and DT ₇ are shown without distinction, they may be referred to as three-dimensional point cloud data DT. is there.

As described above, the three-dimensional point cloud database 21 includes the three-dimensional point cloud data DT obtained by the three-dimensional point cloud measuring device 4 at each measurement date and time, but the three-dimensional point cloud database 21 includes the three-dimensional point cloud data DT. The group data DT may be generated by a device other than the three-dimensional point cloud measuring device 4.

Returning to FIG. 4, the drawing database 22 stored in the storage unit 20 will be described. The drawing database 22 includes data of the drawing 71 of each object 5. The drawing 71 of the object 5 is data of a two-dimensional design drawing of the object 5 drawn by orthographic projection. The drawing 71 of the object 5 includes, for example, information indicating the dimensions of each part of the object 5 in addition to the diagram showing the shape of the object 5. When the object 5 is a tunnel, the drawing 71 of the object 5 includes, for example, a sectional shape of the tunnel. Moreover, the drawing 71 of the target object 5 is a figure including the cross-sectional shape of the sewer pipe, when the target object 5 is a sewer pipe.

FIG. 6 is a diagram showing an example of a data table of the drawing database according to the first embodiment. As shown in FIG. 6, the data table of the drawing database 22 includes data in which “object ID” and “drawing data” are associated with each other. The “object ID” is the same as the object ID shown in FIG. The “drawing data” is drawing data of the object 5.

In the example shown in FIG. 6, it is shown that the drawing data DF ₁ is included as the drawing data of the object ID “O001”, and the drawing data DF ₂ is included as the drawing data of the object ID “O002”. There is. Hereinafter, the drawing data DF ₁ and DF ₂ will be referred to as drawing data DF when they are shown without distinction.

Returning to FIG. 4, the trajectory database 23 stored in the storage unit 20 will be described. The trajectory database 23 includes trajectory data which is data of the trajectory 61 of each target object 5. The trajectory data is data of a line extending along the extending direction of the object 5. The locus data included in the locus database 23 is data of a plurality of three-dimensional points arranged along the extension direction of the object 5 instead of the data of the line along the extension direction of the object 5. The data may include direction vector data associated with each of the three-dimensional points. The direction vector is, for example, data indicating the direction of the locus 61 passing through the three-dimensional point.

FIG. 7 is a diagram showing an example of a data table of the trajectory database according to the first embodiment. As shown in FIG. 7, the data table of the trajectory database 23 includes data in which “object ID” and “trajectory data” are associated with each other. The “object ID” is the same as the object ID shown in FIG. The “trajectory data” is the trajectory data of the object 5.

In the example shown in FIG. 7, it is shown that the trajectory data DL ₁ is included as the trajectory data of the object ID “O001”, and the trajectory data DL ₂ is included as the trajectory data of the object ID “O002”. There is. Hereinafter, the locus data DL ₁ and DL ₂ will be referred to as locus data DL when they are shown without distinction.

The processing unit 30 can also have a function as a locus data generation unit that generates the locus data DL based on the three-dimensional point cloud data DT. For example, when the target object 5 is a tunnel, the processing unit 30 draws a line connecting the intermediate position of the width of the tunnel represented by the three-dimensional point cloud 60 from the tunnel entrance to the exit based on the three-dimensional point cloud data DT. It can be specified as the trajectory 61. Note that the processing unit 30 can also generate the trajectory data DL based on the three-dimensional point cloud data DT using a preset calculation model.

Returning to FIG. 4, the processing unit 30 will be described. As shown in FIG. 4, the processing unit 30 includes a storage processing unit 31, a reception unit 32, a data acquisition unit 33, a point cloud data generation unit 34, a display data generation unit 35, and a display data output unit 36. Equipped with.

The storage processing unit 31 adds the measurement data received by the communication unit 10 from the three-dimensional point cloud measuring device 4 via the network 7 to the three-dimensional point cloud database 21 of the storage unit 20. The measurement data from the three-dimensional point cloud measuring device 4 includes the object ID, the measurement date/time data, and the three-dimensional point cloud data DT, and the storage processing unit 31 obtains from the three-dimensional point cloud measuring device 4. A new point cloud ID is associated with the measured data and added to the three-dimensional point cloud database 21. The storage processing unit 31 can also acquire the drawing data DF and the locus data DL from a device (not shown) via the network 7 and the communication unit 10.

The reception unit 32 can receive various operations on the input device 3 by the user. For example, the reception unit 32 can receive a point cloud superimposing operation, which is an operation requesting superimposition of a point cloud on the drawing of the object 5, as the user's operation on the input device 3. Further, the reception unit 32 can receive a distance display request operation, which is an operation for requesting the display of the distance between two two-dimensional points forming a two-dimensional point group, as the user's operation on the input device 3. .. In addition, the reception unit 32 can receive a target point group designation operation that is an operation of displaying a plurality of three-dimensional point groups 60 having different measurement dates and times on the drawing.

Further, the accepting unit 32 can accept a display mode designating operation, which is an operation of designating the display mode of the point cloud, as the user's operation on the input device 3. The display manner of the point cloud is, for example, a first display manner in which coloring is performed according to the shading of the point cloud, a second display manner in which highlighting is performed according to the positional deviation between the drawing and the point cloud, and the like. There is. The reception unit 32 is a user's operation on the input device 3, and is a comparison target operation for designating a line showing the shape of the target object 5 on the drawing for comparing the positional deviation with the two-dimensional group as a comparison target line. A designated operation can be accepted.

When the point group superimposing operation is accepted by the accepting section 32, the data acquiring unit 33, the three-dimensional point cloud data DT, the drawing data DF, and the three-dimensional point group data DT associated with the data of the object ID designated by the point group superimposing operation. The locus data DL is acquired from the storage unit 20. When a plurality of point cloud IDs are designated by the point cloud superimposing operation, the data acquisition unit 33 stores, from the storage unit 20, a plurality of three-dimensional point cloud data DT associated with the designated plurality of point cloud IDs. get.

The point cloud data generation unit 34 generates the two-dimensional point cloud data DX based on the three-dimensional point cloud data DT and the trajectory data DL acquired by the data acquisition unit 33. The two-dimensional point group data DX is a plurality of two-dimensional points obtained by projecting a plurality of three-dimensional points included in the three-dimensional point group 60 represented by the three-dimensional point group data DT onto an orthogonal plane orthogonal to the locus 61. It is the data of the two-dimensional point cloud including.

The point cloud data generation unit 34 includes a trajectory sampling unit 41, an orthogonal plane calculation unit 42, a three-dimensional point extraction unit 43, a projection point calculation unit 44, and a data generation unit 45.

