JP6383399B2 - Part shape measuring instrument, and part shape measuring apparatus and method - Google Patents

Description

  The present invention relates to a part shape measuring instrument used for measuring the shape of a part such as a human head. Furthermore, the present invention relates to a part shape measuring apparatus and a part shape measuring method for measuring a part shape using such a part shape measuring instrument.

  For example, when a “wig” to be worn on a human head is made to order, the shape of the head is measured. For this purpose, for example, a plurality of cameras are arranged around the person to be measured, the head of the person to be measured is photographed by these cameras, and the three-dimensional head is based on the acquired pattern image of the head. An apparatus for calculating a shape has been proposed.

  As a related technique, Patent Document 1 discloses that it is possible to measure the shape of the head without giving a sense of pressure or intimidation to the measurement subject, simplifying the positioning of the head, and shortening the photographing time. Is disclosed. The head shape measuring device includes a plurality of imaging means for photographing the head and outputting image data, and an image processing means for calculating a three-dimensional shape of the head based on the image data. Is attached to a placement member positioned above the head, and the head is photographed with the attached position as a fixed position.

JP 2014-178173 A (paragraphs 0017-0018, FIG. 1)

  In the head shape measuring apparatus of Patent Document 1, as shown in FIG. 1, it is necessary to install a placement member to which a plurality of imaging means are attached above the head. The apparatus becomes large and cannot be used for applications such as visiting the measurement subject's home and measuring the shape of the measurement subject's head.

  On the other hand, the shape of the head is also measured by stereo photogrammetry, but conventional stereo photogrammetry is inefficient because it is necessary to install a large number of reflection markers as feature points. Moreover, when measuring distances, such as length and a space | interval, it is necessary to install a scale bar. Furthermore, since conventional image processing is non-parametric, there is a problem that it is difficult to associate feature points between a plurality of images obtained by imaging the head at a plurality of different angles.

  Further, in the case of a custom-made “wig”, it is desirable to make it according to the shape of the head when actually used in order to improve the fit. Generally, when measuring the shape of the head of the person being measured, the person to be measured wears a cap made of nylon or the like on the head, but according to the conventional measuring apparatus, In some cases, the shape of the head cannot be measured accurately.

  Therefore, in view of the above points, a first object of the present invention is to provide a part shape measuring instrument that makes it possible to efficiently and accurately measure the shape of a part with a portable portable part shape measuring device. That is. A second object of the present invention is to provide a part shape measuring apparatus, a part shape measuring method, and the like that efficiently and accurately measure the shape of a part using such a part shape measuring instrument.

  In order to solve at least a part of the above problems, a part shape measuring instrument according to a first aspect of the present invention includes a substrate having an opening and a plurality of reference marks provided on a main surface, and a substrate in a plan view. And a net-shaped measuring unit having a lattice shape.

  In addition, the part shape measuring apparatus according to the first aspect of the present invention has an opening, a substrate on which a plurality of reference marks are provided on the main surface, and a lattice shape arranged in the opening of the substrate in plan view. An apparatus for measuring a shape of a part using a part shape measuring instrument including a net-shaped measuring part having an imaging unit that images a part to which the part shape measuring instrument is attached and generates image data; By applying image processing to image data representing each of a plurality of images obtained by imaging a part at a plurality of different angles, a plurality of reference marks on the substrate are extracted as feature points from each image, and a plurality of substrate A plurality of grid points of the net-like measuring unit based on the position of the reference mark, and a feature point extracting unit for obtaining coordinates of the plurality of feature points, and coordinates of the plurality of feature points in the plurality of images. Based on net measurement 3D coordinates calculation for calculating 3D coordinates of a plurality of grid points and interpolating points between the grid points of the net-like measurement unit to generate 3D image data representing the shape of the measured part A part.

  Furthermore, the part shape measuring method according to the first aspect of the present invention includes a substrate having an opening, a plurality of reference marks provided on the main surface, and disposed in the opening of the substrate in a plan view. A part shape measuring method for measuring a part shape using a part shape measuring instrument including a net-shaped measuring unit having a plurality of images obtained by imaging a part to which a part shape measuring instrument is attached at a plurality of different angles. In addition, image data representing each image is generated and image processing is performed on the image data representing each image, whereby a plurality of reference marks on the substrate are extracted as feature points from each image, and the positions of the plurality of reference marks on the substrate are extracted. Based on the step (a) of extracting a plurality of grid points of the net-like measurement unit as feature points and obtaining the coordinates of the plurality of feature points, and net-like measurement based on the coordinates of the plurality of feature points in the plurality of images Multiple parts A step (b) of calculating the three-dimensional coordinates of the child points, and a step of interpolating points between a plurality of lattice points of the net-like measuring unit to generate three-dimensional image data representing the shape of the measured part ( c).

  And the site | part shape measuring instrument which concerns on the 2nd viewpoint of this invention has an opening, the board | substrate with which the several reference mark was provided in the main surface, the cap-shaped measurement part with which the several measurement mark was provided, An annular intermediate material connectable between the peripheral portion of the opening of the substrate and the outer peripheral portion of the cap-shaped measuring portion and the cap-shaped measuring portion can be attached to and detached from the intermediate material, or the intermediate material can be attached to and detached from the substrate. A plurality of fasteners.

  In addition, the part shape measuring apparatus according to the second aspect of the present invention includes a substrate having an opening and a plurality of reference marks provided on the main surface, and disposed in the opening of the substrate in plan view. A part shape measuring device for measuring the shape of a part using a part shape measuring instrument including a cap-shaped measuring unit provided with a mark, and generating image data by imaging the part to which the part shape measuring instrument is attached And image processing representing image data representing each of a plurality of images obtained by imaging a part at a plurality of different angles, thereby extracting a plurality of reference marks on the substrate as feature points from each image A feature point extraction unit that extracts a plurality of measurement marks of the cap-shaped measurement unit as feature points based on positions of a plurality of reference marks on the substrate and obtains coordinates of the plurality of feature points; and a plurality of features in the plurality of images Based on point coordinates And calculating three-dimensional coordinates of a plurality of measurement marks of the cap-shaped measurement unit, interpolating points between the plurality of measurement marks of the cap-shaped measurement unit, and obtaining three-dimensional image data representing the shape of the measured part A three-dimensional coordinate calculation unit to be generated.

  Furthermore, the part shape measuring method according to the second aspect of the present invention includes a substrate having an opening and a plurality of reference marks provided on the main surface, and disposed in the opening of the substrate in a plan view. A site shape measuring method for measuring the shape of a site using a site shape measuring instrument including a cap-shaped measuring unit provided with a mark, wherein the site where the site shape measuring instrument is mounted is imaged at a plurality of different angles. And generating image data representing a plurality of images, and performing image processing on the image data representing each image, thereby extracting a plurality of reference marks on the substrate as feature points from each image, and a plurality of reference points on the substrate. A step (a) of extracting a plurality of measurement marks of the cap-shaped measurement unit as feature points based on the positions of the marks and obtaining coordinates of the plurality of feature points, and based on the coordinates of the plurality of feature points in the plurality of images. , Ki A step (b) of calculating the three-dimensional coordinates of the plurality of measurement marks of the cup-shaped measurement unit and a point 3 between the plurality of measurement marks of the cap-shaped measurement unit are interpolated to represent the shape of the measured part And (c) generating dimensional image data.

