JP6535898B2 - 3D model creation program - Google Patents

Description

  The present invention relates to a technology for creating a three-dimensional model such as a feature, and more specifically to a three-dimensional model creating program for creating a model based on line data generated from a group of measurement points obtained by laser measurement. It is a thing.

  When making measurements over a wide area in order to produce topographic maps, conventionally it was common to use aerial photographs taken from an aircraft, but nowadays, aviation laser measurement has also become popular. Furthermore, ground-based laser measurement in which a laser measuring instrument (hereinafter referred to as "laser scanner") is installed on the ground for measurement is also in widespread use.

  In the aviation laser measurement, an aircraft flies above the terrain to be measured, and receives a reflection signal of a laser pulse irradiated to the terrain and measures it. Since an aircraft is usually equipped with a positioning meter such as GPS (Global Positioning System) and an inertial measurement device such as IMU (Inertial Measurement Unit), the irradiation position (x, y, z) of the laser pulse and the irradiation attitude ( ω, φ,)) can be grasped, and as a result, the three-dimensional coordinates of the measurement point (the point at which the laser pulse is reflected) can be obtained from the time difference between the irradiation time and the reception time.

  On the other hand, in the case of ground-type laser measurement, as in the case of the total station which has been the main stream of ground measurement, a laser scanner is installed horizontally on the existing point and measurement is received by receiving the reflection signal of the laser pulse irradiated to the measurement target Do. At this time, since irradiation is performed while changing the irradiation direction in the vertical plane (that is, swinging the neck) and while rotating horizontally (rotation around the vertical axis), all features (measurement objects) around the installation of the laser scanner are once Can be measured. Moreover, since it is measurable to the place which a laser can reach and it can reflect, the measurement range is very wide with a radius of about 1 km. In addition, the scanning rate of a general laser scanner is 10,000 to 50,000 per second, and high-density feature point cloud can be acquired.

  Ground-based laser measurement having many features like this tends to be used in various places. For example, in Patent Document 1, ground-based laser measurement is used to remotely monitor slopes that may cause rock fall or debris flow. It proposes technology.

JP, 2012-83237, A

  By the way, ground type laser measurement, unlike aviation laser measurement, inertial measurement devices such as IMU are not used in most cases. This is because the laser scanner can be fixed and installed in a horizontal posture, and the irradiation direction can be calculated and processed mechanically. However, although the vertical angle to be irradiated (that is, the elevation angle) can be calculated, the azimuth to be irradiated (in other words, the absolute horizontal angle based on the north) can not be determined by calculation unless some information is given. In other words, among the three-dimensional coordinate axes consisting of the X axis, the Y axis, and the Z axis, the Z axis can be identified because the horizontal plane can be grasped, but the orientation of the X axis and the Y axis in the horizontal plane can not be identified.

  Therefore, conventionally, the installation position of the laser scanner is obtained in advance, and the direction of the X-axis and the Y-axis is specified by using a mark as a mark. Specifically, a reference point that can be automatically recognized by laser measurement is set in advance, and this reference point is automatically extracted from among a group of measurement points obtained by laser measurement. Of course, position coordinates of gauge points are surveyed in advance, and Helmert transformation is performed using known coordinates of 3 or more gauge points and known coordinates of laser scanner position, and horizontal coordinate system (X axis-Y axis) is specified. It is. FIG. 12 is a model diagram showing an example of landmarks that can be automatically recognized by laser measurement, where (a) shows a checkered landmark and (b) shows a spherical landmark whose radius R is known. Checkered grid points use the fact that the reflection intensity is extremely different between black and white, while spherical grid points use the fact that spherical surfaces that are special shapes can be recognized if the radius is known. .

  However, in order to use such a special mark, cost is required for its production and maintenance, and installation and surveying of the mark are required, and this labor considerably increases the measurement cost. In particular, with regard to the installation of benchmarks, it has to be considered for each measurement site, such as the selection of the installation site and the method of fixing it, which has had a significant impact on the measurement cost including the on-site survey in advance.