The trajectory sampling unit 41 performs a sampling process on the trajectory data DL acquired by the data acquisition unit 33 to generate a plurality of three-dimensional points along the extending direction of the object 5. FIG. 8 is a diagram for explaining the sampling processing by the display data generating device according to the first embodiment. Note that, in order to make the description easy to understand, a plurality of drawings including FIG. 8 described below show a three-dimensional orthogonal coordinate system including the Z-axis with the vertical upward direction as the positive direction.

In the example illustrated in FIG. 8, the sampling processing by the trajectory sampling unit 41 generates data of a plurality of three-dimensional points P _{L1 to} P _L9 passing through the trajectory 61 represented by the trajectory data DL. In the example shown in FIG. 8, in order to facilitate understanding, three-dimensional points along the extending direction of the object 5 are shown among a plurality of three-dimensional points included in the three-dimensional point group 60 of the object 5. , Some 3D points are not shown. In the following, when each of the three-dimensional points P _{L1 to} P _L9 is shown without distinction, it may be referred to as a three-dimensional point P _L. The three-dimensional point P _L of the data includes data indicating a three-dimensional position of the three-dimensional point P _L, the direction vectors of the three-dimensional point P _L data. The direction vector is data indicating the direction of the locus 61 passing through the three-dimensional point P _L.

The sampling interval by the trajectory sampling unit 41 is changed according to the state of the trajectory 61. For example, the trajectory sampling unit 41 can reduce the sampling interval for a portion of the trajectory 61 having a larger curvature. Further, when the data generated by the sampling processing by the trajectory sampling unit 41 and the trajectory data DL have the same format, the sampling processing by the trajectory sampling unit 41 is not performed. The sampling intervals by the trajectory sampling unit 41 may be equal intervals.

The orthogonal plane calculation unit 42 shown in FIG. 4 calculates a plurality of orthogonal planes that include the corresponding three-dimensional points P _L among the plurality of three-dimensional points P _L generated by the locus sampling unit 41 and that are orthogonal to the locus 61. To do. FIG. 9 is a diagram for explaining an orthogonal plane calculated by the display data generation device according to the first embodiment.

In the example shown in FIG. 9, a plurality of orthogonal planes 62 _{1 to} 62 ₉ that include the corresponding three-dimensional points P _L among the plurality of three-dimensional points P _{L1 to} P _L9 and are orthogonal to the trajectory 61 are provided by the orthogonal plane calculation unit 42. It is being calculated. Hereinafter, the case shown each of the plurality of orthogonal planes ₆₂ 1-62 ₉ without individually distinguished, referred to as orthogonal plane 62.

As described above, the data of the three-dimensional point P _L is included and data showing the three-dimensional position of the three-dimensional point P _L, the direction vectors of the three-dimensional point P _L data. Orthogonal planes calculating unit 42 calculates a plane orthogonal to the direction vector and three-dimensional point P _L comprises a three-dimensional position of the three-dimensional point P _L as an orthogonal plane 62. For example, the orthogonal plane calculating unit 42 calculates a plane orthogonal to the direction vector of the 3 and 3-dimensional point comprises a three-dimensional position of the dimensional point P _L1 P _L1 as the orthogonal plane 62 _1.

The three-dimensional point extraction unit 43 illustrated in FIG. 4 includes a plurality of orthogonal planes among the plurality of three-dimensional points P _L included in the three-dimensional point group 60 represented by the three-dimensional point group data DT acquired by the data acquisition unit 33. A three-dimensional point within a preset distance Dth from any of 62 is extracted for each of the plurality of orthogonal planes 62. FIG. 10 is a diagram for explaining a three-dimensional point extraction process performed by the display data generation device according to the first embodiment. Incidentally, FIG. 10, for ease of description, as viewed from the Z-axis direction, shows a plurality of three-dimensional point _P L1 _{to P L9} and a plurality of orthogonal planes ₆₂ 1-62 _9.

As shown in FIG. 10, the three-dimensional point extracting unit 43, preset from one of a plurality of orthogonal planes 62 _{1-62 9} among the plurality of three-dimensional points constituting the three-dimensional point group 60 of the object 5 3D point at a distance within Dth was extracted for each of a plurality of orthogonal planes ₆₂ 1-62 _9.

Projection point calculation unit shown in FIG. 4 44, the projection points obtained by projecting the corresponding orthogonal plane 62 of the three-dimensional point extracting unit 43 a plurality of orthogonal planes 62 _{1-62 9} 3D points extracted by Calculate FIG. 11 is a diagram for explaining projection points calculated by the display data generation device according to the first embodiment.

FIG. 11 shows an example in which the three-dimensional points extracted by the three-dimensional point extracting unit 43 are the three-dimensional points P _{A1 to} P _A9 with respect to one orthogonal plane 62. That is, the three-dimensional points P _{A1 to} P _A9 are three-dimensional points that are within the distance Dth with respect to one orthogonal plane 62 among a plurality of three-dimensional points that form the three-dimensional point group 60 of the object 5.

In the example shown in FIG. 11, the projection point calculation unit 44 calculates projection points P _{B1 to} P _B9 obtained by projecting the three-dimensional points P _{A1 to} P _A9 on the orthogonal plane 62. Projection onto the orthogonal plane 62 of the three-dimensional point _P A1 _{to P A9} is performed by projecting in a direction perpendicular to the perpendicular plane 62 a three-dimensional point _P A1 _{to P A9} to orthogonal planes 62.

For example, the projection point P _B1 is obtained by projecting the three-dimensional point P _A1 onto the orthogonal plane 62 in a direction orthogonal to the orthogonal plane 62. The projection point P _B2 is obtained by projecting the three-dimensional point P _A2 onto the orthogonal plane 62 in a direction orthogonal to the orthogonal plane 62. Hereinafter, when each of the projection points P _{B1 to} P _B9 is shown without being individually distinguished, it may be referred to as a projection point P _B.

The data generation unit 45 shown in FIG. 4 arranges a plurality of projection points P _B obtained by projecting on the plurality of orthogonal planes 62 by the projection point calculation unit 44 on one plane by superimposing the plurality of orthogonal planes 62. Two-dimensional point cloud data DX, which is the data of the two-dimensional point cloud thus generated, is generated. FIG. 12 is a diagram for explaining the two-dimensional point cloud data generated by the display data generating device according to the first embodiment.