  According to the first aspect of the present invention, since the plurality of reference marks are provided on the main surface of the substrate of the part shape measuring instrument, from the image obtained by imaging the part to which the part shape measuring instrument is attached By extracting a plurality of reference marks, it is possible to extract a plurality of grid points of the net-like measurement unit based on their positions and associate them among a plurality of images. Further, when the net-shaped measuring unit applies pressure to the site, shape distortion such as bulge of hair can be suppressed. As a result, it becomes possible to efficiently and accurately measure the shape of the part by a portable portable part shape measuring device.

  And according to the 2nd viewpoint of this invention, since the some reference mark was provided in the main surface of the board | substrate of a site | part shape measuring instrument, it was obtained by imaging the site | part with which the site | part shape measuring instrument was mounted | worn. By extracting a plurality of reference marks from the image, it is possible to extract a plurality of measurement marks of the cap-shaped measuring unit based on their positions and associate them among the plurality of images. Moreover, when the cap-shaped measuring part applies pressure to the part, it is possible to suppress shape distortion such as bulge of hair. As a result, it becomes possible to efficiently and accurately measure the shape of the part by a portable portable part shape measuring device.

The top view which shows the site | part shape measuring instrument which concerns on the 1st Embodiment of this invention. The top view which expands and shows a part of net-shaped measuring part shown in FIG. The perspective view which shows the site | part shape measuring instrument which concerns on the 2nd Embodiment of this invention. The top view which shows the example of the measurement mark provided in the cap-shaped measurement part shown in FIG. The perspective view which shows the specific example of the site | part shape measuring instrument provided with the circular measurement mark. The block diagram which shows the structural example of the site | part shape measuring apparatus which concerns on one Embodiment of this invention. The conceptual diagram for demonstrating a stereo photogrammetry. The flowchart which shows the site | part shape measuring method which concerns on one Embodiment of this invention. The flowchart which shows the site | part shape measuring method which concerns on one Embodiment of this invention. The flowchart which shows the site | part shape measuring method which concerns on one Embodiment of this invention. The figure which shows the measurement precision in the site | part shape measuring apparatus which concerns on one Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, the same referential mark is attached | subjected to the same component and the overlapping description is abbreviate | omitted. In the following, a case where the shape of a human head is measured will be described as an example.

<Part shape measuring instrument 1>
FIG. 1 is a plan view showing a part shape measuring instrument according to the first embodiment of the present invention. The part shape measuring instrument shown in FIG. 1 is worn on the head of the subject when measuring the shape of the head of the subject. Before that, the person to be measured may wear a cap made of nylon or the like.

  As shown in FIG. 1, the part shape measuring instrument according to the first embodiment is arranged in a substrate (also referred to as a calibration plate) 1 having an opening and in the opening of the substrate 1 in a plan view, and has a lattice shape (mesh shape). ) Having a net-shaped measuring unit 2, and may further include a stretchable annular intermediate member 3 connected between the substrate 1 and the net-shaped measuring unit 2. As the substrate 1, for example, an annular substrate having an opening at the center is used. In addition, in this application, planar view means seeing each part from the direction perpendicular | vertical to the main surface (surface shown in FIG. 1 etc.) of a board | substrate.

  The substrate 1 is made of, for example, polystyrene foam, and a plurality of reference marks are provided on the main surface of the substrate 1. The number of reference marks is preferably 3 or more, and more preferably 4 or more. In FIG. 1, as an example, a first group of reference marks 4 and a second group of reference marks 5 that face each other in the X-axis direction in the drawing, and a third group of reference marks that face each other in the Y-axis direction in the drawing. A mark 6 and a fourth group of reference marks 7 are shown. Each of the reference marks 4 to 7 is formed by printing, for example, and has a circular white area in a circular black area.

  In the reference marks 4 to 7, codes for specifying these reference marks are defined. At least one of the fiducial marks in each group is used to extract a plurality of grid points of the net-shaped measuring unit 2 from an image obtained by imaging the head on which the part shape measuring instrument is mounted. Further, since a plurality of reference marks are provided in each group, it becomes easy to detect deformation of the substrate 1. In addition, three-dimensional information such as the three-dimensional coordinates of the reference marks 4 to 7 may be associated with the codes that specify the reference marks 4 to 7.

  The main surface of the substrate 1 may include a colored region that changes in hue, lightness, or saturation along the periphery of the opening. In the example shown in FIG. 1, the main surface of the substrate 1 is colored so that the brightness changes continuously along the periphery of the opening except for the region where the reference marks 4 to 7 are provided. Thereby, it becomes easy to detect the orientation of the part shape measuring instrument in the image obtained by imaging the head on which the part shape measuring instrument is mounted.

  As the net-shaped measuring unit 2, for example, a signion net made of nylon fiber is used. When the net-shaped measuring unit 2 applies pressure to the head, shape distortion such as bulge of hair can be suppressed. The unit cell included in the lattice shape of the net-shaped measuring unit 2 may be a quadrangle, a hexagon, or another polygon. The plurality of grid points of the net-like measuring unit 2 correspond to measurement points at which three-dimensional coordinates are calculated based on an image obtained by imaging the head on which the part shape measuring instrument is mounted.

  FIG. 2 is an enlarged plan view showing a part of the net-shaped measuring unit shown in FIG. As shown in FIG. 2, a code P (X, Y) for specifying the lattice points is defined for the plurality of lattice points of the net-like measurement unit 2. FIG. 2 shows nine grid point codes P (−1, −1) to P (1,1) as an example.

  Referring to FIG. 1 again, the net-shaped measuring unit 2 may be directly connected to the substrate 1 or may be connected to the substrate 1 through the intermediate material 3. The intermediate material 3 is composed of, for example, a stretchable cloth, and by connecting the net-shaped measuring unit 2 to the substrate 1, the reference marks 4 to 7 of the substrate 1 and a plurality of lattice points of the net-shaped measuring unit 2 are connected. The relative positional relationship is limited within a certain range.

  Moreover, since the intermediate material 3 fits the head by expanding and contracting, the head having various sizes can be held. When the intermediate member 3 is fixed to the head, the net-shaped measuring unit 2 applies a certain pressure to the head to suppress the swelling of the hair so that the shape of the head can be accurately measured.

  When the measurement subject wears a cap with a bright color (for example, white), it is desirable that the net-shaped measurement unit 2 and the intermediate material 3 have a dark color (for example, black). Thereby, in the image obtained by imaging the head on which the part shape measuring instrument is mounted, the net-shaped measuring unit 2 on the cap is clearly projected, and the boundary between the cap and the intermediate member 3 is clearly shown. Become.