  On the other hand, a point cloud acquired by laser measurement may be modeled in three dimensions in order to reproduce the shape of each feature. However, as described above, since the scanning rate of the laser scanner is extremely high, a large number of measurement points are acquired. That is, it is not easy to create a three-dimensional model of a feature under the condition that the measurement point mainly includes only information of three-dimensional coordinates from among this huge number of measurement points, and to perform by automatic calculation The current situation is that it takes a considerable amount of time.

  The object of the present invention is to solve the conventional problems, that is, by modeling a large number of measurement point clouds obtained by laser measurement efficiently, it is possible to calculate three-dimensional modeling of features more than before. It is providing a three-dimensional model creation program that can reduce the cost.

  The present invention selects an arbitrary one of the three axes constituting a three-dimensional coordinate system, sets a plurality of constituent cross sections orthogonal to the one axis, and generates line data using the constituent cross sections. The present invention focuses on the point that a three-dimensional model of a feature is created by a plurality of line data, and is an invention made on the basis of an idea that has not heretofore been available.

  A three-dimensional model creation program according to the present invention is a program for creating a three-dimensional model of a measurement object using position coordinates of a laser measurement point acquired by laser measurement, and includes measurement point readout processing and configuration section setting processing. , And has a function of causing a computer to execute segment point cloud setting processing, line data generation processing, and model generation processing. The position coordinates of the measurement point are coordinates defined in a three-dimensional coordinate system including a first axis, a second axis, and a third axis. The measurement point reading process is a process of reading the position coordinates of the laser measurement point, and the configuration cross section setting process is a process of setting a plurality of planes orthogonal to any one of three axes of the three-dimensional coordinate system as a configuration cross section. It is. The segment point group setting process is a process of extracting measurement points in the vicinity of each of the component cross sections and setting them as a segment point group related to the component cross section, and the line data generation process is based on the segment point group This is processing of generating one or more line data for each configuration cross section. The model creation process is a process of creating a three-dimensional model of the measurement object based on a plurality of line data.

  The three-dimensional model creation program of the present invention can also perform the line data creation process as the following process. That is, in the line data generation process, one measurement point of the segment point group is used as a starting point, the nearest points are sequentially extracted as line constituent points sequentially from this origin point, and line data are connected by connecting these line constituent points Generate In this case, extraction of line constituent points is performed on segment point groups other than measurement points already extracted as line constituent points.

  The three-dimensional model creation program of the present invention can also perform the line data creation process as the following process. That is, the line data generation process generates line data based on the regression line calculated from the segment point group.

  The three-dimensional model creating program according to the present invention can set the configuration section setting process as the following process. That is, the configuration section setting unit selects two or three axes out of three axes of the three-dimensional coordinate system, and sets a plurality of planes orthogonal to the selected axes as the configuration section. In this case, the model creation process creates a three-dimensional model of the measurement object based on line data arranged in two different directions.

The three-dimensional model creation program of the present invention has the following effects.
(1) Since line data is generated in advance to create a three-dimensional model, it is not necessary to directly process a large number of point groups, and the processing time for model creation can be significantly reduced.
(2) When line data is generated, the generation process becomes accelerated in speed by removing the already selected measurement points from the segment point group, and as a result, the processing time for model creation is further shortened. be able to.

The flow figure which shows the flow of the main processing of the measurement step of the present invention. The model figure which shows the azimuth | direction point set to the corner | angular part of a building. (A) is a plan view of a sign whose two faces are orthogonal to each other at a corner, (b) is a front view of the sign, (c) is a perspective view of the sign. The top view which shows the reference point group dotted around 2 straight lines. The model diagram which shows the calculation direction point and conversion direction point which were arrange | positioned to XY of the temporary coordinate system which makes a coordinate origin the reference point (or laser scanner measurement center). The flow figure which shows the flow of the main processing of the modeling stage of the present invention. FIG. 7 is a model diagram showing measurement point clouds and a configuration cross section which are arranged in a three-axis determinate coordinate system. FIG. 6 is a model diagram showing segment point clouds arranged in a three-axis determinate coordinate system and a cross section. The model figure which shows the line data generated based on a segment point cloud. (A) is a model diagram which shows the line data produced | generated based on Z-axis structure cross section, (b) is a model diagram which shows the three-dimensional model created from the line data. (A) is a model diagram which shows the line data produced | generated based on the Y-axis structure cross section, (b) is a model diagram which shows the three-dimensional model created from the line data. (A) is a model figure which shows a checkerboard-shaped control point which can be automatically recognized by laser measurement, (b) is a model figure which shows a spherical standard mark of known radius which can be automatically recognized by laser measurement.