In FIG. 12, a projection point group PG _B including a plurality of projection points P _B projected on each orthogonal plane 62 is shown. As shown in FIG. 12, the data generation unit 45, by superimposing a plurality of orthogonal planes 62 _{1-62 9,} 2-dimensional point cloud obtained by arranging a plurality of projection points P _B on one plane 64 Two-dimensional point cloud data DX, which is data 72, is generated.

As described above, the point cloud data generation unit 34 is included in the three-dimensional point cloud 60 represented by the three-dimensional point cloud data DT based on the three-dimensional point cloud data DT and the trajectory data DL acquired by the data acquisition unit 33. It is possible to generate the two-dimensional point group data DX which is the data of the two-dimensional point group 72 including the plurality of two-dimensional points obtained by projecting the plurality of three-dimensional points on the orthogonal plane 62 orthogonal to the trajectory 61. The point cloud data generation unit 34 outputs the generated two-dimensional point cloud data DX to the display data generation unit 35.

Next, the configuration of the display data generation unit 35 will be described. As shown in FIG. 4, the display data generation unit 35 includes a data generation unit 51, a density calculation unit 52, a positional deviation determination unit 53, a distance calculation unit 54, and a difference calculation unit 55.

The data generation unit 51 superimposes the two-dimensional point cloud 72 on the drawing 71 based on the drawing data DF acquired by the data acquisition unit 33 and the two-dimensional point cloud data DX generated by the point cloud data generation unit 34. The display data DW for displaying the selected image on the display device 2 is generated.

FIG. 13 is a diagram showing an example of an image displayed on the display device by the display data generated by the display data generating device according to the first embodiment. As shown in FIG. 13, the display device 2 displays the image 70 in which the two-dimensional point cloud 72 is superimposed on the drawing 71 of the object 5 by the display data DW from the display data generating device 1. Therefore, by confirming the difference between the drawing 71 and the two-dimensional point cloud 72, the difference between the drawing 71 and the actual object 5 can be easily grasped.

The data generation unit 51 can specify the dimension of the object 5 shown in the drawing based on the information indicating the dimension included in the drawing data DF and adjust the dimension of the object 5 shown in the drawing 71. The two-dimensional point cloud data DX includes information on measured values measured by the three-dimensional point cloud measuring device 4, and adjusts the dimensions of the object 5 or the dimensions of the two-dimensional point cloud 72 shown in the drawing 71. By doing so, the dimensions of the target object 5 shown in the drawing 71 and the target object 5 shown in the two-dimensional point group 72 can be matched.

Then, the data generation unit 51 can perform alignment between the drawing 71 and the two-dimensional point cloud 72 based on the reference position (not shown) set in the drawing 71 and the trajectory 61 indicated by the trajectory data DL. .. For example, when the trajectory 61 is set at the center of the object 5 in the width direction, the reference position is set at a position passing through the trajectory 61 in the drawing 71.

In addition, the data generation unit 51 performs an extraction process of extracting a line showing the shape of the target object 5 from the drawing 71, and the alignment between the line showing the shape of the target object 5 shown in the drawing 71 and the two-dimensional point group 72. It is also possible to perform the alignment processing to be performed. In this case, the data generation unit 51 can perform an extraction process of extracting a line indicating the shape of the target object 5 by using a template including a plurality of shape patterns of the target object 5, for example. Further, the data generation unit 51 can perform an extraction process of extracting a line indicating the shape of the target object 5 by using a calculation model generated by a machine learning device such as a DNN (Deep Neural Network).

Also in this case, the data generation unit 51 adjusts the dimension of the object 5 or the dimension of the two-dimensional point group 72 extracted by the extraction process based on the information indicating the dimension included in the drawing data DF. A position where the data generation unit 51 arranges the two-dimensional point group 72 at a position most likely to match the line showing the shape of the target object 5 extracted in the extraction process while changing the two-dimensional point group 72 and the position. A matching process can be performed. Note that the alignment processing of the drawing 71 and the two-dimensional point group 72 by the data generation unit 51 is not limited to the above-described processing.

Next, the display data DW generated by the display data generating device 1 by the display mode designating operation will be described. When the reception unit 32 receives the point cloud overlapping operation including the display mode designating operation for designating the first display mode, the data generation unit 51 performs two-dimensional processing based on the density calculated by the density calculation unit 52. The color of each two-dimensional point included in the point group 72 can be changed.

The density calculation unit 52 can calculate the density of the region where each two-dimensional point included in the two-dimensional point cloud 72 is located based on the two-dimensional point cloud data DX. For example, the density calculation unit 52 divides the area in which the two-dimensional point group 72 exists into a plurality of preset areas, and determines the number of two-dimensional points existing in each divided area, which is the divided area, as follows. It can be calculated as the density of the area where the two-dimensional points are located.

FIG. 14 is a diagram showing another example of an image displayed on the display device by the display data generated by the display data generating device according to the first embodiment. In the example illustrated in FIG. 14, the data generation unit 51 uses different colors for the two-dimensional points in the area with high density, the two-dimensional points in the area with low density, and the two-dimensional points in the area with intermediate density. Is set. For example, the data generation unit 51 sets the two-dimensional points in the area where 15 or more two-dimensional points are present to red, and the two-dimensional points in the area where five or more and less than 15 two-dimensional points are present to green. Two-dimensional points in a region where two or less two-dimensional points are present can be set to blue.

In the example shown in FIG. 14, the color of the two-dimensional point is divided into three levels according to the density, but the data generation unit 51 can also divide the color of the two-dimensional point into two levels or four or more levels. .. Further, the data generation unit 51 can also generate the display data DW in which the two-dimensional points to which the belonging area has a low density are highlighted such that the color is darkened. Further, the data generation unit 51 can also generate the display data DW in which the two-dimensional points to which the area to which the region belongs belongs are highly highlighted such that the color is darkened.

In this way, since each two-dimensional point is displayed on the display device 2 in a color corresponding to the density, the user of the display data generation device 1 can easily shift the drawing 71 from the two-dimensional point group 72. Therefore, the difference between the drawing 71 and the actual object 5 can be more easily grasped.

Further, when the reception unit 32 receives the point cloud superimposing operation including the display mode designating operation for designating the second display mode, the data generation unit 51 determines the target object 5 in the drawing 71 determined by the position shift determination unit 53. The display data DW including the data in which the two-dimensional points that satisfy the preset positional deviation are highlighted on the display device 2 are generated based on the positional deviation between the line indicating the shape of the above and each two-dimensional point.