<Part shape measuring instrument 2>
FIG. 3 is a perspective view showing a part shape measuring instrument according to the second embodiment of the present invention. As shown in FIG. 3, the part shape measuring instrument according to the second embodiment includes a substrate (also referred to as a calibration plate) 1a having an opening, a cap-shaped measuring unit 2a provided with a plurality of measurement marks 8, and a substrate. An annular intermediate member 3a that can be connected between the peripheral portion of the opening 1a and the outer peripheral portion of the cap-shaped measuring portion 2a and a plurality of fasteners 9 are included.

  The plurality of fasteners 9 allow the cap-shaped measuring portion 2a to be attached to and detached from the intermediate material 3a, or enables the intermediate material 3a to be attached to and detached from the substrate 1a. FIG. 3 shows a state where a part shape measuring instrument integrated using a plurality of fasteners 9 is mounted on the head of the subject when measuring the shape of the head of the subject. ing. When measuring the shape of the head of the person to be measured using the integrated part shape measuring instrument, the cap-shaped measuring unit 2a is disposed in the opening of the substrate 1a in plan view.

  The board | substrate 1a is comprised, for example with a polystyrene foam etc., and the shape and color of the board | substrate 1a are arbitrary. A plurality of reference marks are provided on the main surface of the substrate 1a. The number of reference marks is preferably 3 or more. FIG. 3 shows, as an example, four reference marks 4a to 7a provided at the four corners of the main surface of the substrate 1a having a quadrangular shape.

  The reference marks 4a to 7a may be any marks that can be recognized, and the shapes and colors of the reference marks 4a to 7a are arbitrary. In the example shown in FIG. 3, each of the reference marks 4a to 7a is formed by printing, for example, and has a circular black region in a white region of the substrate 1a. In addition, the main surface of the substrate 1a may include a colored region in which the hue, brightness, or saturation changes along the periphery of the opening, like the substrate 1 shown in FIG.

  In the reference marks 4a to 7a, codes for specifying these reference marks are defined. At least three of the reference marks 4a to 7a are used for extracting the plurality of measurement marks 8 of the cap-shaped measurement unit 2a from an image obtained by imaging the head on which the part shape measurement instrument is mounted. When more reference marks are provided, it becomes easy to detect deformation of the substrate 1a. In addition, three-dimensional information such as the three-dimensional coordinates of the reference marks 4a to 7a may be associated with the code that specifies the reference marks 4a to 7a.

  As the cap-shaped measuring part 2a, for example, a mesh cap having elasticity such as a signion net or a stocking made of nylon fiber is used. When the cap-shaped measuring unit 2a applies pressure to the head, shape distortion such as bulge of hair can be suppressed. In addition, the cap-shaped measuring portion 2a is formed with recesses 2b and 2c so that the eye, nose and ears of the measurement subject are not blocked when the part shape measuring instrument is attached to the measurement subject's head. Also good.

  FIG. 4 is a plan view showing an example of measurement marks provided in the cap-shaped measurement unit shown in FIG. The plurality of measurement marks 8 provided in the cap-shaped measurement unit 2a may be any marks that can be recognized, and the shape and color of the measurement marks 8 are arbitrary. For example, the measurement mark shown in FIG. 4A has a cross shape, and may constitute a part of a lattice. The measurement mark shown in FIG. 4B has a circular shape.

  FIG. 5 is a perspective view showing a specific example of a part shape measuring instrument provided with a circular measurement mark. Thus, in the part shape measuring instrument shown in FIG. 3, the measurement mark 8 having a circular shape may be provided on the cap-shaped measuring portion 2a. The shape of the measurement mark may be a quadrangle as shown in FIG. 4C, a triangle as shown in FIG. 4D, or a hexagon as shown in FIG. It can be other polygons.

  Referring to FIG. 3 again, the three-dimensional coordinates of the plurality of measurement marks 8 provided on the cap-shaped measuring unit 2a are calculated based on an image obtained by imaging the head on which the part shape measuring instrument is mounted. Corresponds to the measurement point. Therefore, a code P (X, Y) for specifying the measurement marks is defined for the plurality of measurement marks 8.

  The intermediate material 3a is made of, for example, a stretchable cloth, and the color of the intermediate material 3a is arbitrary. The intermediate material 3a may be attached to and detached from the cap-shaped measuring unit 2a by being coupled to the substrate 1a, or may be attached to and detached from the substrate 1a by being coupled to the cap-shaped measuring unit 2a. Alternatively, it may be detachable between the substrate 1a and the cap-shaped measuring unit 2a.

  As the fastener 9, a button, a hook, a magnet, a magic tape, or the like can be used. FIG. 3 shows, as an example, a state in which the intermediate material 3a is connected to the substrate 1a by a plurality of fasteners 9 that allow the intermediate material 3a to be attached to and detached from the substrate 1a. For example, when a button is used as the fastener 9, the button is attached to one of the intermediate material 3a and the substrate 1a, and the button hole is formed in the other of the intermediate material 3a and the substrate 1a.

  Further, when a hook is used as the fastener 9, an outer part of the hook is attached to one of the intermediate member 3a and the substrate 1a, and an inner part of the hook is attached to the other of the intermediate member 3a and the substrate 1a. Is attached. Or when a magnet is used as the fastener 9, each magnet is provided in the intermediate | middle material 3a and the board | substrate 1a.

  The position where the fastener 9 is attached in the board | substrate 1a or the cap-shaped measurement part 2a or the intermediate material 3a needs two points at least. For example, when the part shape measuring instrument is mounted on the head of the person to be measured, the fasteners 9 are placed on the front and rear of the person to be measured (for example, near the forehead and the neckline) or on the left and right (for example, near the both ears). May be located.

  In addition, in order to align the substrate 1a and the cap-shaped measuring unit 2a, marks may be attached to the cap-shaped measuring unit 2a and the intermediate member 3a. Thereby, when the cap-shaped measuring part 2a is connected to the intermediate member 3a, the relative positional relationship between the substrate 1a and the cap-shaped measuring part 2a can be limited within a certain range.

  Alternatively, in order to align the substrate 1a and the cap-shaped measurement unit 2a, marks may be attached to the intermediate material 3a and the substrate 1a. Thereby, when connecting the intermediate material 3a to the board | substrate 1a, the relative positional relationship of the board | substrate 1a and the cap-shaped measurement part 2a can be restrict | limited to a fixed range.

  Since the intermediate member 3a fits the head by expanding and contracting, the head having various sizes can be held. When the intermediate member 3a is fixed to the head, the cap-shaped measuring unit 2a applies a certain pressure to the head to suppress the swelling of the hair so that the shape of the head can be accurately measured.