  An example of an embodiment of a three-dimensional model creation program of the present invention will be described based on the drawings.

  The present invention can be roughly divided into two stages. One is "measurement stage" which performs measurement in the field and calculates coordinates based on the data, and the other is "modeling stage which creates a three-dimensional model of the feature based on the coordinates obtained in the measurement stage" ". Hereinafter, the measurement stage and the modeling stage will be described in order.

1. Measurement Stage FIG. 1 is a flow diagram showing the flow of the main process of the measurement stage of the present invention, showing the process to be carried out in the middle column, and the left column shows the input information necessary for the process. The columns show the output information resulting from the process. The measurement step of the present invention will be described according to this flow chart.

(Installation of known points)
First, a reference point is set (Step 10), and an azimuth point is set (Step 20). The reference point is a point at which a laser scanner is installed, and is set at a convenient point for laser measurement of a target object. On the other hand, the azimuth point is for determining the coordinate system as described later, and can be newly installed for the present invention, or can be set using an existing structure or the like. Each of the reference point and the azimuth point needs to know position coordinates, and is surveyed in advance by a conventional method such as a total station or a global navigation satellite system (GNSS). The position coordinates of the reference point and the azimuth point obtained here are three-dimensional coordinates consisting of plane coordinate values and height, and the plane coordinate values are latitude and longitude or orthogonal coordinate system (X coordinate, Y coordinate) As used herein, height means the vertical distance from a predetermined reference horizontal plane such as elevation.

  FIG. 2 is a model diagram showing an azimuth point set at a corner of a building. As shown in this figure, the azimuth point can be set using an existing structure. Further, it is preferable to set on a straight line where two substantially orthogonal (including orthogonal) planes (walls in FIG. 2) intersect. In FIG. 2, the azimuth point is set at the uppermost end of the straight line (line segment) at the intersection of two planes, but of course it may be set at the lowermost end or in the middle.

  Furthermore, it is also possible to set on a straight line in which the two corners orthogonal to the in-corner shape are not limited as well as the two-sided intersection in the form of the protruding corner as shown in FIG. FIG. 3 is a marker 10 in which the two surfaces are orthogonal to each other in the form of a corner, (a) is a plan view, (b) is a front view, and (c) is a perspective view. The marker 10 shown in this figure can be placed at an appropriate position, and an azimuth point can be set on a straight line of two-sided intersection.

(measurement)
When preparations such as setting of the reference point (Step 10) and setting of the azimuth point (Step 20) are completed, measurement is actually performed. First, as in the transit and total stations, a laser scanner for ground type laser measurement (hereinafter referred to as "ground type laser scanner") is installed at the reference point while maintaining the horizontal attitude using a tripod (Step 30). At this time, the height from the reference point to the laser scanner measurement center (hereinafter referred to as “machine height”) is measured. Then, laser measurement is started by the terrestrial laser scanner (Step 40). As described above, the terrestrial laser scanner irradiates laser pulses while rotating in the vertical plane (that is, around the horizontal axis) to change the irradiation direction, and rotating in the horizontal plane (that is, around the vertical axis).

  On the other hand, the azimuth (for example, north) centered on the reference point is measured using a compass or the like (Step 50). The orientation at this time does not have to be measured accurately, as long as the approximate orientation can be obtained. Therefore, it is also possible to use a rough orientation obtained by a sensor (such as an electronic compass) built in the terrestrial laser scanner.