The positional deviation determination unit 53, based on the drawing data DF and the two-dimensional point cloud data DX, each two-dimensional point included in the two-dimensional point cloud 72 indicated by the two-dimensional point cloud data DX and the object 5 in the drawing 71. The positional deviation from the line indicating the shape of is determined. The data generation unit 51 generates the display data DW including the data in which the two-dimensional points where the positional displacement determined by the positional displacement determination unit 53 satisfies the preset condition are displayed on the display device 2. For example, the data generation unit 51 can perform a process of dividing the magnitude of the positional shift determined by the positional shift determination unit 53 into three levels and color-coding each two-dimensional point according to the magnitude of the positional shift.

FIG. 15 is a diagram showing another example of an image displayed on the display device by the display data generated by the display data generating device according to the first embodiment. In the example illustrated in FIG. 15, the data generation unit 51 sets different colors for an area with a small displacement, an area with a large displacement, and an area with an intermediate displacement. For example, the data generation unit 51 sets the two-dimensional points in the region where the positional deviation is large to dark red, the two-dimensional points in the region where the positional deviation is intermediate to light red, and the two-dimensional points in the region where the positional deviation is small to white. Can be set. Accordingly, it is possible to generate the display data DW including the data that is emphasized and displayed on the display device 2 as the two-dimensional point having the larger positional deviation.

Note that, in the example shown in FIG. 15, the color of the two-dimensional point is divided into three stages according to the positional deviation, but the data generation unit 51 can also divide the color of the two-dimensional point into two stages or four or more stages. .. In addition, the data generation unit 51 can also generate the display data DW in which the two-dimensional point having a large displacement is highlighted such that the color is darkened. In addition, the data generation unit 51 can also generate the display data DW in which the two-dimensional point with a smaller displacement is highlighted such that the color is darkened.

As described above, since the data generation unit 51 generates the display data DW that displays each two-dimensional point on the display device 2 in the color corresponding to the positional deviation, the user of the display data generation device 1 can display the drawing data 71 as shown in FIG. The deviation from the two-dimensional point group 72 can be easily grasped, and the difference between the drawing 71 and the actual object 5 can be grasped more easily.

In addition, the data generation unit 51 is a position shift that is a region in which there are a predetermined number or more of two-dimensional points per unit area in which the position shift with respect to the line showing the shape of the target object 5 in the drawing 71 exceeds a preset range. It can be determined whether there is a region. In this case, when the data generation unit 51 determines that there is a displacement area, it can generate the display data DW for displaying the image in which the displacement area is highlighted on the display device 2.

FIG. 16 is a diagram showing another example of the image displayed on the display device by the display data generated by the display data generating device according to the first embodiment. In the example shown in FIG. 16, the data generation unit 51 includes, in addition to the state shown in FIG. 15, a frame 74 surrounding the area determined to be the position shift area, and a mark 75 for calling the user's attention. The display data DW for displaying the image 70 on the display device 2 is generated.

The positional shift determination unit 53 can extract the line showing the shape of the object 5 in the drawing 71 based on the drawing data DF using a template including a plurality of shape patterns of the object 5. Further, the positional deviation determination unit 53 can also extract a line indicating the shape of the target object 5 based on the drawing data DF by a calculation model generated by a machine learning device such as DNN. The positional shift determination unit 53 can determine the positional shift between the line indicating the shape of the target object 5 extracted based on the drawing data DF and each two-dimensional point included in the two-dimensional point group 72.

In addition, when the comparison target designating operation is accepted by the accepting unit 32, the misalignment determination unit 53 includes a line indicating a part of the shape of the target object 5 that is the comparison target line designated by the comparison target designating operation, and a line 2 It is also possible to determine the positional deviation from each two-dimensional point included in the dimension point group 72.

As described above, since the data generation unit 51 generates the display data DW for displaying the image in which the region where the positional displacement is large is highlighted on the display device 2, the user of the display data generation device 1 can view the drawings 71 and 2. The deviation from the dimension point group 72 can be easily grasped, and the difference between the drawing 71 and the actual object 5 can be grasped more easily.

Next, the display data DW generated by the display data generating device 1 by the distance display request operation will be described. When the reception unit 32 receives the distance display request operation, the distance calculation unit 54 illustrated in FIG. 4 can calculate the distance between the two two-dimensional points selected by the distance display request operation.

When the accepting unit 32 accepts the distance display request operation, the data generating unit 51 outputs the display data DW including the data for displaying the information indicating the distance between the two points calculated by the distance calculating unit 54 on the display device 2. Can be generated. With the display data DW, the display device 2 causes the display device 2 to display the distance between the two two-dimensional points selected by the distance display requesting operation or the two three-dimensional points corresponding to the two two-dimensional points selected by the distance display requesting operation. Information indicating the distance between can be displayed.

FIG. 17 is a diagram showing another example of the image displayed on the display device by the display data generated by the display data generating device according to the first embodiment. In the example shown in FIG. 17, in addition to the state shown in FIG. 15, the data generation unit 51 displays an image 70 including a character 78 indicating the distance between the two two-dimensional points 76 and 77 selected by the distance display request operation. The display data DW to be displayed on the device 2 is generated. In the example shown in FIG. 17, the two two-dimensional points 76 and 77 selected by the distance display request operation are displayed larger than the other two-dimensional points, but the two-dimensional points 76 and 77 are other two-dimensional points. It may have the same size as the point.

Note that the distance display request operation accepted by the accepting unit 32 is performed by operating the mouse included in the input device 3, but the accepting unit 32 inputs a trackball, a stylus pen, or another pointing device such as a touch panel. The device 3 can also accept a distance display request operation.

Further, when the reception unit 32 receives the distance display request operation, the distance calculation unit 54 selects two two-dimensional positions selected by the distance display request operation from the plurality of three-dimensional points forming the three-dimensional point group 60. The distance between two 3D points corresponding to a point can be calculated. In this case, the data generation unit 51 can display information indicating the distance between two three-dimensional points corresponding to the two two-dimensional points selected by the distance display request operation. The three-dimensional points corresponding to the two-dimensional points selected by the distance display request operation are the three-dimensional points before being converted into the two-dimensional points, and the three-dimensional points before the projection of the two-dimensional points. The distance calculation unit 54 can acquire the information of the three-dimensional point corresponding to the two-dimensional point from the point cloud data generation unit 34.

In this way, the data generation unit 51 causes the information indicating the distance between the two two-dimensional points selected by the distance display request operation, or the two three-dimensional points corresponding to the two two-dimensional points selected by the distance display request operation. The display data DW for displaying the information indicating the distance between the dimension points on the display device 2 can be generated. Therefore, the user of the display data generation device 1 can measure a desired portion of the target object 5 without going to the location where the target object 5 exists.