<Part shape measurement device>
Next, a part shape measuring apparatus that measures the shape of a part using the part shape measuring instrument according to any embodiment of the present invention will be described with reference to FIGS.
FIG. 6 is a block diagram illustrating a configuration example of a part shape measuring apparatus according to an embodiment of the present invention. As shown in FIG. 6, the part shape measuring apparatus includes an imaging unit 10, a feature point extraction unit 20, a three-dimensional coordinate calculation unit 30, an image data generation unit 40, a display unit 50, and an operation unit 60. The control unit 70 and the storage unit 80 are included.

  The storage unit 80 includes an image data storage unit 81, a coordinate information storage unit 82, an imaging parameter storage unit 83, a reference mark information storage unit 84, a 3D coordinate data storage unit 85, and a 3D image data storage unit 86. Including. Note that some of the components shown in FIG. 6 may be omitted or changed, or other components may be added to the components shown in FIG.

  For example, when the part shape measuring apparatus is configured by a handy tablet, the imaging unit 10 is configured by a camera portion of the handy tablet. Alternatively, a digital still camera or the like may be used as the imaging unit 10. The imaging unit 10 captures an image of the head on which the part shape measuring instrument is mounted, and generates image data. Image data representing a plurality of images can be obtained by imaging the head at a plurality of different angles using the imaging unit 10.

  The feature point extraction unit 20 to the image data generation unit 40 and the control unit 70 may be configured by a CPU (central processing unit) and software (a part shape measurement program) for causing the CPU to perform various processes. good. The software is recorded on the recording medium of the storage unit 80. As the recording medium, a hard disk, flexible disk, MO, MT, various memories, CD-ROM, DVD-ROM, or the like can be used.

  The operation unit 60 is an input device including, for example, operation keys, button switches, and the like, and is used to operate the part shape measuring device. The operation unit 60 outputs an operation signal corresponding to the operation by the operator to the control unit 70. In response to the operation signal output from the operation unit 60, the control unit 70 controls each unit of the part shape measuring apparatus.

  When the image data generated by the imaging unit 10 is stored in the image data storage unit 81, the feature point extraction unit 20 reads the image data from the image data storage unit 81 and images the head at a plurality of different angles. Image processing is performed on the image data representing each of the plurality of images obtained in this way.

  Thereby, the feature point extraction unit 20 extracts a plurality of reference marks on the substrate 1 of the part shape measuring instrument shown in FIG. 1 as feature points from each image, and further, at the positions of the plurality of reference marks on the substrate 1. Based on this, a plurality of grid points of the net-like measuring unit 2 are extracted as feature points, and coordinates of the plurality of feature points are obtained.

  Alternatively, the feature point extraction unit 20 extracts a plurality of reference marks on the substrate 1a of the part shape measuring instrument shown in FIG. 3 as feature points from each image, and further, based on the positions of the plurality of reference marks on the substrate 1a. Then, a plurality of measurement marks of the cap-shaped measuring unit 2a are extracted as feature points, and coordinates of the plurality of feature points are obtained.

  In this image processing, for example, an active appearance model is used. An active appearance model is an object with fewer parameters by dividing the image of the target object into shapes and textures, and compressing each dimension by principal component analysis. It is a model that can express the change of shape and the change of texture. Shape and texture information can be expressed with low-dimensional parameters.

In the active appearance model, a shape vector x in which all feature points are arranged is an eigenvector matrix P _s obtained by principal component analysis of an average shape vector u obtained in advance in learning data and a deviation from the average shape vector u. And is expressed by the following equation (1).
x = u + P _s b _s (1)
Here, b _s is a parameter vector and is called a shape parameter.

The appearance vector g in which the normalized texture luminance values are arranged is an eigenvector matrix P _g obtained by principal component analysis of an average appearance vector v obtained in advance from learning data and a deviation from the average appearance vector v. And is expressed by the following equation (2).
g = v + P _g b _g (2)
Here, b _g is a parameter vector and is called an appearance parameter. The shape parameter b _s and the appearance parameter b _g are parameters representing a change from the average, and the shape and appearance can be changed by changing these.

Further, since there is a correlation between the shape and the appearance, a low-dimensional parameter vector c that controls both the shape and the appearance is used by further principal component analysis of the shape parameter b _s and the appearance parameter b _g. The shape vector x (c) and the texture vector g (c) are expressed by the following equations (3) and (4).
x (c) = u + P _s W _s ⁻¹ Q _s c (3)
g (c) = v + P _g Q _g c (4)
Here, W _s is a matrix that normalizes the unit difference between the shape vector and the appearance vector, Q _s is an eigen vector matrix related to the shape, and Q _g is an eigen vector matrix related to the appearance. In this way, by controlling the parameter vector c, it is possible to handle the shape and appearance at the same time and express the change of the object.

Next, consider the parameter q for the global change where the object is located in the image, at what size and in what orientation. The parameter q is expressed by the following equation (5).
q = [roll scale trans_x trans_y] (5)
Here, roll represents the rotation angle of the model with respect to the image plane, scale represents the size of the model, and trans_x and trans_y represent the amount of translation of the model in the x-axis direction and the y-axis direction, respectively.

  In the active appearance model, model search means that the model is changed locally and globally by the parameters c and q to generate a target image, the generated image is compared with the input image, and an error is detected. Is to determine parameters c and q such that. According to the active appearance model, it is possible to extract feature points robustly and at high speed against changes in the direction of an object.

  However, since conventional image processing is non-parametric, there is a problem that it is difficult to associate feature points between a plurality of images obtained by imaging the head at a plurality of different angles. On the other hand, in the present embodiment, the plurality of reference marks 4 to 7 provided on the main surface of the substrate 1 of the part shape measuring instrument shown in FIG. The positional relationship is limited within a certain range.

  Alternatively, the relative positional relationship between the plurality of reference marks 4a to 7a provided on the main surface of the substrate 1a of the part shape measuring instrument shown in FIG. 3 and the plurality of measurement marks of the cap-shaped measuring unit 2a is within a certain range. Limited to within. Therefore, parametric image processing becomes possible. Here, parametric image processing refers to image processing based on the premise that population data follows a specific distribution.

  For example, in the image data storage unit 81, image data (learning data) representing an image of a part shape measuring instrument imaged in advance using a dummy head or the like, and the reference marks 4 to 7 of the substrate 1 or the substrate 1a in the image. And information for specifying the reference marks 4a to 7a. Based on this, the feature point extraction unit 20 extracts a plurality of reference marks on the substrate 1 or 1a as feature points from each of a plurality of images obtained by imaging the head at a plurality of different angles, and their reference points. The coordinates of the mark are obtained, and the coordinates of the reference mark are associated with the code of the reference mark.

  At that time, if the principal surface of the substrate 1 or 1a of the part shape measuring instrument includes a colored region in which the hue, brightness, or saturation changes along the periphery of the opening, feature point extraction is performed. The unit 20 extracts the same reference mark as a corresponding feature point from a plurality of images obtained by imaging the head at a plurality of different angles based on the hue, brightness, or saturation of the substrate 1 or 1a. To do.