(Provisional coordinate system and provisional coordinates)
When the azimuth centered on the reference point can be grasped, a three-dimensional coordinate system based on the reference point is set (Step 60). For example, a coordinate system in which the reference point is a coordinate origin and the north-south direction, the east-west direction, and the vertical direction are three axes is set. Alternatively, a coordinate system in which the laser scanner measurement center is the coordinate origin may be set. The setting of this temporary coordinate system can also be processed by a computer incorporated in the terrestrial laser scanner. In addition, since the obtained azimuth | direction is a rough value, let us say that the coordinate system set here is a "provisional coordinate system."

  The terrestrial laser scanner that has received the reflection signal of the laser pulse calculates the position coordinates of the irradiation point (reflection point) of the laser pulse based on the set temporary coordinate system (Step 70). Since the position coordinates obtained here are on the temporary coordinate system, they are referred to as "temporary coordinates".

  The processes up to here (Step 10 to Step 70) are performed locally at the time of laser measurement, and the processes to be described from here can be performed indoors such as an office because they mainly use a computer. Of course, you may continue processing locally.

(Filtering and reference points)
In order to calculate the azimuth point based on the provisional coordinates of the measurement point group, first, the reference point group is extracted (Step 80). If a large number of measurement points obtained by laser measurement are used to determine the azimuth point, it takes a considerable amount of calculation time. Therefore, among a large number of measurement points, those useful for calculating the azimuth point, that is, measurement points around the azimuth point are selected as the “reference point group”, and the azimuth point is determined by a limited number of measurement points. It aims at shortening.

  Extracting the reference point group from the measurement point group is, in other words, screening (thinning out) unnecessary measurement points from the measurement point group, and in this case, this processing is referred to as filtering. In the present invention, three types of filtering are provided: relative height difference filtering, distance filtering, and azimuth filtering. Each will be described in detail below.

  The relative height difference filtering is a process of extracting only measurement points whose provisional coordinates are at a predetermined height. Since the coordinates of the reference point and the azimuth point are known and the machine height is also obtained, the height (Z-axis coordinate) of the azimuth point in the provisional coordinate system can be calculated. For example, assuming that the laser scanner measurement center is the coordinate origin of the provisional coordinate system, a value obtained by subtracting the machine height from the relative height difference between the reference point and the azimuth point determined based on known coordinates is the azimuth point of the provisional coordinate system. It becomes height. Therefore, it is possible to extract measurement points around the height of the azimuth point in the temporary coordinate system, for example, measurement points within the elevation threshold (such as between the highest elevation and the lowest elevation).

  Distance filtering is a process of extracting only measurement points located at a predetermined distance from a reference point. Since the coordinates of the reference point and the heading point are known, the distance between the reference point and the heading point can be determined. Therefore, it is possible to extract measurement points at a predetermined distance from a reference point (for example, coordinate origin) in the temporary coordinate system. The predetermined distance may be set with a certain range (buffer) such as determining the minimum value and the maximum value.

  Orientation filtering is a process of extracting only measurement points in a predetermined direction from a reference point. Since the coordinates of the reference point and the heading point are known, it is possible to obtain the direction (vector) connecting the reference point and the heading point. Therefore, measurement points in a predetermined direction can be extracted from a reference point (for example, a coordinate origin) in the temporary coordinate system. The predetermined direction may also be set with a certain range (buffer) such as determining the minimum value and the maximum value.

  In order to perform three types of filtering, any order may be selected, but the next filtering process is performed on the measurement points left by the filtering, and the measurement points are gradually narrowed down. For example, relative difference filtering is performed on the measurement point group to narrow the measurement points, distance filtering is performed on the narrowed measurement points, and azimuth filtering is performed on the measurement points extracted here. And reference points are extracted.

(Calculation of temporary heading point coordinates)
The reference point cloud extracted through the three types of filtering is dotted on a plane. In particular, as shown in FIG. 2 and FIG. 3, when the azimuth point is set on the straight line of the two-surface intersection, the measurement point group (that is, the reference point group) is reflected to any one of the two surfaces. Are dotted around two straight lines. FIG. 4 is a plan view showing reference point groups scattered in the vicinity of two straight lines. The point of intersection of these two straight lines is considered to be the position of the azimuth point.