Note that the reception unit 32 is limited to the selection of two two-dimensional points corresponding to the two three-dimensional points whose distances from each other in the direction along the extending direction of the trajectory 61 is not less than the preset threshold Dth1 and less than the threshold Dth2. It can also be accepted as a distance display request operation. As a result, the data generation unit 51 displays the image 70 including the information indicating the distance between the two three-dimensional points located at the position where the distance between them is the threshold value Dth1 or more and less than the threshold value Dth2 in the stretching direction of the target object 5 on the display device 2. The display data DW to be displayed can be generated. The receiving unit 32 can receive the setting operation of the threshold values Dth1 and Dth2 from the input device 3. This allows the user to set the threshold values Dth1 and Dth2.

Next, the display data DW generated by the display data generating device 1 by the comparison target designating operation will be described. When the receiving unit 32 receives the point cloud overlapping operation including the target point cloud specifying operation, the data acquiring unit 33 corresponds to the point cloud IDs of the plurality of three-dimensional point groups 60 specified by the target point cloud specifying operation. The three-dimensional point cloud data DT is acquired from the storage unit 20.

For example, assume that the three-dimensional point cloud database 21 is in the state shown in FIG. 5 and that the point cloud IDs of the plurality of three-dimensional point clouds 60 designated by the target point cloud designation operation are “G004” and “G005”. .. In this case, the data acquisition unit 33 acquires the three-dimensional point cloud data DT ₄ and DT ₅ from the storage unit 20. The point cloud data generation unit 34 includes a two-dimensional point cloud including the data of the two-dimensional point cloud 72 corresponding to the three-dimensional point cloud 60 of the point cloud ID “G004” based on the three-dimensional point cloud data DT ₄ and DT _5. The data DX and the two-dimensional point group data DX including the data of the two-dimensional point group 72 corresponding to the three-dimensional point group 60 having the point group ID “G005” are generated. Hereinafter, the two-dimensional point group 72 corresponding to the three-dimensional point group 60 having the point group ID “G004” is referred to as a two-dimensional point group 72a, and the two-dimensional point corresponding to the three-dimensional point group 60 having the point group ID “G005”. The group 72 is described as a two-dimensional point group 72b.

The difference calculator 55 calculates the difference between the two-dimensional point group 72a and the two-dimensional point group 72b. The data generation unit 51 generates display data DW that superimposes the two-dimensional point groups 72a and 72b on the drawing 71 and highlights the difference between the two-dimensional point group 72a and the two-dimensional point group 72b on the display device 2. ..

FIG. 18 is a diagram showing another example of an image displayed on the display device by the display data generated by the display data generating device according to the first embodiment. In the example illustrated in FIG. 18, the data generation unit 51 superimposes two two-dimensional point groups 72a and 72b on the drawing 71, and surrounds an area that has a difference between the two-dimensional point group 72a and the two-dimensional point group 72b. The display data DW for displaying the image 70 including the image 81 including 81 and the mark 82 for calling the user's attention is generated. Since the frame 81 highlights the difference between the two two-dimensional point groups having different measurement dates and times, for example, it is possible to easily grasp the portion of the object 5 that has undergone secular change.

The two-dimensional point groups 72a and 72b are displayed in different colors. As described above, since the plurality of two-dimensional point groups 72a and 72b generated by using the plurality of three-dimensional point groups 60 obtained at different measurement dates and times are superimposed on the drawing 71, the displacement of the object 5 due to aged deterioration, etc. Can be grasped.

When the difference between the two two-dimensional point groups 72a and 72b having different measurement dates and times satisfies a preset condition, the data generation unit 51 may display a frame 81 surrounding the area having the difference shown in FIG. it can. For example, when there is an area in which the number of two-dimensional points whose displacement amount exceeds a preset amount is equal to or greater than the preset number, the data generation unit 51 can highlight the region.

In addition, the data generation unit 51 changes the area of the difference between the two two-dimensional point groups 72a and 72b calculated by the difference calculation unit 55 by coloring or changing the color density, so that the two two-dimensional measurement dates and times are different. The difference between the point groups 72a and 72b can be highlighted.

Next, the operation of the display data generating device 1 will be described using a flowchart. FIG. 19 is a flowchart illustrating an example of the first display data generation process of the display data generation device according to the first embodiment.

As illustrated in FIG. 19, when the processing unit 30 of the display data generation device 1 receives the point cloud superimposing operation on the input device 3, the processing unit 30 performs a data acquisition process (step S10). In the process of step S10, the processing unit 30 acquires the three-dimensional point cloud data DT, the trajectory data DL, and the drawing data DF of the object 5 designated by the point cloud superimposing operation from the storage unit 20.

The processing unit 30 performs the generation process of the two-dimensional point cloud data DX based on the three-dimensional point cloud data DT and the trajectory data DL acquired in step S10 (step S11). The process of step S11 is the process of steps S20 to S23 shown in FIG. 20, which will be described in detail later.

The processing unit 30 performs the generation process of the display data DW on the drawing data DF acquired in step S10 and the two-dimensional point group data DX generated in step S11 (step S12). In the process of step S12, the processing unit 30 generates the display data DW for displaying the image 70 in which the two-dimensional point cloud 72 is superimposed on the drawing 71 on the display device 2.

The processing unit 30 outputs the display data DW generated in step S12 to the display device 2 (step S13), and ends the processing shown in FIG. As a result, the image of the drawing 71 on which the two-dimensional point cloud 72 is superimposed is displayed on the display device 2.

FIG. 20 is a flowchart showing an example of a two-dimensional point cloud data generation process of the display data generation device according to the first embodiment. As shown in FIG. 20, the processing unit 30 first performs a trajectory sampling process (step S20). In the process of step S20, the processing unit 30 samples the trajectory 61 along the extending direction of the target object 5 to generate a plurality of three-dimensional points along the extending direction of the target object 5.

The processing unit 30 performs an orthogonal plane calculation process (step S21). In the process of step S21, the processing unit 30 calculates a plurality of orthogonal planes 62 that include the corresponding three-dimensional points among the plurality of three-dimensional points generated in step S20 and that are orthogonal to the trajectory 61.

The processing unit 30 performs a three-dimensional point projection process (step S22). In the processing of step S22, the processing unit 30 sets a plurality of orthogonal planes among a plurality of three-dimensional points included in the three-dimensional point group 60 indicated by the three-dimensional point group data DT acquired in step S10 shown in FIG. A three-dimensional point within a preset distance from any of the above is extracted for each of the plurality of orthogonal planes.