  Next, the feature point extraction unit 20 extracts a plurality of grid points of the net-like measurement unit 2 shown in FIG. 1 as feature points (measurement points) based on the positions of at least three reference marks, and these grid points. The coordinates of the grid points are associated with the code P (X, Y) of the grid points. Since the plurality of grid points of the net-like measurement unit 2 exist within a limited range with respect to the positions of the reference marks 4 to 7 on the substrate 1, the coordinates of the plurality of grid points of the net-like measurement unit 2 and their coordinates Correspondence with the grid point code P (X, Y) is facilitated.

  Alternatively, the feature point extraction unit 20 extracts a plurality of measurement marks of the cap-shaped measurement unit 2a shown in FIG. 3 as feature points (measurement points) based on the positions of at least three reference marks, and the measurement marks of these measurement marks are extracted. The coordinates are obtained, and the coordinates of the measurement mark are associated with the measurement mark code P (X, Y). Since the plurality of measurement marks of the cap-shaped measurement unit 2a exist within a limited range with respect to the positions of the reference marks 4a to 7a of the substrate 1a, the coordinates of the plurality of measurement marks of the cap-shaped measurement unit 2a and their coordinates It becomes easy to associate the measurement mark with the code P (X, Y).

  Further, the feature point extraction unit 20 associates the coordinates of the plurality of feature points with the codes of the feature points and stores them in the coordinate information storage unit 82 as coordinate information. The feature point extraction unit 20 also stores information regarding the texture (hue, lightness, or saturation) of a plurality of feature points in the coordinate information storage unit 82 in association with the codes of the feature points.

  When the coordinate information or the like obtained by the feature point extraction unit 20 is stored in the coordinate information storage unit 82, the three-dimensional coordinate calculation unit 30 reads the coordinate information or the like from the coordinate information storage unit 82. The three-dimensional coordinate calculation unit 30 calculates the three-dimensional coordinates of the plurality of lattice points of the net-like measurement unit 2 or the plurality of measurement marks of the cap-like measurement unit 2a based on the coordinates of the plurality of feature points in the plurality of images. .

  In the coordinate information stored in the coordinate information storage unit 82, the coordinates of a plurality of feature points may differ from the original coordinates due to an error in the focal length of the lens and distortion of the lens in the imaging unit 10. Therefore, the imaging parameter storage unit 83 stores imaging parameters related to the lens and the like in the imaging unit 10.

  Examples of imaging parameters include the focal length of the lens, the width per pixel on the projection surface, and the center point of the image. The three-dimensional coordinate calculation unit 30 corrects the coordinates of a plurality of feature points in a plurality of images based on the imaging parameters read from the imaging parameter storage unit 83.

  Further, the reference mark information storage unit 84 stores reference mark information related to the distance between a plurality of reference marks provided on the substrate 1 or 1a of the part shape measuring instrument shown in FIG. 1 or FIG. Furthermore, the reference mark information storage unit 84 may store three-dimensional information such as the three-dimensional coordinates of a plurality of reference marks as reference mark information in association with a code for specifying those reference marks. This three-dimensional information can be used when calculating the position or orientation of the imaging unit 10 with respect to a plurality of reference marks.

  The three-dimensional coordinate calculation unit 30 uses the reference mark information read from the reference mark information storage unit 84 to three-dimensional the plurality of lattice points of the net-like measurement unit 2 or the plurality of measurement marks of the cap-like measurement unit 2a. Calculate the coordinates. For the calculation of the three-dimensional coordinates, for example, a stereo photogrammetry method that calculates the positions of measurement points based on images taken from a plurality of viewpoints is used.

FIG. 7 is a conceptual diagram for explaining the stereo photogrammetry. The stereo photogrammetry method can also be applied to the case where three-dimensional coordinates of feature points are calculated from two images obtained by moving one image pickup unit to two different positions (viewpoints). As shown in FIG. 7, feature points P (x, y, z) in the measurement target are photographed as points P _L (x _L , y _L ) and P _R (x _R , y _R ) on the stereo image. .

An intersection line where a plane (epipolar plane) including the feature point P (x, y, z) and the projection center (focus) of the imaging unit at two different positions intersects with the two projection planes is referred to as an epipolar line. Given a point (eg, P _L (x _L , y _L )) on one image, its corresponding point (eg, P _R (x _R , y _R )) on the other image is always It is on the corresponding epipolar line.

The above relationship is expressed by the following equation (6).
wEw '= 0 (6)
Here, E represents a basic matrix that is a function of a rotation matrix and a translation vector between imaging units at two different positions, and w and w ′ are homogeneity of normalized image coordinates of corresponding points on the two images. Represents a coordinate vector.

On the other hand, the basic matrix F that is a function of the internal variables of the imaging unit is expressed by the following equation (7) using the internal matrix A of the imaging unit (A and A ′ when two imaging units are used). The
F = A− ^T EA ′ ⁻¹ (7)
Therefore, if the internal variables of the imaging unit are known, the basic matrix E can be obtained from the basic matrix F. Furthermore, based on the basic matrix E, the relative position and orientation of the imaging unit at two different positions can be obtained.

  Next, two straight lines passing through corresponding points on the two images are drawn from the projection center (focal point) of the imaging unit at two different positions, and the coordinates of the point where the two straight lines intersect in the three-dimensional space are the feature points. Calculated as the coordinates of. A series of calculations can be performed by linear calculations, but errors increase when linear calculations are performed continuously. Therefore, an optimal result may be calculated using a bundle adjustment method.

  The bundle adjustment method is a method of minimizing the sum of squares of the Euclidean distance between the position obtained by back projecting a point in a three-dimensional space onto a two-dimensional image and the position of an actual feature point in the two-dimensional image. is there. The average root of the square sum of the Euclidean distance is called back projection error. The three-dimensional coordinate calculation unit 30 can obtain optimal three-dimensional coordinates that minimize the backprojection error by calculating the backprojection error.

  In general, when a stereo image is obtained by moving one imaging unit to two different positions, it is inefficient because it is necessary to install a large number of reflection markers as feature points. Moreover, when measuring distances, such as length and a space | interval, it is necessary to install a scale bar. On the other hand, in this embodiment, since a plurality of reference marks are provided on the main surface of the substrate 1 or 1a of the part shape measuring instrument shown in FIG. 1 or 3, it is necessary to install a reflective marker, a scale bar, or the like. Therefore, efficient measurement can be performed.

  Referring to FIG. 6 again, the three-dimensional coordinate calculation unit 30 includes a plurality of grid points of the net-like measurement unit 2 of the part shape measurement instrument shown in FIG. 1 or 3 or a plurality of measurement marks 3 of the cap-like measurement unit 2a. Three-dimensional coordinate data representing a dimensional coordinate is stored in the three-dimensional coordinate data storage unit 85. Thereafter, the three-dimensional coordinate calculation unit 30 interpolates a plurality of lattice points of the net-like measurement unit 2 or points between the plurality of measurement marks of the cap-like measurement unit 2a to represent the shape of the measured head 3 Generate dimensional image data.