  Therefore, these two straight lines are set (Step 90), and intersection coordinates are obtained as an azimuth point (Step 100). Specifically, the reference point group is first divided into two groups, and then a regression line is obtained for each group, and calculated as a linear expression in the provisional coordinate system. If the two straight lines on the temporary coordinate system can be specified, the intersection coordinates of the two straight lines are calculated and determined as the coordinates of the azimuth point on the temporary coordinate system (hereinafter referred to as "temporary azimuth point coordinates"). The two straight lines set here are linear equations in a three-dimensional space, so they do not necessarily intersect. Therefore, it is preferable to regard a position at which the two straight lines are closer as an intersection point. Alternatively, the regression line may be set on a predetermined plane (for example, a horizontal plane).

(Fixed coordinate system and fixed coordinates)
By the way, the azimuth point is actually a known point in the absolute coordinate system (for example, the world geodetic system), and the azimuth point may be arranged in the temporary coordinate system from the relationship with the reference point which is also the known point in the absolute coordinate system. it can. That is, in the temporary coordinate system, an azimuth point (hereinafter referred to as “transformation azimuth point”, which is disposed from the relationship between the azimuth point (hereinafter referred to as “computed azimuth point” for convenience) obtained from the intersection of the two straight lines and the reference point. The azimuth point can be represented by two types of Essentially, the calculated azimuth point and the conversion azimuth point should coincide with each other. However, since the azimuth is a rough value or due to a measurement error, the two may not coincide with each other.

  FIG. 5 is a model diagram showing a calculated azimuth point and a transformation azimuth point arranged in XY of the temporary coordinate system having the coordinate point as the reference point (or the laser scanner measurement center). The direction (vector) from the reference point to the heading point should be a vector from the reference point to the conversion heading point, but the vectors from the reference point to the calculation heading point are in different directions. That is, the rotation angle φ resulting from the difference between the two directions is the deviation between the correct coordinate system and the temporary coordinate system. In other words, when the temporary coordinate system is rotated by the rotation angle φ, the correct coordinate system is obtained. Therefore, the temporary coordinate system is subjected to rotational conversion to obtain a correct coordinate system (hereinafter referred to as "determinate coordinate system") (Step 110), and the coordinates of the provisional coordinates of the measurement point group obtained by laser measurement based on this definite coordinate. The transformation is performed, and the transformed coordinates are acquired as "finalized coordinates" (Step 120).

  As described above, in the ground-type laser measurement, the Z axis can be identified because the horizontal plane can be grasped among the three-dimensional coordinate axes consisting of X axis-Y axis-Z axis, but the direction of X axis-Y axis in the horizontal plane is It can not be identified. Therefore, the conversion of the coordinate system performed here rotates only two axes (for example, X-axis and Y-axis) arranged in the horizontal plane. That is, only the X coordinate and the Y coordinate are used, and the Z coordinate is not used.

  Further, as can be seen from FIG. 5, the calculated azimuth point and the converted azimuth point may not only differ in direction from the reference point, but also may differ in distance from the reference point. That is, when transforming the coordinate system, not only rotational transformation of the coordinate system but also transformation methods for transforming a plane, such as Helmert transformation and affine transformation, can be considered. Of course, such a conversion method can also be used, but due to the nature of ground-based laser measurement, better results can be obtained by mere rotational conversion that does not deform the plane.

2. Modeling Stage FIG. 6 is a flow chart showing the main processing flow of the modeling stage of the present invention, showing the processing to be carried out in the middle column and the input information necessary for the processing in the left column. The right column shows the output information resulting from the process. The modeling stage of the present invention will be described according to this flow chart. Note that each process in the modeling stage is performed using a computer, and the process described here is specifically a function that configures a program to be executed by the computer.

(Setting of configuration section)
First, the measurement point group stored here and its finalized coordinates are read out from the measurement point group storage means (Step 130). As a matter of course, the measurement point group read out here can be arranged in a three-axis fixed coordinate system. Here, for convenience, the three axes of the determinate coordinate system will be described in the case of X-axis-Y-axis-Z-axis.

  In the present invention, one of the features is to set “a cross section” (Step 140) in modeling. FIG. 7 is a model diagram showing a measurement point group and a configuration cross section which are arranged in a three-axis fixed coordinate system. In addition, the measurement point cloud shown to this figure is obtained by carrying out the laser measurement of the office building as shown, for example in FIG. As shown in FIG. 7, the configuration cross section is a plane orthogonal to the coordinate axis (Z axis in this figure). That is, the configuration cross section can be set in three directions. Here, for convenience, the configuration cross section orthogonal to the X axis is “X axis configuration cross section”, and the configuration cross section orthogonal to the Y axis is “Y axis configuration cross section”, Z axis The cross section perpendicular to the plane is referred to as "Z-axis cross section".

  The number of configured cross sections is set to 2 or more for one axis. For example, in FIG. 7, four Z-axis cross sections are set. Note that although it is preferable to set a plurality of two or more component cross sections at constant intervals, it is also possible to set two or more component cross sections at irregular intervals according to the object to be modeled. When modeling, one type (for example, only the Z-axis cross section) can be set, but two types (for example, the Y-axis cross section and the Z-axis cross section) are set. It is also possible to set all three configuration cross sections.

(Segment point group)
When the configuration cross section can be set, a segment point group is set next (Step 150). FIG. 8 is a model diagram showing segment point groups and constituent cross sections which are arranged in a three-axis determinate coordinate system. As shown in this figure, the segment point group is extracted and set from among the measurement point groups arranged in the definite coordinate system, which are located around the configuration cross section. Specifically, segment points are set by extracting measurement points within a threshold distance from the configuration cross section. Therefore, the segment point group is set in each configuration section, in other words, the segment point group and the configuration section are linked.

(Line data)
When the segment point cloud can be set, line data is generated (Step 160). FIG. 9 is a model diagram showing line data generated based on segment point clouds. The present invention is characterized in that an outer peripheral line of a measurement object is obtained as "line data", and a three-dimensional shape composed of a plurality of line data is used as a three-dimensional model of the measurement object. Although the segment point cloud shown in FIG. 8 can assume the contour of the measurement object to some extent, it is not sharp enough to create a third-order model. Therefore, line data is generated based on the segment point group.

  The line data is data formed by a plurality of line segments arranged on a plane (for example, a configuration cross section), and is generated based on a segment point group. Therefore, line data is generated for each segment point cloud, that is, the line data is also linked to the configuration cross section. Line data can be generated in several ways. For example, an arbitrary one of the segment point group is designated as the “starting point”, points in the periphery (for example, the closest points) are extracted as “line composing points” and connected, and this is repeated to perform line data Can be generated. At this time, it is also possible to determine in advance the direction of connection from the starting point. Also, the designation of the starting point can be performed by an operator operation, or can be automatically designated according to a predetermined rule (for example, the X coordinate minimum value etc.).

  In addition, line data can be generated after segment point clouds are projected in advance on the constructed cross section. Specifically, any one of measurement point groups (hereinafter, simply referred to as "projected points") projected onto the configuration cross section is designated as the "starting point", and the points around it are designated as line configuration points. . In this case, the projection point selected as the line formation point may be excluded from the projection point for selecting the next line formation point. That is, the line composition points are sequentially reduced, and the selection time of the line composition points is gradually shortened.

  It is also possible to generate line data by estimating a predetermined line from the arrangement shape of the segment point group instead of generating line data while sequentially connecting from the starting point. In this case, a transform processing technique such as Hough transform which has been conventionally used can be employed. Also in this case, it is also possible to generate line data from the arrangement shape of the projection points on which the measurement point group is projected on the configuration cross section.

(3D model)
When line data can be generated, a three-dimensional model of the measurement object is created. First, a plurality of line data are arranged so as to overlap (Step 170), a plurality of outer surfaces are estimated therefrom (Step 180), and a three-dimensional model is created based on the outer surfaces (Step 190).

  By the way, as described above, the segment point group is set for each configuration cross section, and is generated for each line data beam segment point group. That is, line data is generated as many as the number of configuration cross sections. In addition, it has been described that all three types of cross sections can be set (that is, for three axes), or only one type can be set. Therefore, only line data that is orthogonal to the Z axis may be generated, or line data that is orthogonal to all three axes (that is, line data in the direction of three axes) may be generated. FIG. 10 (a) is a model diagram showing line data generated based on the Z-axis configuration cross section, and FIG. 10 (b) is a model diagram showing a three-dimensional model created from the line data. On the other hand, FIG. 11 (a) is a model diagram showing line data generated based on the Y-axis cross section, and FIG. 11 (b) is a model diagram showing a three-dimensional model created from the line data. is there.

  As shown in FIG. 10 (b) and FIG. 11 (B), a plurality of line data are arranged at a predetermined position (for example, the position of the configuration cross section), and several “planes” are set by the plurality of line data. A three-dimensional model of the measurement object is created based on this plane. Of course, as shown in FIGS. 10 and 11, a three-dimensional model can be created from line data consisting of one type of configuration cross section, or can be created from line data consisting of two types of configuration cross section, 3 It can also be created from line data consisting of different types of configuration cross sections.

  The three-dimensional model creation program of the present invention can be used to model features measured by ground-based laser measurement and terrains measured by aviation laser measurement. In addition to objects located outdoors, it can also be used for three-dimensional modeling of indoor objects.

10 signs

Claims (4)

In a program for creating a three-dimensional model of a measurement object using position coordinates of a laser measurement point acquired by laser measurement
Position coordinates of the measurement point are coordinates defined in a three-dimensional coordinate system including a first axis, a second axis, and a third axis,
Measurement point readout processing for reading out position coordinates of the laser measurement point;
Configuration cross-section setting processing of setting a plurality of planes orthogonal to any one of three axes of the three-dimensional coordinate system as a configuration cross-section;
A segment point cloud setting process of extracting measurement points in the vicinity of each of the component cross sections and setting the extracted measurement points as segment point clouds related to the component cross sections;
Line data generation processing for generating one or more line data for each of the constituent cross sections based on the segment point group;
A function of causing a computer to execute a model creation process of creating a three-dimensional model of the measurement object based on a plurality of the line data;
The line data generation process uses one measurement point of the segment point group as a starting point, extracts the nearest points sequentially from the starting point as a line constituting point, and connects the line constituting points to the line data. Generate
The extraction of the line constituent points is performed on the segment point group excluding the measurement points already extracted as line constituent points.
A three-dimensional model creation program characterized by In a program for creating a three-dimensional model of a measurement object using position coordinates of a laser measurement point acquired by laser measurement
Position coordinates of the measurement point are coordinates defined in a three-dimensional coordinate system including a first axis, a second axis, and a third axis,
Measurement point readout processing for reading out position coordinates of the laser measurement point;
Configuration cross-section setting processing of selecting two or three of the three axes of the three-dimensional coordinate system and setting a plurality of planes orthogonal to the selected axes as a configuration cross-section;
A segment point cloud setting process of extracting measurement points in the vicinity of each of the component cross sections and setting the extracted measurement points as segment point clouds related to the component cross sections;
Line data generation processing for generating one or more line data for each of the constituent cross sections based on the segment point group;
Model creation processing for creating a three-dimensional model of the measurement object based on a plurality of the line data arranged in two or three different directions ;
A three-dimensional model creation program characterized by having a function to make a computer execute. The line data generation process uses one measurement point of the segment point group as a starting point, extracts the nearest points sequentially from the starting point as a line constituting point, and connects the line constituting points to the line data. Generate
The extraction of the line constituent points is performed on the segment point group excluding the measurement points already extracted as line constituent points.
The three-dimensional model creation program according to claim 2 , characterized in that: The line data generation process generates the line data based on a regression line calculated from the segment point group.
The three-dimensional model creation program according to claim 2 , characterized in that:

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