The processing unit 30 performs an overlay process (step S23). In the processing of step S23, the processing unit 30 arranges the two-dimensional point group 72 in which a plurality of projection points obtained by projecting on a plurality of orthogonal planes are arranged on one plane by overlapping the plurality of orthogonal planes 62. The two-dimensional point cloud data DX, which is the data of, is generated. When the processing unit 30 ends the processing of step S23, the processing unit 30 ends the processing shown in FIG.

Next, the second display data generation process performed by the display data generation device 1 will be described. FIG. 21 is a flowchart showing an example of the second display data generation process of the display data generation device according to the first embodiment. Note that the processing of steps S30 and S31 of FIG. 21 is the same as the processing of steps S10 and S11 shown in FIG. 19, so description thereof will be omitted. The second display data generation process is executed, for example, when a point cloud superimposing operation including the display mode designating operation of the first display mode is received.

As shown in FIG. 21, the processing unit 30 performs a density calculation processing (step S32). In the process of step S32, the density of the area in which the two-dimensional points included in the two-dimensional point cloud 72 are located is calculated based on the two-dimensional point cloud data DX generated in step S31.

Then, the processing unit 30 performs color classification processing according to the density calculated in step S32 (step S33). In this color classification processing, the processing unit 30 sets each two-dimensional point included in the two-dimensional point group 72 superimposed on the drawing 71 to a color according to the density. The processing unit 30 performs a display data generation process for generating display data DW for displaying the image 70 on the display device 2 in which the image 70 in which the two-dimensional point group 72 in which each two-dimensional point is represented by the color according to the density is superimposed on the drawing 71 is displayed. Perform (step S34). The processing unit 30 performs a display data output process of outputting the display data DW generated in step S34 to the display device 2 (step S35). After finishing the process of step S35, the processing unit 30 finishes the process shown in FIG.

Next, the third display data generation process performed by the display data generation device 1 will be described. FIG. 22 is a flowchart showing an example of the third display data generation process of the display data generation device according to the first embodiment. Note that the processing of steps S40 and S41 of FIG. 22 is the same as the processing of steps S10 and S11 shown in FIG. 19, so description thereof will be omitted. The third display data generation process is executed, for example, when the point cloud superimposing operation including the display mode designating operation of the second display mode is received.

As shown in FIG. 22, the processing unit 30 performs a positional deviation determination process (step S42). In the process of step S42, the processing unit 30 determines the positional deviation between the drawing 71 and the two-dimensional point cloud 72 based on the drawing data DF acquired in step S40 and the two-dimensional point cloud data DX generated in step S41. judge.

Then, the processing unit 30 performs the emphasizing process according to the positional deviation calculated in step S42 (step S43). In the emphasizing process, the processing unit 30 highlights the portion where the positional deviation has occurred when the positional deviation between the drawing 71 and the two-dimensional point group 72 satisfies a preset condition, for example. Generate information. The processing unit 30 displays an image 70 in which the two-dimensional point group 72 is superimposed on the drawing 71 on the display device 2 while emphasizing a portion where the positional deviation between the drawing 71 and the two-dimensional point group 72 satisfies a preset condition. Display data generation processing for generating the display data DW is performed (step S44). The processing unit 30 performs a display data output process of outputting the display data DW generated in step S44 to the display device 2 (step S45). When the processing unit 30 finishes the processing of step S45, the processing unit 30 finishes the processing shown in FIG.

Subsequently, a fourth display data generation process performed by the display data generation device 1 will be described. FIG. 23 is a flowchart showing an example of the fourth display data generation process of the display data generation device according to the first embodiment. Note that the processing of steps S50 and S51 of FIG. 23 is the same as the processing of steps S10 and S11 shown in FIG. 19, so description thereof will be omitted. The fourth display data generation process is executed, for example, when a point cloud superimposing operation including a distance display request operation is received.

As shown in FIG. 23, the processing unit 30 performs a calculation process of the distance between the two two-dimensional points selected by the distance display request operation (step S52). Further, in the processing of step S52, the processing unit 30 replaces the calculation of the distance between the two-dimensional points with the distance between the two three-dimensional points corresponding to the two two-dimensional points selected by the distance display request operation. It can also be calculated.

Then, the processing unit 30 generates information indicating the distance calculated in step S52 (step S53). The processing unit 30 generates display data DW for displaying the image 70 in which the image 70 in which the two-dimensional point cloud 72 is superimposed on the drawing 71 and the information indicating the distance generated in step S53 is added to the display device 2 is generated. Is performed (step S54). The processing unit 30 performs a display data output process of outputting the display data DW generated in step S54 to the display device 2 (step S55). After finishing the process of step S55, the processing unit 30 finishes the process shown in FIG.

Next, the fifth display data generation process performed by the display data generation device 1 will be described. FIG. 24 is a flowchart showing an example of the fifth display data generation process of the display data generation device according to the first embodiment. The fifth display data generation process is executed, for example, when a point cloud superimposing operation including a target point cloud specifying operation is received.

As shown in FIG. 24, the processing unit 30 acquires data for acquiring the three-dimensional point group data DT, the trajectory data DL, and the drawing data DF associated with the plurality of point group IDs designated by the target point group designation operation. Processing is performed (step S60). Then, the processing unit 30 performs a process of generating the two-dimensional point cloud data DX (step S61). In the processing of step S61, the processing unit 30 generates the two-dimensional point cloud data DX for each point cloud ID based on the three-dimensional point cloud data DT and the trajectory data DL acquired in step S60.

Next, the processing unit 30 performs a difference calculation process between the point clouds based on the plurality of two-dimensional point cloud data DX generated in step S61 (step S62). In the process of step S62, the processing unit 30 calculates the difference between the plurality of two-dimensional point group data 72 represented by the plurality of two-dimensional point group data DX.

The processing unit 30 performs an emphasis process for emphasizing the difference between the plurality of two-dimensional point groups 72 calculated in step S62 (step S63). In the process of step S63, the processing unit 30 generates, for example, frame information that emphasizes a difference portion between the plurality of two-dimensional point groups 72.

Then, the processing unit 30 generates display data DW for displaying the image 70 in which the information of the frame generated in step S63 is added to the image obtained by superimposing the two-dimensional point cloud 72 on the drawing 71 on the display device 2 to generate the display data DW. Processing is performed (step S64). The processing unit 30 performs a display data output process of outputting the display data DW generated in step S64 to the display device 2 (step S65). When the processing unit 30 finishes the processing of step S65, the processing unit 30 finishes the processing shown in FIG.

FIG. 25 is a diagram illustrating an example of the hardware configuration of the display data generation device according to the first embodiment. As shown in FIG. 25, the display data generation device 1 includes a computer including a processor 101, a memory 102, and an interface circuit 103.

The processor 101, the memory 102, and the interface circuit 103 can send and receive data to and from each other via the bus 104. The communication unit 10 is realized by the interface circuit 103. The storage unit 20 is realized by the memory 102. The processor 101 reads the display data generation program stored in the memory 102 and executes the display data generation program to execute the storage processing unit 31, the reception unit 32, the data acquisition unit 33, the point cloud data generation unit 34, the display data generation unit 35, and The function of the display data output unit 36 is executed. The processor 101 is an example of a processing circuit, and includes one or more of a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a system LSI (Large Scale Integration).

The memory 102 is one or more of a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), and an EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory). Including. The memory 102 also includes a recording medium in which a computer-readable program is recorded. Such a recording medium includes one or more of a non-volatile or volatile semiconductor memory, a magnetic disk, a flexible memory, an optical disk, a compact disk, and a DVD (Digital Versatile Disc). The display data generation device 1 may include an integrated circuit such as an ASIC (Application Specific Integrated Circuit) and an FPGA (Field Programmable Gate Array).

As described above, the display data generation device 1 according to the first embodiment includes the data acquisition unit 33, the point cloud data generation unit 34, and the display data generation unit 35. The data acquisition unit 33 includes the three-dimensional point cloud data DT of the target object 5, the drawing data DF including the data of the two-dimensional drawing 71 of the target object 5, and the data of the trajectory 61 along the extending direction of the target object 5. A certain locus data DL is acquired. The point cloud data generation unit 34 includes a plurality of 3D points included in the 3D point cloud 60 represented by the 3D point cloud data DT based on the 3D point cloud data DT and the trajectory data DL acquired by the data acquisition unit 33. Two-dimensional point group data DX, which is data of a two-dimensional point group 72 including a plurality of two-dimensional points obtained by projecting the dimensional points on an orthogonal plane 62 orthogonal to the locus 61, is generated. The display data generation unit 35 creates a two-dimensional point cloud 72 on the drawing 71 based on the drawing data DF acquired by the data acquisition unit 33 and the two-dimensional point cloud data DX generated by the point cloud data generation unit 34. The display data DW for displaying the superimposed image 70 on the display device 2 is generated. Thereby, the display data generation device 1 can generate the display data DW in which a plurality of two-dimensional points corresponding to the three-dimensional point group 60 of the object 5 are superimposed on the two-dimensional drawing 71 of the object 5. .. Therefore, for example, when the target object 5 is a structure, it is possible to easily investigate whether or not the target object 5 is constructed according to the drawing 71.

In addition, the display data generation unit 35 changes the color of each two-dimensional point based on the density of the area where each two-dimensional point included in the two-dimensional point group 72 is located. Thereby, the user of the display data generation device 1 can easily grasp the deviation between the drawing 71 and the two-dimensional point group 72, and more easily grasp the difference between the drawing 71 and the actual object 5. be able to.

Further, the display data generation unit 35 includes, as the display data DW, a display including data for highlighting, on the display device 2, a two-dimensional point that satisfies a preset positional deviation from the drawing 71 among the plurality of two-dimensional points. Data DW is generated. Thereby, the user of the display data generation device 1 can easily grasp the deviation between the drawing 71 and the two-dimensional point group 72, and more easily grasp the difference between the drawing 71 and the actual object 5. be able to.

Further, the display data generation device 1 according to the first embodiment includes the reception unit 32 that receives selection of two two-dimensional points included in the two-dimensional point group 72. The display data generation unit 35 uses, as the display data DW, information indicating the distance between the two two-dimensional points selected by the reception unit 32 or two two-dimensional points corresponding to two two-dimensional points of the plurality of three-dimensional points. The display data DW including the data for displaying the information indicating the distance between the three-dimensional points on the display device 2 is generated. Thereby, the user of the display data generation device 1 can measure a desired portion of the target object 5 without going to the location where the target object 5 exists. For example, when the object 5 is a tunnel, the height of the ceiling and the width of the inner wall can be measured.

Further, the display data generation device 1 according to the first embodiment includes the storage unit 20 that stores a plurality of three-dimensional point cloud data DT. The data acquisition unit 33 acquires a plurality of three-dimensional point cloud data DT from the storage unit 20. The point cloud data generation unit 34 generates a plurality of two-dimensional point cloud data DX based on the plurality of three-dimensional point cloud data DT acquired by the data acquisition unit 33. The display data generation unit 35 highlights the difference portion between the plurality of two-dimensional point groups on the display device 2 based on the difference between the plurality of two-dimensional point groups represented by the plurality of two-dimensional point group data DX. Display data DW including data is generated. Thereby, the user of the display data generation device 1 can easily understand, for example, the portion of the object 5 that has undergone secular change.

The point cloud data generation unit 34 includes a trajectory sampling unit 41, an orthogonal plane calculation unit 42, a three-dimensional point extraction unit 43, a projection point calculation unit 44, and a data generation unit 45. The trajectory sampling unit 41 performs a sampling process on the trajectory data DL acquired by the data acquisition unit 33 to generate a plurality of three-dimensional points along the extending direction of the object 5. The orthogonal plane calculation unit 42 calculates a plurality of orthogonal planes 62 that include the corresponding three-dimensional points among the plurality of three-dimensional points generated by the trajectory sampling unit 41 and that are orthogonal to the trajectory 61. The three-dimensional point extraction unit 43 is within a preset distance Dth from any of the plurality of orthogonal planes 62 among the plurality of three-dimensional points indicated by the three-dimensional point group data DT acquired by the data acquisition unit 33. A three-dimensional point is extracted for each of the plurality of orthogonal planes 62. The projection point calculation unit 44 calculates a projection point obtained by projecting the three-dimensional point extracted by the three-dimensional point extraction unit 43 onto the corresponding orthogonal plane 62 among the plurality of orthogonal planes 62. The data generation unit 45 is a two-dimensional point in which a plurality of projection points obtained by projecting a plurality of orthogonal planes 62 by the projection point calculation unit 44 are arranged on a single plane 64 by overlapping the plurality of orthogonal planes 62. The data of the group 72 is generated as two-dimensional point cloud data DX.

The configurations described in the above embodiments are examples of the content of the present invention, and can be combined with another known technique, and the configurations of the configurations are not departing from the scope of the present invention. It is also possible to omit or change parts.

1 display data generation device, 2 display device, 3 input device, 4 3D point cloud measuring device, 5 object, 7 network, 10 communication unit, 20 storage unit, 21 3D point cloud database, 22 drawing database, 23 trajectory Database, 30 processing unit, 31 storage processing unit, 32 reception unit, 33 data acquisition unit, 34 point cloud data generation unit, 35 display data generation unit, 36 display data output unit, 41 trajectory sampling unit, 42 orthogonal plane calculation unit , 43 three-dimensional point extraction unit, 44 projected point calculation unit, 45, 51 data generation unit, 52 density calculation unit, 53 positional deviation determination unit, 54 distance calculation unit, 55 difference calculation unit, 60 three-dimensional point group, 61 locus, 62, 62 ₁ to 62 ₉ orthogonal planes, 64 planes, 70 images, 71 figures, 72, 72a, 72b two-dimensional point group 74 and 81 frame, 75,82 mark, 76, 77 2D points, 78 characters , DF, DF ₁ , DF ₂ drawing data, DL, DL ₁ , DL ₂ trajectory data, DT, DT _{1 to} DT ₇ 3D point cloud data, DW display data, DX 2D point cloud data, Dth distance, Dth1, Dth2 _{threshold, P A1 ~P A9, P L} , P L1 ~P L9 3 -dimensional _{points, P B,} P B1 _{~P B9} projection point, PG _B projected point cloud.

Claims (8)

A data acquisition unit that acquires three-dimensional point cloud data of an object, drawing data including data of a two-dimensional drawing of the object, and trajectory data that is trajectory data along the extending direction of the object. ,
Based on the three-dimensional point cloud data and the trajectory data acquired by the data acquisition unit, a plurality of three-dimensional points included in the three-dimensional point cloud represented by the three-dimensional point cloud data are orthogonal to the trajectory. A point cloud data generation unit that generates two-dimensional point cloud data that is data of a two-dimensional point cloud including a plurality of two-dimensional points obtained by projecting on a plane;
Based on the drawing data acquired by the data acquisition unit and the two-dimensional point cloud data generated by the point cloud data generation unit, an image in which the two-dimensional point cloud is superimposed on the drawing is displayed on a display device. A display data generation device, comprising: a display data generation unit that generates display data to be displayed. The display data generation unit,
The display data generation device according to claim 1, wherein the color of each of the two-dimensional points is changed based on the density of the area in which each of the two-dimensional points included in the two-dimensional point group is located. The display data generation unit,
Among the plurality of two-dimensional points, display data including data for highlighting a two-dimensional point whose positional deviation from the drawing satisfies a preset condition on the display device is generated as the display data. The display data generation device according to claim 1. A receiving unit that receives selection of two two-dimensional points included in the two-dimensional point group,
The display data generation unit,
Data for displaying information indicating the distance between the two two-dimensional points or information indicating the distance between two three-dimensional points corresponding to the two two-dimensional points among the plurality of three-dimensional points on the display device. The display data generating device according to claim 1, wherein display data including the display data is generated as the display data. A storage unit that stores a plurality of the three-dimensional point cloud data;
The data acquisition unit,
Acquiring a plurality of the three-dimensional point cloud data from the storage unit,
The point cloud data generation unit,
Generate a plurality of the two-dimensional point cloud data based on the plurality of three-dimensional point cloud data acquired by the data acquisition unit,
The display data generation unit,
Generating, as the display data, display data including data for highlighting the portion of the difference on the display device, based on the difference between the plurality of two-dimensional point groups represented by the plurality of two-dimensional point group data. The display data generating device according to claim 1, wherein the display data generating device is a display data generating device. The point cloud data generation unit,
A trajectory sampling unit that performs a sampling process on the trajectory data acquired by the data acquisition unit to generate a plurality of three-dimensional points along the extension direction of the object,
An orthogonal plane calculation unit that calculates a plurality of orthogonal planes that include corresponding three-dimensional points of the plurality of three-dimensional points generated by the trajectory sampling unit and that are orthogonal to the trajectory.
Within a preset distance from any of the plurality of orthogonal planes among the plurality of three-dimensional points included in the three-dimensional point group indicated by the three-dimensional point group data acquired by the data acquisition unit A three-dimensional point extracting unit that extracts a three-dimensional point for each of the plurality of orthogonal planes;
A projection point calculation unit that calculates a projection point obtained by projecting the three-dimensional point extracted by the three-dimensional point extraction unit onto a corresponding orthogonal plane among the plurality of orthogonal planes;
The data of the two-dimensional point group in which a plurality of projection points obtained by projecting onto the plurality of orthogonal planes by the projection point calculation unit are arranged on one plane by superimposing the plurality of orthogonal planes on the two-dimensional point group A display data generation device according to any one of claims 1 to 5, further comprising: a data generation unit that generates as dimension point cloud data. A display data generation method executed by a computer,
A data acquisition step of acquiring three-dimensional point cloud data of the object, drawing data including data of the two-dimensional drawing of the object, and trajectory data that is trajectory data along the extending direction of the object. ,
Based on the three-dimensional point cloud data and the trajectory data acquired in the data acquisition step, a plurality of three-dimensional points included in the three-dimensional point cloud represented by the three-dimensional point cloud data are orthogonal to the trajectory. A point cloud data generating step of generating two-dimensional point cloud data which is data of a two-dimensional point cloud including a plurality of two-dimensional points obtained by projecting on a plane;
A display device for displaying an image in which the two-dimensional point data is superimposed on the drawing based on the drawing data acquired in the data acquisition step and the two-dimensional point cloud data generated in the point cloud data generating step. And a display data generating step of generating display data to be displayed on the display data generating method. A data acquisition step of acquiring three-dimensional point cloud data of the object, drawing data including data of the two-dimensional drawing of the object, and trajectory data that is trajectory data along the extending direction of the object. ,
Based on the three-dimensional point cloud data and the trajectory data acquired in the data acquisition step, a plurality of three-dimensional points included in the three-dimensional point cloud represented by the three-dimensional point cloud data are orthogonal to the trajectory. A point cloud data generating step of generating two-dimensional point cloud data which is data of a two-dimensional point cloud including a plurality of two-dimensional points obtained by projecting on a plane;
A display device for displaying an image in which the two-dimensional point data is superimposed on the drawing based on the drawing data acquired in the data acquisition step and the two-dimensional point cloud data generated in the point cloud data generating step. A display data generation program for causing a computer to execute a display data generation step of generating display data to be displayed on.