  At that time, the three-dimensional coordinate calculation unit 30 uses a plurality of net-like measurement units 2 in the height direction based on the three-dimensional coordinates of the plurality of lattice points of the net-like measurement unit 2 of the part shape measuring instrument shown in FIG. The maximum distance between grid points may be obtained. Here, the height direction refers to a direction perpendicular to the main surface of the substrate 1. In that case, the three-dimensional coordinate calculation unit 30 generates three-dimensional image data when the maximum distance between the plurality of lattice points of the net-like measurement unit 2 in the height direction is within a predetermined range. Thereby, generation of three-dimensional image data based on inaccurate measurement can be prevented.

  Alternatively, the three-dimensional coordinate calculation unit 30 performs a plurality of measurements of the cap-shaped measurement unit 2a in the height direction based on the three-dimensional coordinates of the plurality of measurement marks of the cap-shaped measurement unit 2a of the part shape measuring instrument illustrated in FIG. The maximum distance between marks may be obtained. Here, the height direction refers to a direction perpendicular to the main surface of the substrate 1a. In this case, the three-dimensional coordinate calculation unit 30 generates three-dimensional image data when the maximum distance between the plurality of measurement marks in the cap-shaped measurement unit 2a in the height direction is within a predetermined range. Thereby, generation of three-dimensional image data based on inaccurate measurement can be prevented.

  In generating the three-dimensional image data, for example, the three-dimensional coordinate calculation unit 30 selects and synthesizes the three-dimensional coordinate data of the left head and the three-dimensional coordinate data of the right head. In addition, the three-dimensional coordinate calculation unit 30 reads the texture (from the coordinate information storage unit 82 into the three-dimensional coordinate data of the plurality of grid points of the net-like measurement unit 2 or the plurality of measurement marks of the cap-like measurement unit 2a. Add information about hue, brightness, or saturation).

  Further, the three-dimensional coordinate calculation unit 30 divides a line connecting two adjacent lattice points in each of the X-axis direction and the Y-axis direction shown in FIG. 1 into a plurality of (for example, six) free curves (free Curve division), a predetermined number of points located between a plurality of grid points are interpolated. As a result, the unit cell of the net-shaped measuring unit 2 is divided into a plurality of (for example, 36) regions. Thereby, the three-dimensional coordinate calculation unit 30 generates fragmented three-dimensional image data representing the measured shape of the head.

  Alternatively, the three-dimensional coordinate calculation unit 30 divides a line connecting two adjacent measurement marks in each of the X-axis direction and the Y-axis direction shown in FIG. 3 into a plurality of (for example, six) free curves. A predetermined number of points located between the measurement marks are interpolated. As a result, the region surrounded by the four measurement marks of the cap-shaped measuring unit 2a is divided into a plurality of (for example, 36) regions. Thereby, the three-dimensional coordinate calculation unit 30 generates fragmented three-dimensional image data representing the measured shape of the head.

  The three-dimensional coordinate calculation unit 30 stores the generated three-dimensional image data in the three-dimensional image data storage unit 86. Further, the three-dimensional coordinate calculation unit 30 outputs the measurement result to the image data generation unit 40. The image data generation unit 40 generates display image data representing the measurement result and outputs the display image data to the display unit 50. The display image data may be two-dimensional image data. Thereby, the display unit 50 displays an image representing the measurement result.

<Part shape measurement method>
Next, a part shape measuring method for measuring the shape of the head using the part shape measuring instrument according to any embodiment of the present invention will be described with reference to FIGS.
8-10 is a flowchart which shows the site | part shape measuring method which concerns on one Embodiment of this invention. Note that processes that are independent of each other may be performed in parallel.

  In step S11 shown in FIG. 8, a part shape measuring instrument as shown in FIG. 1 or 3 is attached to the head of the person to be measured. In step S <b> 12, the imaging unit 10 of the part shape measuring device images the head on which the part shape measuring instrument is mounted, and generates image data representing an image of the head. In step S <b> 13, the image data generated by the imaging unit 10 is stored in the image data storage unit 81.

  In step S14, the feature point extraction unit 20 reads the image data from the image data storage unit 81, and performs image processing on the image data representing the head image. Thereby, the feature point extraction unit 20 extracts a plurality of reference marks on the substrate 1 of the part shape measuring instrument shown in FIG. 1 as feature points from the image of the head, and based on the positions of the plurality of reference marks on the substrate 1. Then, a plurality of grid points of the net-like measuring unit 2 are extracted as feature points, and coordinates of the extracted feature points are obtained.

  Alternatively, the feature point extraction unit 20 extracts a plurality of reference marks on the substrate 1a of the part shape measuring instrument shown in FIG. 3 as feature points from the head image, and based on the positions of the plurality of reference marks on the substrate 1a. A plurality of measurement marks of the cap-shaped measurement unit 2a may be extracted as feature points, and the coordinates of the extracted feature points may be obtained.

  In step S15, the feature point extraction unit 20 associates the coordinates of a plurality of feature points with the codes of the feature points and stores them in the coordinate information storage unit 82 as coordinate information. The feature point extraction unit 20 also stores information regarding the texture (hue, lightness, or saturation) of a plurality of feature points in the coordinate information storage unit 82 in association with the codes of the feature points.

  In step S <b> 16, the feature point extraction unit 20 determines whether or not the number i of imaging has reached a predetermined number N (N is a natural number of 2 or more). If i <N, the process returns to step S12, and imaging is performed at an imaging angle different from the previous imaging angle. As described above, the head mounted with the part shape measuring instrument is imaged at a plurality of different angles, and image data representing a plurality of images is generated.

  Further, the feature point extraction unit 20 performs image processing on image data representing each image, thereby extracting a plurality of reference marks on the substrate 1 or 1a of the part shape measuring instrument as feature points from each image, Based on the positions of a plurality of reference marks 1 or 1a, a plurality of grid points of the net-like measurement unit 2 or a plurality of measurement marks of the cap-like measurement unit 2a are extracted as feature points, and the coordinates of the plurality of feature points are obtained. Ask. If i = N, the process proceeds to step S21 shown in FIG.

  9, the three-dimensional coordinate calculation unit 30 reads the imaging parameters from the imaging parameter storage unit 83 and also reads the reference mark information from the reference mark information storage unit 84.

  In step S <b> 22, the three-dimensional coordinate calculation unit 30 sequentially reads the coordinate information of the two images stored in the coordinate information storage unit 82, and based on the imaging parameters read from the imaging parameter storage unit 83, Correct the feature point coordinates.

  In step S23, the three-dimensional coordinate calculation unit 30 calculates the three-dimensional coordinates of the plurality of grid points of the net-like measurement unit 2 together with the backprojection error based on the coordinates of the plurality of feature points in the two images. Alternatively, the three-dimensional coordinate calculation unit 30 may calculate the three-dimensional coordinates of the plurality of measurement marks of the cap-shaped measurement unit 2a together with the back projection error based on the coordinates of the plurality of feature points in the two images. .

  In step S24, the three-dimensional coordinate calculation unit 30 represents the three-dimensional coordinate data representing the three-dimensional coordinates of the plurality of grid points of the net-like measurement unit 2 or the plurality of measurement marks of the cap-like measurement unit 2a, and the back projection error. The back projection error data is associated with each other and stored in the three-dimensional coordinate data storage unit 85.

  In step S25, the three-dimensional coordinate calculation unit 30 performs the three-dimensional coordinates and backprojection for all combinations of two images selected from N images obtained by imaging the head at a plurality of different angles. It is determined whether an error has been calculated. If the calculation has not ended, the process returns to step S22. On the other hand, if the calculation has been completed for all the combinations, the process proceeds to step S31 shown in FIG.

  In step S31 shown in FIG. 10, the three-dimensional coordinate calculation unit 30 reads all the three-dimensional coordinate data and backprojection error data from the three-dimensional coordinate data storage unit 85. In step S32, the three-dimensional coordinate calculation unit 30 rearranges the three-dimensional coordinate data in ascending order of back projection error, and assigns a number j to the three-dimensional coordinate data in that order. When there are M combinations of two images selected from N images, numbers 1 to M are assigned to the three-dimensional coordinate data. For example, when N = 5, M = 10.

  In steps S33 to S35, processing is performed in ascending order of the number j of the three-dimensional coordinate data. In step S33, it is determined whether or not the number j of the three-dimensional coordinate data is M or less. When the number j of the three-dimensional coordinate data is M or less, in step S34, the three-dimensional coordinate calculation unit 30 obtains the maximum distance between the plurality of lattice points of the net-like measurement unit 2 in the height direction. Alternatively, the three-dimensional coordinate calculation unit 30 may obtain the maximum distance between the plurality of measurement marks of the cap-shaped measurement unit 2a in the height direction.

  In step S35, the three-dimensional coordinate calculation unit 30 determines that the maximum distance between the plurality of lattice points of the net-like measurement unit 2 in the height direction or the maximum distance between the plurality of measurement marks of the cap-like measurement unit 2a is within a predetermined range. It is determined whether or not the condition that is satisfied. If this condition is satisfied, the process proceeds to step S37. On the other hand, if this condition is not satisfied, in step S36, the three-dimensional coordinate calculation unit 30 increments the value of j by “1”, and the process returns to step S33.

  If the number j of the three-dimensional coordinate data exceeds M in step S33, there is no three-dimensional coordinate data that satisfies the condition, and the process moves to step S38. In step S38, when the three-dimensional coordinate calculation unit 30 outputs a measurement result indicating that the measurement has failed to the image data generation unit 40, the image data generation unit 40 displays an image indicating that the measurement has failed. To display. Thereafter, the process ends.

  On the other hand, in step S37, the three-dimensional coordinate calculation unit 30 selects and synthesizes the three-dimensional coordinate data of the left head and the three-dimensional coordinate data of the right head. For example, the three-dimensional coordinate calculation unit 30 selects the three-dimensional coordinate data of the left head and the three-dimensional coordinate data of the right head with the smallest backprojection error. Next, the three-dimensional coordinate calculation unit 30 performs coordinate transformation of at least one of the three-dimensional coordinate data so that the reference mark planes of the selected pair of three-dimensional coordinate data overlap, and the three-dimensional coordinate data of the left head And the three-dimensional coordinate data of the right head. Further, the three-dimensional coordinate calculation unit 30 obtains an approximate expression of a polynomial for a line connecting two lattice points or measurement marks adjacent to each other in each of the X-axis direction and the Y-axis direction shown in FIG. The Z coordinate of is corrected.

  Thereafter, in step S39, the three-dimensional coordinate calculation unit 30 reads the three-dimensional coordinate data of the plurality of grid points of the net-like measurement unit 2 or the plurality of measurement marks of the cap-like measurement unit 2a from the coordinate information storage unit 82. Add information about the texture (hue, lightness, or saturation).

  Further, in step S40, the three-dimensional coordinate calculation unit 30 divides a line connecting two adjacent lattice points in each of the X axis direction and the Y axis direction shown in FIG. 1 into a plurality of free curves (free curve division). ), Interpolating a predetermined number of points located between a plurality of grid points. Alternatively, the three-dimensional coordinate calculation unit 30 divides a line connecting two adjacent measurement marks in each of the X-axis direction and the Y-axis direction shown in FIG. 3 into a plurality of free curves, and between the plurality of measurement marks. A predetermined number of points located may be interpolated. Thereby, the three-dimensional coordinate calculation unit 30 generates fragmented three-dimensional image data representing the measured shape of the head.

  In step S <b> 41, the three-dimensional coordinate calculation unit 30 stores the generated three-dimensional image data in the three-dimensional image data storage unit 86. Further, the three-dimensional coordinate calculation unit 30 outputs the measurement result represented by the three-dimensional image data to the image data generation unit 40.

  In step S <b> 42, the image data generation unit 40 generates display image data representing the shape of the measured head based on the measurement result output from the three-dimensional coordinate calculation unit 30 and outputs the display image data to the display unit 50. . In step S43, the display unit 50 displays an image representing the measured shape of the head based on the display image data. Thereafter, the process ends.

  FIG. 11 is a diagram showing measurement accuracy in the part shape measuring apparatus according to one embodiment of the present invention. In this measurement, the shape of the head within a range of 14 cm in diameter centered on the top of the head was measured 26 times, and the measured values were compared with the measured values by the measure.

  As shown in FIG. 11, the maximum error (+) of the measurement value is 0.10 cm, and the maximum error (−) of the measurement value is −0.40 cm. Moreover, the average error of the measured value is −0.17 cm, and the standard deviation of the error is 0.15 cm. Thus, according to this embodiment, a highly accurate measurement result can be obtained.

  As described above, according to one embodiment of the present invention, since the plurality of reference marks are provided on the main surface of the substrate 1 or 1a of the part shape measuring instrument, the part to which the part shape measuring instrument is attached is provided. By extracting a plurality of reference marks from the image obtained by imaging, a plurality of grid points of the net-like measurement unit 2 or a plurality of measurement marks of the cap-like measurement unit 2a are extracted based on their positions. Can be associated with each other. Moreover, when the net-shaped measuring unit 2 or the cap-shaped measuring unit 2a applies pressure to the site, shape distortion such as bulge of hair can be suppressed. As a result, it becomes possible to efficiently and accurately measure the shape of the part by a portable portable part shape measuring device.

  In the above embodiment, the case where the shape of the human head is measured has been described. However, the present invention is not limited to this embodiment, and the foot, chest, waist, etc. other than the human head. It is also possible to apply when measuring the shape of a part. Thus, many modifications are possible within the technical idea of the present invention by those who have ordinary knowledge in the technical field.

  The present invention relates to a part shape measuring instrument used for measuring the shape of a part such as a human head, a part shape measuring apparatus and a part shape measuring unit for measuring a part shape using such a part shape measuring instrument. It can be used in a method or the like.

  DESCRIPTION OF SYMBOLS 1, 1a ... Board | substrate, 2 ... Net-shaped measurement part, 2a ... Cap-shaped measurement part, 2b, 2c ... Recessed part 3, 3a ... Intermediate material, 4-7, 4a-7a ... Reference mark, 8 ... Measurement mark, 9 DESCRIPTION OF SYMBOLS ... Fastener, 10 ... Imaging part, 20 ... Feature point extraction part, 30 ... Three-dimensional coordinate calculation part, 40 ... Image data generation part, 50 ... Display part, 60 ... Operation part, 70 ... Control part, 80 ... Storage part 81 ... Image data storage unit, 82 ... Coordinate information storage unit, 83 ... Imaging parameter storage unit, 84 ... Reference mark information storage unit, 85 ... Three-dimensional coordinate data storage unit, 86 ... Three-dimensional image data storage unit

Claims (10)

A substrate having an opening and a plurality of fiducial marks provided on the main surface;
A net-shaped measuring unit arranged in an opening of the substrate in plan view and having a lattice shape;
A site shape measuring instrument comprising:   The site | part shape measuring instrument of Claim 1 further provided with the ring-shaped intermediate material which can be expanded-contracted connected between the said board | substrate and the said net-shaped measurement part. A substrate having an opening and a plurality of fiducial marks provided on the main surface;
A cap-shaped measuring section provided with a plurality of measurement marks;
An annular intermediate member connectable between a peripheral portion of the opening of the substrate and an outer peripheral portion of the cap-shaped measuring portion;
A plurality of fasteners that allow the cap-shaped measuring part to be attached to and detached from the intermediate material, or to allow the intermediate material to be attached to and detached from the substrate;
A site shape measuring instrument comprising:   The site | part shape measuring instrument of any one of Claims 1-3 in which the main surface of the said board | substrate contains the area | region to which the hue, the brightness, or the color which changes a saturation was given along the circumference | surroundings of the said opening. . A site using a site shape measuring instrument including a substrate having an opening and a plurality of reference marks provided on the main surface, and a net-shaped measuring unit disposed in the opening of the substrate in plan view and having a lattice shape A device for measuring the shape of a part for measuring the shape of
An imaging unit that captures an image of a part to which the part shape measuring instrument is attached and generates image data;
By performing image processing on image data representing each of a plurality of images obtained by imaging a part at a plurality of different angles, a plurality of reference marks on the substrate are extracted as feature points from each image, and Extracting a plurality of grid points of the net-like measurement unit based on the positions of a plurality of reference marks as feature points, and obtaining a coordinate of the plurality of feature points;
Based on the coordinates of the plurality of feature points in the plurality of images, the three-dimensional coordinates of the plurality of grid points of the net-like measurement unit are calculated, and the points between the plurality of grid points of the net-like measurement unit are interpolated. A three-dimensional coordinate calculation unit that generates three-dimensional image data representing the shape of the measured part;
A site shape measuring apparatus comprising: A part shape measuring instrument including a substrate having an opening and a plurality of reference marks provided on the main surface, and a cap-shaped measuring unit disposed in the opening of the substrate in plan view and provided with a plurality of measurement marks. A part shape measuring apparatus for measuring the shape of a part using
An imaging unit that captures an image of a part to which the part shape measuring instrument is attached and generates image data;
By performing image processing on image data representing each of a plurality of images obtained by imaging a part at a plurality of different angles, a plurality of reference marks on the substrate are extracted as feature points from each image, and A feature point extraction unit that extracts a plurality of measurement marks of the cap-shaped measurement unit as feature points based on a plurality of reference mark positions, and obtains coordinates of the plurality of feature points;
Based on the coordinates of the plurality of feature points in the plurality of images, the three-dimensional coordinates of the plurality of measurement marks of the cap-shaped measurement unit are calculated, and the points between the plurality of measurement marks of the cap-shaped measurement unit are interpolated. A three-dimensional coordinate calculation unit that generates three-dimensional image data representing the shape of the measured part;
A site shape measuring apparatus comprising: The main surface of the substrate of the part shape measuring instrument includes a colored region that changes in hue, brightness, or saturation along the periphery of the opening,
The feature point extraction unit extracts the same reference mark as a corresponding feature point from a plurality of images obtained by imaging a part at a plurality of different angles based on the hue, lightness, or saturation of the substrate. The part shape measuring apparatus according to claim 5 or 6. A storage unit for storing reference mark information related to a distance between a plurality of reference marks on the substrate of the part shape measuring instrument;
The three-dimensional coordinate calculation unit calculates three-dimensional coordinates of a plurality of lattice points of the net-like measurement unit or a plurality of measurement marks of the cap-like measurement unit using reference mark information read from the storage unit. The site | part shape measuring apparatus of any one of Claims 5-7. A site using a site shape measuring instrument including a substrate having an opening and a plurality of reference marks provided on the main surface, and a net-shaped measuring unit disposed in the opening of the substrate in plan view and having a lattice shape A part shape measuring method for measuring the shape of
Image data representing a plurality of images by imaging a part to which the part shape measuring instrument is mounted at a plurality of different angles, and performing image processing on the image data representing each image, so that each image is processed. A plurality of reference marks on the substrate are extracted as feature points, and a plurality of grid points on the net-like measurement unit are extracted as feature points based on the positions of the plurality of reference marks on the substrate, and the coordinates of the plurality of feature points are extracted. Obtaining step (a);
Calculating three-dimensional coordinates of a plurality of lattice points of the net-shaped measuring unit based on the coordinates of a plurality of feature points in the plurality of images;
Interpolating points between a plurality of lattice points of the net-shaped measuring unit to generate three-dimensional image data representing the shape of the measured part;
A site shape measuring method comprising: A part shape measuring instrument including a substrate having an opening and a plurality of reference marks provided on the main surface, and a cap-shaped measuring unit disposed in the opening of the substrate in plan view and provided with a plurality of measurement marks. A part shape measuring method for measuring the shape of a part using
Image data representing a plurality of images by imaging a part to which the part shape measuring instrument is mounted at a plurality of different angles, and performing image processing on the image data representing each image, so that each image is processed. A plurality of reference marks on the substrate are extracted as feature points, and a plurality of measurement marks on the cap-shaped measurement unit are extracted as feature points based on the positions of the plurality of reference marks on the substrate. Obtaining step (a);
Calculating three-dimensional coordinates of a plurality of measurement marks of the cap-shaped measurement unit based on coordinates of a plurality of feature points in the plurality of images;
Interpolating points between the plurality of measurement marks of the cap-shaped measurement unit to generate three-dimensional image data representing the shape of the measured part;
A site shape measuring method comprising: