JP6584735B1 - Image generation apparatus, image generation method, and image generation program - Google Patents

Abstract

The image generation device (1) includes a selection position determination unit (23), a viewpoint position determination unit (24), and an image processing unit (25). The selection position determination unit (23) determines the coordinates on the developed image corresponding to the coordinates of the selected three-dimensional point among the three-dimensional point group displayed on the display unit (2). The image processing unit (25) is a cutout image generated by image processing including cutout processing for cutting out an image of a cutout range that is a range including coordinates on the developed image determined by the selection position determining unit (23) from the developed image. As an output image. The image processing unit (25) includes at least one of rotation processing and inversion processing of the image in the cutout range based on the coordinates on the developed image determined by the selection position determination unit (23).

Description

  The present invention relates to an image generation apparatus, an image generation method, and an image generation program that can cut out a partial region of a developed image of a structure.

  Conventionally, a technique for generating a developed image of a structure from a captured image obtained by imaging the structure is known. For example, Patent Document 1 discloses that a tunnel is obtained by joining together images obtained by imaging a plurality of times with each of the plurality of cameras while a vehicle including a plurality of cameras is traveling in a tunnel that is a structure. A technique for obtaining a developed image is disclosed.

JP, 2006-218555, A

  When an inspector inspects a structure, for example, a captured image obtained by imaging an area where the structure is deformed may be pasted on a deformed photo ledger, but the inspector needs to visit the installation location of the structure There is. In the technique of Patent Document 1, as described above, a developed image of a structure can be obtained by the vehicle traveling in the structure. Therefore, if such a developed image can be used, it is possible to acquire a captured image obtained by capturing an area where the structure is deformed without visiting an installation location of the structure.

  However, when a region having a deformed structure is cut out from the developed image described in Patent Document 1, the inspector images the actual structure even if the image cut out from the developed image is an image of the same region. It may be different from the obtained captured image. In addition, instead of an image of the structure viewed from inside the structure, there is a case where it is desired to obtain an image of the structure viewed from the outside of the structure, and an area where the structure is deformed from the developed image described in Patent Document 1 is left as it is. Even if it is cut out, a necessary image may not be obtained.

  The present invention has been made in view of the above, and an object of the present invention is to obtain an image generation apparatus that can appropriately obtain a necessary image from a developed image of a structure.

  In order to solve the above-described problems and achieve the object, an image generation apparatus of the present invention includes a structure data storage unit, a display processing unit, a selected position determination unit, and an image processing unit. The structure data storage unit stores the correspondence between the 3D point cloud data including the 3D point cloud data of the structure, the developed image data of the structure, the coordinates of the 3D point cloud, and the coordinates of the developed image. Mapping data to be stored is stored. The display processing unit displays an image of the three-dimensional point group on the display unit based on the three-dimensional point group data stored in the structure data storage unit. The selected position determination unit develops corresponding to the coordinates of the selected three-dimensional point among the three-dimensional point group displayed on the display unit based on the developed image data and mapping data stored in the structure data storage unit. Determine the coordinates on the image. The image processing unit generates, as an output image, a cut-out image generated by image processing including cut-out processing that cuts out an image in a cut-out range that is a range including coordinates on the developed image determined by the selection position determination unit. . The image processing executed by the image processing unit includes at least one of rotation processing and inversion processing of the image in the cutout range based on the coordinates on the developed image determined by the selection position determination unit.

  According to the present invention, there is an effect that a necessary image can be appropriately obtained from a developed image of a structure.

The figure which shows the structural example of the image generation apparatus concerning Embodiment 1 of this invention. FIG. 6 is a diagram for explaining an image processing method by the image generation apparatus according to the first embodiment; 1 is a diagram illustrating a specific configuration example of an image generation apparatus according to a first embodiment. The figure which shows an example of the three-dimensional point cloud data table concerning Embodiment 1. FIG. FIG. 3 is a diagram illustrating an example of a three-dimensional point group and tunnel axis vector of a tunnel according to the first embodiment The figure which shows an example of the tunnel axis | shaft data table concerning Embodiment 1. FIG. FIG. 3 is a diagram illustrating an example of a developed image data table according to the first embodiment. The figure for demonstrating the relationship between the look-up figure and look-down figure concerning Embodiment 1. FIG. The figure which shows an example of the expansion | deployment image of the tunnel concerning Embodiment 1. The figure which shows an example of the mapping data table concerning Embodiment 1. The figure which shows an example of the cut-out image data table concerning Embodiment 1. FIG. The figure which shows an example of the deformation | transformation data table concerning Embodiment 1. FIG. FIG. 6 is a diagram for explaining display processing of a three-dimensional point cloud image on the display unit by the display processing unit according to the first embodiment; The figure for demonstrating the position with respect to the tunnel of the viewpoint position concerning Embodiment 1. FIG. The figure for demonstrating the process for determining the positional relationship with respect to the tunnel of the viewpoint position by the viewpoint position determination part concerning Embodiment 1. FIG. FIG. 3 is a diagram for explaining image processing by the image processing unit according to the first embodiment; FIG. 5 is a diagram illustrating an example of a relationship between a threshold value used in the image processing unit according to the first embodiment and a developed image. The figure which shows an example of the image which shows the list of the cut-out images concerning Embodiment 1. The figure for demonstrating the viewpoint position determined by a viewpoint position determination part in case the image state of the cut-out image concerning Embodiment 1 is a looking-up figure The figure for demonstrating the viewpoint position determined by the viewpoint position determination part in case the image state of the cut-out image concerning Embodiment 1 is a look-down view The figure for demonstrating the determination processing of the direction of the three-dimensional point group of a tunnel by the display process part concerning Embodiment 1. FIG. The figure which shows an example of the deformation data edit screen concerning Embodiment 1. The figure which shows the other example of the deformation data edit screen concerning Embodiment 1. FIG. The figure which shows an example of the deformed image ledger produced | generated by the deformed ledger production | generation part concerning Embodiment 1. FIG. The figure which shows an example of the deformation | transformation expanded view produced | generated by the deformation | transformation expanded view production | generation part concerning Embodiment 1. FIG. 6 is a flowchart illustrating an example of processing of a control unit of the image generation apparatus according to the first embodiment. 10 is a flowchart illustrating an example of an output image generation process according to the first embodiment. 3 is a flowchart illustrating an example of a three-dimensional point cloud display process according to the first embodiment. 10 is a flowchart illustrating an example of deformation data editing processing according to the first embodiment; 10 is a flowchart illustrating an example of a deformed image ledger generation process according to the first embodiment. FIG. 3 is a flowchart illustrating an example of a modified development view generation process according to the first embodiment; 1 is a diagram illustrating an example of a hardware configuration of an image generation apparatus according to a first embodiment.

  Hereinafter, an image generation apparatus, an image generation method, and an image generation program according to embodiments of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a configuration example of an image generation apparatus according to the first embodiment of the present invention. As illustrated in FIG. 1, the image generation apparatus 1 according to the first embodiment includes a structure data storage unit 11 and a control unit 20.

  The structure data storage unit 11 stores structure data. The structure data includes three-dimensional point group data of the structure, development image data of the structure, and mapping data indicating the correspondence between the coordinates of the three-dimensional point group and the coordinates on the development image. The structure in which data is stored in the structure data storage unit 11 is a structure such as a tunnel, a bridge, or a sewer.

  The three-dimensional point group data includes a plurality of three-dimensional point data, and each three-dimensional point data includes data indicating the three-dimensional position of the three-dimensional point. For example, the three-dimensional point data includes data indicating the coordinates of the three-dimensional point in the XYZ axis coordinate system. The development image data of the structure is data of the development image of the structure.

  The control unit 20 includes a display processing unit 22, a selection position determination unit 23, a viewpoint position determination unit 24, and an image processing unit 25. The display processing unit 22 displays an image of the three-dimensional point group of the structure on the display unit 2 based on the three-dimensional point group data stored in the structure data storage unit 11. The display processing unit 22 displays an image of the three-dimensional point group when viewed from the designated viewpoint position on the display unit 2. For example, when the viewpoint position is changed, the display processing unit 22 displays an image of the three-dimensional point group when viewed from the changed viewpoint position on the display unit 2.

  The selection position determination unit 23 corresponds to the coordinates of the selected three-dimensional point among the three-dimensional point group of the structure displayed on the display unit 2 based on the mapping data stored in the structure data storage unit 11. The coordinates on the developed image are determined. The viewpoint position determination unit 24 determines whether the viewpoint position is a position inside the structure or a position outside the structure as a positional relationship with respect to the structure of the designated viewpoint position.

  The image processing unit 25 calculates the coordinates on the developed image based on the coordinates on the developed image determined by the selection position determining unit 23 and the positional relationship of the viewpoint position determined by the viewpoint position determining unit 24 with respect to the structure. A cut-out image is generated from an image in a cut-out range that is a range to include. Specifically, the image processing unit 25 cuts out the image in the cutout range from the developed image and changes the orientation of the image in the cutout range based on the coordinates on the developed image and the positional relationship of the viewpoint position with the structure. The cut-out image is generated by performing the processing. The processing for changing the orientation of the image in the cutout range includes at least one of rotation processing and inversion processing for the image in the cutout range. The image processing unit 25 outputs the generated cutout image as an output image. Thereby, a required image can be appropriately obtained from the developed image of the structure. For example, an image cut out from a developed image can be made into an image in the same direction as a captured image obtained by an inspector capturing an actual structure. Moreover, when it is desired to obtain an image of a structure viewed from the outside of the structure instead of the image of the structure viewed from the inside of the structure, a necessary image can be obtained.

  In addition, when only one of the image of the structure viewed from the inside of the structure and the image of the structure viewed from the outside of the structure needs to be acquired, the image generation apparatus 1 may not have the above configuration. For example, the image generation device 1 performs a process of cutting out an image of the cutout range from the developed image and a process of changing the orientation of the image of the cutout range based on the coordinates on the developed image regardless of the viewpoint position. A cut-out image can be generated. In this case, the image generation apparatus 1 may be configured without the viewpoint position determination unit 24.

  FIG. 2 is a diagram for explaining an image processing method performed by the image generation apparatus according to the first embodiment. In the following description, it is assumed that the structure is a tunnel, but the structure may be a bridge, a sewer, or another structure.

  In step S1 shown in FIG. 2, three-dimensional point cloud data of the tunnel is generated. Such 3D point cloud data is obtained, for example, by a 3D point cloud measurement device (not shown) mounted on the measurement vehicle. Such a three-dimensional point cloud measurement device generates three-dimensional point cloud data from, for example, measurement data on the inner wall of a tunnel obtained by a laser scanner (not shown) in the traveling state of the measurement vehicle.

  In step S2 shown in FIG. 2, the developed image data of the tunnel is generated. The developed image data of the tunnel is, for example, the inner wall of the tunnel obtained by pasting together images captured multiple times by each of the plurality of cameras while a measurement vehicle equipped with the plurality of cameras is traveling in the tunnel. This is data of a developed image.

  In step S3 shown in FIG. 2, mapping data indicating the correspondence between the coordinates of the three-dimensional point group and the coordinates on the developed image is generated. The mapping data can be obtained, for example, by a conversion process using a function for converting a three-dimensional coordinate system of a three-dimensional point group into a two-dimensional coordinate system of a developed image. Further, the mapping data can be obtained by using a technique described in JP 2012-220471 A, for example.

  In step S <b> 4 shown in FIG. 2, an image of the three-dimensional point group of the tunnel is displayed on the display unit 2. The image of the three-dimensional point cloud of the tunnel is an image viewed from a designated viewpoint position, and an image viewed from a different viewpoint position can be confirmed by changing the viewpoint position by a user operation or the like. .

  In step S5 shown in FIG. 2, a three-dimensional point is selected from the three-dimensional point group of the tunnel displayed on the display unit 2. The selection of the three-dimensional point is performed by operating a mouse (not shown), for example. The display processing unit 22 moves the cursor displayed on the display unit 2 according to the operation of the mouse. The selection position determination unit 23 determines the three-dimensional point closest to the position indicated by the cursor when the mouse is clicked as the three-dimensional point selected by the user operation.

  In step S6 shown in FIG. 2, the selected position determination unit 23 performs a user operation on the 3D point group of the tunnel based on mapping data indicating the correspondence between the coordinates of the 3D point group and the coordinates on the developed image. The coordinates on the developed image corresponding to the coordinates of the selected three-dimensional point are determined. Hereinafter, the coordinates on the developed image corresponding to the coordinates of the selected three-dimensional point may be referred to as “selected position”.

  In step S7 shown in FIG. 2, the viewpoint position determination unit 24 determines the positional relationship with respect to the tunnel of the viewpoint position specified when the three-dimensional point is selected in step S5. The viewpoint position determination unit 24 determines whether the viewpoint position is a position inside the tunnel or a position outside the tunnel as a positional relationship with respect to the tunnel of the viewpoint position. In the example illustrated in FIG. 2, the viewpoint position determination unit 24 determines that the viewpoint position is a position outside the tunnel.

  In step S8 shown in FIG. 2, the image processing unit 25 cuts out an image of a cutout range including the selected position on the developed image from the developed image based on the positional relationship of the developed image data, the selected position, and the viewpoint position with respect to the tunnel. A cut-out image is generated by the process and at least one of the rotation process and the inversion process of the image in the cut-out range. In the example illustrated in FIG. 2, the positional relationship of the viewpoint position with respect to the tunnel is a position outside the tunnel, and an image obtained by inverting the image of the cutout range in the developed image is generated as a cutout image. Thereby, a required image can be appropriately obtained from the developed image of the structure.

  Hereinafter, the configuration and operation of the image generation apparatus 1 according to the first embodiment will be described more specifically. FIG. 3 is a diagram illustrating a specific configuration example of the image generation apparatus according to the first embodiment. As illustrated in FIG. 3, the image generation apparatus 1 according to the first embodiment includes a storage unit 10, a control unit 20, and a communication unit 30.

  The storage unit 10 includes a structure data storage unit 11, a cut-out image data storage unit 12, and a deformed data storage unit 13. The structure data storage unit 11 stores a three-dimensional point cloud data table 41, a tunnel axis data table 42, a developed image data table 43, and a mapping data table 44. The cutout image data storage unit 12 stores a cutout image data table 45. The deformation data storage unit 13 stores a deformation data table 46. In the following description, it is assumed that the structure is a tunnel.

  FIG. 4 is a diagram illustrating an example of a three-dimensional point cloud data table according to the first embodiment. The three-dimensional point group data table 41 shown in FIG. 4 includes a plurality of pieces of three-dimensional point data including “three-dimensional point ID (Identifier)”, “X coordinate”, “Y coordinate”, and “Z coordinate”. . “3D point ID” is identification information of a 3D point included in the 3D point group of the tunnel. “X coordinate”, “Y coordinate”, and “Z coordinate” are the coordinates of a three-dimensional point in the XYZ coordinate system. That is, the “X coordinate” is the X coordinate of the three-dimensional point in the XYZ coordinate system, the “Y coordinate” is the Y coordinate of the three-dimensional point in the XYZ coordinate system, and the “Z coordinate” is the “X coordinate” in the XYZ coordinate system. This is the Z coordinate of the three-dimensional point.

  The three-dimensional point group data table 41 shown in FIG. 4 includes information on each three-dimensional point included in the three-dimensional point group of the tunnel. For example, in the example illustrated in FIG. 4, the coordinates of the three-dimensional point with the three-dimensional point ID “P1” are the X coordinate “x1”, the Y coordinate “y1”, and the Z coordinate “z1”. The coordinates of the three-dimensional point with the three-dimensional point ID “P2” are the X coordinate “x2”, the Y coordinate “y2”, and the Z coordinate “z2”. The coordinates of the three-dimensional point with the three-dimensional point ID “Pn” are the X coordinate “xn”, the Y coordinate “yn”, and the Z coordinate “zn”. Note that n is an integer of 3 or more.

  FIG. 5 is a diagram of an example of the three-dimensional point group and tunnel axis vector of the tunnel according to the first embodiment. As shown in FIG. 5, the three-dimensional point group of the tunnel is composed of a plurality of three-dimensional points, and the three-dimensional point of the three-dimensional point ID “P1” and the three-dimensional point ID “P2” described above. A plurality of three-dimensional points including a point and a three-dimensional point with a three-dimensional point ID “Pn” are included. Further, as shown in FIG. 5, the tunnel axis vector is a vector along the extending direction of the tunnel. When the tunnel extension direction coincides with the X axis, the direction of the tunnel axis vector coincides with the X axis.

  FIG. 6 is a diagram illustrating an example of a tunnel axis data table according to the first embodiment. The tunnel axis data table 42 shown in FIG. 6 includes a plurality of tunnel axis vector data including “vector ID”, “X coordinate”, “Y coordinate”, “Z coordinate”, and “vector direction”. “Vector ID” is identification information of a tunnel axis vector. “X coordinate”, “Y coordinate” and “Z coordinate” are coordinates indicating the position of the tunnel axis vector in the XYZ coordinate system. “Vector direction” is information indicating the direction of the tunnel axis vector in the XYZ coordinate system.

  In the example illustrated in FIG. 6, the tunnel axis vector with the vector ID “V1” has the coordinates of the X coordinate “x11”, the Y coordinate “y11”, and the Z coordinate “z11”, and the vector direction is “v1”. It is. The tunnel axis vector of vector ID “V2” has the coordinates of X coordinate “x12”, Y coordinate “y12”, and Z coordinate “z12”, and the direction of the vector is “v2”. The tunnel axis vector of the vector ID “Vm” has the coordinates of the X coordinate “x1m”, the Y coordinate “y1m”, and the Z coordinate “z1m”, and the direction of the vector is “vm”. Note that m is an integer of 3 or more.

FIG. 7 is a diagram illustrating an example of the developed image data table according to the first embodiment. In the developed image data table 43 shown in FIG. 7, dots including “dot ID”, “X _d coordinate”, “Y _d coordinate”, “r”, “g”, “b”, and “image state” are displayed. Multiple data are included. “Dot ID” is identification information of dots included in the developed image of the tunnel.

“X _d coordinate” and “Y _d coordinate” are the coordinates of dots in the X _d Y _d coordinate system, which is a two-dimensional coordinate system. That is, _{"X d} coordinates" _{is X d} coordinates of the dots in the X d _{Y d} coordinate system, _{"Y d} coordinates" _{is Y d} coordinates of the dots in the X d _{Y d} coordinate system. “R”, “g”, and “b” indicate dot colors. “R” indicates the value of the red component of the dot, “g” indicates the value of the green component of the dot, and “b” indicates the value of the blue component of the dot.

In the example illustrated in FIG. 7, the coordinates of the dot with the dot ID “Do1” are the X _d coordinate “x _d 1” and the Y _d coordinate “y _d 1”, and the “r” and “g” of the dot ID “Do1”. And “b” are “r1”, “g1”, and “b1”. The coordinates of the dot with the dot ID “Do2” are the X _d coordinate “x _d 2” and the Y _d coordinate “y _d 2”, and “r”, “g”, and “b” of the dot ID “Do2” are , “R2”, “g2”, and “b2”. The coordinates of the dot with the dot ID “Dok” are the X _d coordinate “x _d k” and the Y _d coordinate “y _d k”, and “r”, “g”, and “b” of the dot ID “Dok” are , “Rk”, “gk”, and “bk”. Note that k is an integer of 3 or more.

  The “image state” is information indicating whether the developed image of the tunnel is “looking up” or “looking down”. The “look-up view” indicates that the developed view is a developed image obtained by connecting a plurality of images obtained by imaging the inner wall of the tunnel in the tunnel. The “look-down view” is a developed image obtained by inverting the look-up view, and is a developed image when the inner wall of the tunnel is viewed from outside the tunnel. In the example shown in FIG. 7, the developed image of the tunnel is a look-down view.

  FIG. 8 is a diagram for explaining the relationship between the look-up view and the look-down view according to the first embodiment. In the example shown in FIG. 8, in order to make the explanation easy to understand, the deformation such as a crack generated on the inner wall of the tunnel is expressed by the characters “2” and “5” for convenience. In the example shown in FIG. 8, the right end of the tunnel entrance is “a1”, the left end of the tunnel entrance is “b1”, the right end of the tunnel exit is “a2”, and the left end of the tunnel exit is “b2”. "

  By developing the image of the inner wall of the tunnel with reference to the left ends b1 and b2 of the tunnel, a top view of the tunnel can be obtained. In this look-up view, the character “2” is rotated 180 degrees. Therefore, when the range including the character “2” is cut out as it is from the look-up view shown in FIG. 8, the cut-out image is an image having a different orientation from the picked-up image obtained by the inspector picking up the actual structure. .

  In addition, the image of the inner wall of the tunnel is developed with reference to the right ends a1 and a2 of the tunnel as a reference, so that a top-down view of the tunnel can be obtained. In such a look-down view, the character “2” is reversed left and right, and the character “5” is rotated 180 degrees and reversed. Therefore, when the range including the character “2” or the character “5” is cut out as it is from the perspective view shown in FIG. 8, such a cut-out image is a picked-up image obtained by an inspector picking up an actual structure. The direction will be different.

FIG. 9 is a diagram illustrating an example of a developed image of the tunnel according to the first embodiment. The developed image of the tunnel shown in FIG. 9 is generated so that the _Xd axis coincides with the tunnel axis vector. In the developed image shown in FIG. 9, only the deformation that has occurred on the inner wall of the tunnel is shown. However, the developed image of the tunnel includes the color of the inner wall of the tunnel. In addition, when a lighting device and a fan are attached to the inner wall of the tunnel, the developed image of the tunnel may include an image showing the lighting device and the fan. The deformation that occurs on the inner wall of the tunnel is, for example, cracking or peeling.

FIG. 10 is a diagram illustrating an example of the mapping data table according to the first embodiment. The mapping data table 44 shown in FIG. 10 includes a plurality of data including “X coordinate”, “Y coordinate”, “Z coordinate”, “X _d coordinate”, and “Y _d coordinate”. “X coordinate”, “Y coordinate”, and “Z coordinate” are three-dimensional coordinates in the XYZ coordinate system described above. That is, “X coordinate” is the X coordinate in the XYZ coordinate system, “Y coordinate” is the Y coordinate in the XYZ coordinate system, and “Z coordinate” is the Z coordinate in the XYZ coordinate system. Further, “X _d coordinate” and “Y _d coordinate” are two-dimensional coordinates in the above-described X _d Y _d coordinate system. That is, _{"X d} coordinates" _{is X d} coordinates in X d _{Y d} coordinate system, _{"Y d} coordinates" _{is Y d} coordinates in X d _{Y d} coordinate system.

In the example illustrated in FIG. 10, the three-dimensional coordinates “x1, y1, z1” in the XYZ coordinate system correspond to the two-dimensional coordinates “x _d α, y _d α” in the X _d Y _d coordinate system. The three-dimensional coordinates “x2, y2, z2” in the XYZ coordinate system correspond to the two-dimensional coordinates “x _d β, y _d β” in the X _d Y _d coordinate system. The three-dimensional coordinates “xn, yn, zn” in the XYZ coordinate system correspond to the two-dimensional coordinates “x _d ζ, y _d ζ” in the X _d Y _d coordinate system.

FIG. 11 is a diagram illustrating an example of a cut-out image data table according to the first embodiment. The cutout image data table 45 illustrated in FIG. 11 includes a plurality of pieces of cutout image data including “image ID”, “cutout image”, “image state”, and “coordinate range”. “Image ID” is identification information of a cut-out image. “Cutout image” is image data of a cutout image. The “image state” is information indicating whether the cut-out image is a look-up image or a look-down image. The “coordinate range” is coordinate information indicating the coordinate range of the clipped image in the developed image, and includes an _Xd coordinate range and a _Yd coordinate range.

In the example illustrated in FIG. 11, the image data, the image state, and the coordinate range of the cut-out image with the image ID “IM1” are “aaa.bmp”, “look-up view”, and “x _d α _min1 , x _d α _max1 , y _d α _min1 , y _d α _max1 ”. The coordinate ranges “x _d α _min1 , x _d α _max1 , y _d α _min1 , y _d α _max1 ” are ranges where the X _d coordinate range is from x _d α _min1 to x _d α _max1 , and the Y _d coordinate range is This indicates a range from y _d α _min1 to y _d α _max1 .

The image data, image state, and coordinate range of the cut-out image with the image ID “IM2” are “bbb.bmp”, “look-up view”, and “x _d α _min2 , x _d α _max2 , y _d α _min2 ,” y _d α _max2 ”. The coordinate ranges “x _d α _min2 , x _d α _max2 , y _d α _min2 , y _d α _max2 ” are ranges where the X _d coordinate range is from x _d α _min2 to x _d α _max2 , and the Y _d coordinate range is It indicates that the y _d alpha _min2 range up _{y d} alpha _max2.

FIG. 12 is a diagram illustrating an example of a deformed data table according to the first embodiment. The deformation data table 46 illustrated in FIG. 12 includes a plurality of pieces of deformation data that are deformation data including “deformation ID” and “deformation range”. The “deformation range” is coordinate information indicating a coordinate range of deformation in the developed image, and includes an _Xd coordinate range and a _Yd coordinate range.

In the example shown in FIG. 12, Deformation range Henjo ID "DF1" is _{"x d β min1, x d β} max1, y d β min1, y d β max1 ". The deformation ranges “x _d β _min1 , x _d β _max1 , y _d β _min1 , y _d β _max1 ” are ranges where the X _d coordinate range is from x _d β _min1 to x _d β _max1 , and the Y _d coordinate range Is in the range from y _d β _min1 to y _d β _max1 . Strange-shaped range of Henjo ID "DF2" is _{"x d β min2, x d β} max2, y d β min2, y d β max2 ". The coordinate ranges “x _d β _min2 , x _d β _max2 , y _d β _min2 , y _d β _max2 ” are ranges where the X _d coordinate range is from x _d β _min2 to x _d β _max2 , and the Y _d coordinate range is This indicates a range from y _d β _min2 to y _d β _max2 .

  Note that the deformation data table 46 illustrated in FIG. 12 includes coordinate information indicating the deformation range, but the coordinate information of the deformation data table 46 may not be coordinate information indicating the deformation range. For example, the coordinate information of the deformation data table 46 may be information on coordinates indicating the center position of the deformation or information on a plurality of coordinates on the deformation. Further, the coordinate information of the deformation data table 46 may be vector information including information on a plurality of coordinates on the deformation and information on a plurality of vectors connecting adjacent coordinates among the plurality of coordinates. Good.

  Returning to FIG. 3, the control unit 20 of the image generation apparatus 1 will be described. As shown in FIG. 3, the control unit 20 includes an input receiving unit 21, a display processing unit 22, a selection position determination unit 23, a viewpoint position determination unit 24, an image processing unit 25, an image output unit 26, A viewpoint position determination unit 27, a deformation data editing unit 28, a deformation ledger generation unit 29, and a deformation development diagram generation unit 40 are provided.

  The input receiving unit 21 receives a user operation input to the input unit 3. The input unit 3 is, for example, a mouse or a keyboard. The user operation is an operation input to the input unit 3 by the user, and includes, for example, a mouse movement operation and a mouse click operation. The input unit 3 may be a touch panel arranged on the display unit 2. Hereinafter, a user operation input to the input unit 3 may be simply referred to as a user operation.

  The display processing unit 22 displays an image corresponding to a user operation on the display unit 2 based on the data stored in the storage unit 10. For example, when there is an instruction to display an image of a 3D point cloud by a user operation, the display processing unit 22 determines the 3D point cloud of the tunnel based on the 3D point cloud data of the tunnel stored in the storage unit 10. An image can be displayed on the display unit 2. Further, the display processing unit 22 can display the cut-out image generated by the image processing unit 25 on the display unit 2 based on a user operation on the input receiving unit 21.

  FIG. 13 is a diagram for explaining the display processing of the image of the three-dimensional point group on the display unit by the display processing unit according to the first embodiment. Based on the viewpoint position and line-of-sight direction shown in FIG. 13, the display processing unit 22 generates an image of the tunnel three-dimensional point group when the tunnel three-dimensional point group is viewed from the viewpoint position and line-of-sight direction. An image of the three-dimensional point group is displayed on the display unit 2. The viewpoint position and the line-of-sight direction shown in FIG. 13 are changed by a user operation. The display processing unit 22 generates an image of the three-dimensional point cloud of the tunnel based on the changed viewpoint position and line-of-sight direction every time the viewpoint position and line-of-sight direction are changed, and generates the generated three-dimensional point group image. Is displayed on the display unit 2.

  When a three-dimensional point included in the three-dimensional point group of the tunnel displayed on the display unit 2 is selected by a user operation, the selection position determination unit 23 illustrated in FIG. 3 has the selected three-dimensional point in the XYZ coordinate system. The coordinates on the developed image corresponding to the coordinates are determined.

For example, assume that the three-dimensional point cloud data table 41 is in the state shown in FIG. 4 and the mapping data table 44 is in the state shown in FIG. In this case, the three-dimensional coordinates of the XYZ coordinate system at the three-dimensional point with the three-dimensional point ID “P1” are “x1, y1, z1”, and correspond to the three-dimensional coordinates “x1, y1, z1” of the XYZ coordinate system. The coordinates on the developed image are the two-dimensional coordinates “x _d α, y _d α” of the X _d Y _d coordinate system. When the three-dimensional point selected by the user operation is the three-dimensional point with the three-dimensional point ID “P1” illustrated in FIG. 4, the selection position determination unit 23 sets the coordinates on the developed image to “x _d α, y _d α. Is determined.

The three-dimensional coordinates of the XYZ coordinate system at the three-dimensional point with the three-dimensional point ID “P2” are “x2, y2, z2”, and correspond to the three-dimensional coordinates “x2, y2, z2” of the XYZ coordinate system. The coordinates on the developed image are two-dimensional coordinates “x _d β, y _d β” in the X _d Y _d coordinate system. When the three-dimensional point selected by the user operation is the three-dimensional point with the three-dimensional point ID “P2” illustrated in FIG. 4, the selection position determination unit 23 sets the coordinates on the developed image to “x _d β, y _d β. Is determined.

  For example, when there is a three-dimensional point at the position pointed to by the cursor when the mouse is clicked, the selection position determination unit 23 determines the three-dimensional point as a three-dimensional point selected by the user operation. . In addition, when there is no 3D point at the position pointed to by the cursor, the selection position determination unit 23 determines the 3D point closest to the position pointed to by the cursor as the 3D point selected by the user operation. There may be a plurality of three-dimensional points selected by a user operation. In this case, the selection position determination unit 23 can determine a plurality of three-dimensional points in the range specified by the user operation as three-dimensional points selected by the user operation.

  The viewpoint position determination unit 24 determines whether the viewpoint position is a position inside the tunnel or a position outside the tunnel as a positional relationship with respect to the tunnel at the viewpoint position designated by the user operation. FIG. 14 is a diagram for explaining the positional relationship of the viewpoint position with respect to the tunnel according to the first embodiment. As shown in FIG. 14, when the viewpoint position is at a position not surrounded by the inner wall of the tunnel, the selected position determination unit 23 determines that the viewpoint position is a position outside the tunnel. The selection position determination unit 23 determines that the viewpoint position is a position inside the tunnel when the viewpoint position is at a position surrounded by the inner wall of the tunnel.

  The viewpoint position determination unit 24 can determine whether the viewpoint position is a position inside the tunnel or a position outside the tunnel using the three-dimensional point cloud data and the vector axis data. For example, the viewpoint position determination unit 24 projects a plurality of three-dimensional points of a three-dimensional point group within a range in which a distance from a projection plane that includes the viewpoint position and is orthogonal to the direction of the tunnel axis vector is set in advance. Project to the plane. The viewpoint position determination unit 24 determines whether the viewpoint position is an internal position or an external position based on a plurality of three-dimensional points projected on the projection plane.

  FIG. 15 is a diagram for explaining processing for determining the positional relationship of the viewpoint position with respect to the tunnel by the viewpoint position determination unit according to the first embodiment. First, the viewpoint position determination unit 24 converts the coordinates of each three-dimensional point included in the three-dimensional point group data based on the tunnel axis vector so that the tunnel axis vector matches the Y-axis direction. Note that the viewpoint position determination unit 24 does not convert the three-dimensional point group data when the tunnel axis vector matches the Y-axis direction.

  Next, as shown in FIG. 15, the viewpoint position determination unit 24 sets an orthogonal plane G1 that includes the viewpoint position and is orthogonal to the tunnel axis vector. The viewpoint position determination unit 24 sets planes G2 and G3 that are separated by a predetermined distance from the orthogonal plane G1 in the direction along the direction of the tunnel axis vector. The viewpoint position determination unit 24 extracts a plurality of 3D points surrounded by the plane G2 and the plane G3 from among a plurality of 3D points included in the 3D point group.

  The viewpoint position determination unit 24 projects the extracted plurality of three-dimensional points on the orthogonal plane G1, and linearizes the plurality of three-dimensional points projected on the orthogonal plane G1. For example, the viewpoint position determination unit 24 linearizes a plurality of three-dimensional points projected on the orthogonal plane G1 by the least square method. The viewpoint position determination unit 24 determines whether or not the viewpoint position is surrounded by a straight line obtained by linearization in the orthogonal plane G1. The viewpoint position determination unit 24 determines that the viewpoint position is a position inside the tunnel when the viewpoint position is surrounded by a straight line, and if the viewpoint position is not surrounded by a straight line, the viewpoint position is the tunnel position. It is determined that the position is outside.

  The image processing unit 25 shown in FIG. 3 is based on the selection position that is the coordinates on the developed image determined by the selection position determination unit 23 and the positional relationship of the viewpoint position determined by the viewpoint position determination unit 24 with respect to the tunnel. Then, a cutout image is generated, and the generated cutout image is output. Specifically, the image processing unit 25 performs a process of cutting out an image of the cutout range including the selection position from the developed image, a rotation process of the image of the cutout range, based on the positional relationship between the selection position and the viewpoint position with respect to the tunnel. At least one of the inversion processes is performed to generate a cutout image, and the generated cutout image is output as an output image.

  Here, the relationship between the rotation or inversion and the selection position will be described. FIG. 16 is a diagram for explaining image processing by the image processing unit according to the first embodiment. FIG. 17 is a diagram illustrating an example of a relationship between a threshold value used in the image processing unit according to the first embodiment and a developed image.

As illustrated in FIG. 16, the image processing unit 25 develops the tunnel development image based on the range to which the selected position belongs, the image state of the development image of the tunnel used to cut out the image, and the image state of the cutout image to be output. The image cut out from the image is processed. In FIG. 16, the Y coordinate of the selected position determined by the selected position determining unit 23 is “Y _d sel”, and is hereinafter referred to as a selected position coordinate Y _d sel. Also, the _Xd- axis positive direction shown in FIG. 17 is the rightward direction, the _Xd- axis negative direction is the leftward direction, the _Yd- axis positive direction is the downward direction, and the _Yd- axis negative direction is the upward direction. Further, the rotation described later is assumed to be clockwise rotation.

Here, it is assumed that a developed image of a tunnel whose image state is a look-up view is used and the image state of the output image is designated as a look-up view by a user operation. In this case, if the selected position coordinate Y _d sel is equal to or smaller than the first threshold value Y _d th1, the image processing unit 25 outputs a clipped image that is an image obtained by rotating the image of the clipped range including the selected position by 180 degrees. Generate as an image. Further, the image processing unit 25 obtains the image of the cutout range including the selected position by rotating 90 degrees if the selected position coordinate Y _d sel is larger than the first threshold Y _d th1 and equal to or smaller than the second threshold Y _d th2. A cut-out image that is a generated image is generated as an output image. Further, if the selected position coordinate Y _d sel is larger than the second threshold Y _d th2, the image processing unit 25 generates a cutout image that is an image of the cutout range including the selected position as an output image as it is. The relationship between the developed image and the first threshold value Y _d th1 and the second threshold value Y _d th2 is as shown in FIG.

Further, it is assumed that a developed image of a tunnel whose image state is a look-up view is used and the image state of the output image is designated as a look-down view by a user operation. In this case, if the selected position coordinate Y _d sel is equal to or smaller than the first threshold value Y _d th1, the image processing unit 25 outputs a clipped image that is an image obtained by vertically inverting the image of the clipped range including the selected position. Generate as Further, the image processing unit 25 rotates the image of the cutout range including the selection position by 270 degrees and the left and right if the selection position coordinate Y _d sel is greater than the first threshold Y _d th1 and less than or equal to the second threshold Y _d th2. A cut-out image that is an image obtained by inverting is generated as an output image. Further, if the selected position coordinate Y _d sel is larger than the second threshold Y _d th2, the image processing unit 25 outputs, as an output image, a clipped image that is an image obtained by reversing the image of the clipped range including the selected position. Generate.

Further, it is assumed that a developed image of a tunnel whose image state is a look-down view is used and the image state of the output image is designated as a look-up view by a user operation. In this case, if the selected position coordinate Y _d sel is equal to or smaller than the first threshold value Y _d th1, the image processing unit 25 outputs a clipped image that is an image obtained by vertically inverting the image of the clipped range including the selected position. Generate as In addition, the image processing unit 25 rotates the image of the cutout range including the selection position by 90 degrees and the left and right if the selection position coordinate Y _d sel is greater than the first threshold Y _d th1 and less than or equal to the second threshold Y _d th2. A cut-out image that is an image obtained by inverting is generated as an output image. Further, the image processing unit 25, the larger the selected position coordinate Y _d sel than the second threshold value Y _d th2, as an output image clipped image is an image obtained by horizontally inverting the image of the cut-out range including the selected location Generate.

Further, it is assumed that a developed image of a tunnel whose image state is a look-down view is used and the image state of the output image is designated as a look-down view by a user operation. In this case, if the selected position coordinate Y _d sel is equal to or smaller than the first threshold value Y _d th1, the image processing unit 25 outputs a clipped image that is an image obtained by rotating the image of the clipped range including the selected position by 180 degrees. Generate as an image. Further, the image processing unit 25 obtains the image of the cutout range including the selected position by rotating 270 degrees if the selected position coordinate Y _d sel is larger than the first threshold Y _d th1 and equal to or smaller than the second threshold Y _d th2. A cut-out image that is a generated image is generated as an output image. Further, if the selected position coordinate Y _d sel is larger than the second threshold Y _d th2, the image processing unit 25 generates a cutout image that is an image of the cutout range including the selected position as an output image as it is.

  The image processing unit 25 can store the generated output image data in the storage unit 10. For example, the image processing unit 25 can add the output image to the cut-out image data table 45 as a cut-out image. In this case, the image processing unit 25 uses the output image data, the image state data of the output image, the coordinate range data of the output image, and the data including the new image ID as the cut image data in the cut image data table 45. Can be added.

  In addition, the image processing unit 25 can output the generated output image data to the display processing unit 22, and the display processing unit 22 can display the output image on the display unit 2. The image processing unit 25 can also output the generated output image data to the image output unit 26, and cause the image output unit 26 to transmit the output image data from the communication unit 30 to an external device. The communication unit 30 is connected to a network such as a LAN (Local Area Network) or a WAN (Wide Area Network) by wire or wirelessly, and can communicate with an external device via the network.

  As described above, the image processing unit 25 is based on the selection position that is the coordinates on the developed image determined by the selection position determination unit 23 and the positional relationship of the viewpoint position determined by the viewpoint position determination unit 24 with respect to the tunnel. A cut-out image can be generated. Therefore, for example, when the image state of the output image is a look-up view, the cut-out image cut out from the developed image can be set to the same state as a picked-up image obtained by, for example, an inspector imaging an actual structure. Therefore, the inspector can intuitively grasp the cut-out image generated by the image generation apparatus 1, and can efficiently inspect the tunnel and grasp the state. In the above-described example, the image state of the output image is designated by a user operation, but the image state of the output image may be fixed to a look-up view or may be fixed to a look-down view. .

  When the clipped image stored in the clipped image data storage unit 12 is selected, the viewpoint position determination unit 27 illustrated in FIG. 3 is based on the coordinates of the clipped image and the positional relationship of the specified viewpoint position with respect to the tunnel. Determine the viewpoint position for the 3D point cloud of the tunnel. The display processing unit 22 displays an image of the tunnel three-dimensional point group when the tunnel three-dimensional point group is viewed from the viewpoint position determined by the viewpoint position determination unit 27 on the display unit 2.

  FIG. 18 is a diagram illustrating an example of an image showing a list of cutout images according to the first embodiment. As illustrated in FIG. 18, the display processing unit 22 displays a list image 50 that is an image in which thumbnails of cutout images stored in the cutout image data storage unit 12 are displayed as a list on the display unit 2. The list image 50 shown in FIG. 18 includes thumbnails of four clipped images having image IDs “IM1”, “IM2”, “IM3”, and “IM4”. Note that the display processing unit 22 can also display a list of file names of clipped images on the display unit 2 as a list image 50 instead of a list of thumbnails of clipped images.

  When one cut-out image is selected by a user operation from among a plurality of cut-out images included in the list image 50 in a state where the list image 50 is displayed on the display unit 2, the viewpoint position determination unit 27 Determine the viewpoint position for the dimension point cloud.

Here, the viewpoint position determination processing by the viewpoint position determination unit 27 will be specifically described. First, the viewpoint position determination unit 27 acquires information about each of the image data, the image state, and the coordinate range of the cutout image selected by the user operation from the cutout image data table 45 of the cutout image data storage unit 12. For example, it is assumed that the cutout image selected by the user operation is a cutout image with the image ID “IM1”, and the cutout image data table 45 is in the state illustrated in FIG. In this case, the viewpoint position determination unit 27 includes information on the image data “aaa.bmp”, information on the image state “look-up view”, and coordinate ranges “x _d α _min1 , x _d α _max1 , y _d α _min1 , y _d. Information of “α _max1 ” is obtained from the cut-out image data table 45.

Next, the viewpoint position determination unit 27 calculates, based on the coordinate range acquired from the clipped image data table 45, the three-dimensional coordinates of the XYZ coordinate system corresponding to the center position of the clipped image selected by the user operation as the gazing point. To do. For example, when the coordinate range of the clipped image selected by the user operation is “x _d α _min1 , x _d α _max1 , y _d α _min1 , y _d α _max1 ”, the viewpoint position determination unit 27 determines the center of the clipped image. The position “X _{d — c} , Y _{d — c} ” is obtained by calculation of the following formulas (1) and (2). The center position “X _{d_c} , Y _{d_c} ” is the coordinates of the center position of the clipped image in the developed image, and is the coordinate of the X _d Y _d coordinate system.
_{Xd_c} = ( _{xd [} alpha] _{min1-xd [} alpha] _max1 ) / 2 (1)
Y _d — _c = (y _d α _min1 −y _d α _max1 ) / 2 (2)

Then, the viewpoint position determination unit 27 uses the mapping data table 44 to _obtain the three-dimensional coordinates “x _c , y _c , z _c ” of the XYZ coordinate system corresponding to the center position “X _{d_c} , Y _{d_c} ” of the cut-out image. Calculate. Center position _{"X d_c, Y d_c"} is _X d _{Y d} coordinate system the two-dimensional coordinate _{"x d β, y d β"} of a, the mapping data table 44 and a state shown in FIG. 10. In this case, the three-dimensional coordinates “x _c , y _c , z _c ” of the XYZ coordinate system corresponding to the center position “X _{d_c} , Y _{d_c} ” are the three-dimensional coordinates “x2, y2, z2”.

Viewpoint position determination unit 27, the center position _{"X d_c, Y d_c"} If three-dimensional coordinates of the XYZ coordinate system corresponding to is not in the mapping data table 44, the center position _{"X d_c, Y d_c"} whose distance is close to X _d Y Searches the two-dimensional coordinates of the _d coordinate system from the mapping data table 44. The viewpoint position determination unit 27 extracts the three-dimensional coordinates of the XYZ coordinate system associated with the two-dimensional coordinates of the X _d Y _d coordinate system obtained by the search from the mapping data table 44, and extracts the three-dimensional coordinates “x _c , y _c. , Z _c ”.

The viewpoint position determination unit 27 determines the viewpoint position based on the image state information acquired from the cut-out image data table 45 and the three-dimensional coordinates “x _c , y _c , z _c ”. FIG. 19 is a diagram for explaining the viewpoint position determined by the viewpoint position determination unit when the image state of the cut-out image according to the first embodiment is a look-up view. FIG. 20 is a diagram for explaining the viewpoint position determined by the viewpoint position determination unit when the image state of the cut-out image according to the first embodiment is a look-down view.

When the image state acquired from the cut-out image data table 45 is a look-up view, the viewpoint position determination unit 27 has the highest three-dimensional coordinates “x _c , y _c , z _c ” in the XYZ coordinate system as shown in FIG. A point on the tunnel axis vector with a short distance is determined as the viewpoint position.

Further, when the image state acquired from the cut-out image data table 45 is a look-down view, the viewpoint position determination unit 27 has a three-dimensional coordinate “x _c , y _c , z _c ” in the XYZ coordinate system as illustrated in FIG. 20. Let the point on the tunnel axis vector that is closest to be the first point. Then, as illustrated in FIG. 20, the viewpoint position determination unit 27 determines, as the viewpoint position, a second point that is separated from the first point by the set vector vab toward the outside of the tunnel.

  The display processing unit 22 displays an image of the tunnel three-dimensional point group when the tunnel three-dimensional point group is viewed in the direction from the viewpoint position determined by the viewpoint position determination unit 27 toward the gazing point on the display unit 2. Thereby, the display processing unit 22 can cause the display unit 2 to display an image of the XYZ coordinate system region corresponding to the cut-out image selected by the user operation from the three-dimensional point group of the tunnel. Therefore, the user of the image generation apparatus 1 can easily grasp the position in the three-dimensional coordinates of the cutout image selected by the user operation, and can confirm a plurality of three-dimensional points corresponding to the cutout image. it can.

The display processing unit 22 determines the orientation of the tunnel three-dimensional point group with respect to the viewpoint position when the display unit 2 displays an image of the XYZ coordinate system region corresponding to the cut-out image among the three-dimensional point group of the tunnel. . For example, the display processing unit 22 determines the direction of the three-dimensional point group of the tunnel with respect to the viewpoint position based on the center position “X _{d — c} , Y _{d — c} ” and the tunnel axis vector of the cutout image.

FIG. 21 is a diagram for explaining the process of determining the direction of the three-dimensional point group of the tunnel by the display processing unit according to the first embodiment. In Figure 21, the calculated center position by the viewpoint position determination unit 27 _{"X d_c, Y d_c"} has a _"Y d cn" from Y coordinates of the, hereinafter referred to as center position coordinates _Y d cn. Also, the _Xd- axis positive direction shown in FIG. 17 is the rightward direction, the _Xd- axis negative direction is the leftward direction, the _Yd- axis positive direction is the downward direction, and the _Yd- axis negative direction is the upward direction.

Here, it is assumed that the image state of the cut-out image selected from the list image 50 by the user operation is a look-up view, and the developed image is a look-down view. In this case, as shown in FIG. 21, if the center position coordinate Y _d cn is equal to or smaller than the first threshold Y _d th1, the display processing unit 22 3 of the tunnel in a state where the direction of the tunnel axis vector is directed rightward. The image of the dimension point group is displayed on the display unit 2 as a display image. If the center position coordinate Y _d cn is greater than the first threshold value Y _d th1 and less than or equal to the second threshold value Y _d th2, the display processing unit 22 performs three-dimensional tunneling in a state where the direction of the tunnel axis vector is directed downward. The point cloud image is displayed on the display unit 2 as a display image. If the center position coordinate Y _d cn is larger than the second threshold value Y _d th2, the display processing unit 22 displays a 3D point cloud image of the tunnel with the tunnel axis vector facing leftward as a display image. Part 2 is displayed.

Further, it is assumed that the image state of the cut-out image selected from the list image 50 by the user operation is a look-down view, and the developed image is a look-down view. In this case, as shown in FIG. 21, if the center position coordinate Y _d cn is equal to or less than the first threshold Y _d th1, the display processing unit 22 3 of the tunnel in a state where the direction of the tunnel axis vector is directed leftward. The image of the dimension point group is displayed on the display unit 2 as a display image. If the center position coordinate Y _d cn is greater than the first threshold value Y _d th1 and less than or equal to the second threshold value Y _d th2, the display processing unit 22 performs the three-dimensional tunnel in a state where the direction of the tunnel axis vector is directed upward. The point cloud image is displayed on the display unit 2 as a display image. If the center position coordinate Y _d cn is larger than the second threshold value Y _d th2, the display processing unit 22 displays a three-dimensional point cloud image of the tunnel in a state where the direction of the tunnel axis vector is directed to the right as a display image. Part 2 is displayed.

As described above, the display processing unit 22 displays an image in which the direction of the three-dimensional point group of the tunnel is changed on the display unit 2 based on the image state of the selected clipped image and the center position “X _{d_c} , Y _{d_c} ”. Can be displayed. Therefore, the user can intuitively grasp the position of the three-dimensional point group corresponding to the clipped image. Therefore, it is possible to efficiently inspect the tunnel and grasp the state. For example, when the image state of the cut-out image is a look-up view, the direction of the tunnel viewed by the inspector when it is assumed that the inspector images the cut-out image can be displayed in the direction of the three-dimensional point group.

  In addition, when there is an instruction to display a developed image by a user operation, the display processing unit 22 acquires the developed image specified by the user operation from the tunnel axis data table 42 stored in the structure data storage unit 11 and obtains the acquired image. The developed image can be displayed on the display unit 2. When a partial region of the developed image and the image state of the output image are selected by a user operation, the image processing unit 25 can generate a cut-out image by the cut-out image generation process described above.

  For example, the image processing unit 25 generates a cut-out image based on the Y coordinate and the selected image state among the center positions of the selected region that is the region selected by the user operation. Specifically, the image processing unit 25 generates a cut-out image by performing a process of cutting out the image of the selected area from the developed image and at least one of a rotation process and an inversion process of the image of the selected area. The selection area may be an area having a preset size including the selection position determined by the selection position determination unit 23. That is, the selected region may be a region based on a three-dimensional point selected from the three-dimensional point group.

For example, the image processing unit 25 can generate a cut-out image based on the processing conditions illustrated in FIG. In this case, the image processing unit 25 treats the Y coordinate of the center position of the region selected by the user operation as the selected position coordinate Y _d sel shown in FIG. The developed image in which a part of the area is selected by the user operation is a look-down view, the image state of the output image selected by the user operation is the look-down view, and the Y coordinate of the center position of the area selected by the user operation Is less than or equal to the first threshold Y _d th1. In this case, the image processing unit 25 generates a cut-out image by rotating the image of the region selected by the user operation in the developed image by 180 degrees.

  When the image processing unit 25 generates a cut-out image as an output image in response to selection of a partial region of the developed image and the image state of the output image by a user operation, the display processing unit 22 outputs the output image. At the same time, an image of a three-dimensional point cloud of the tunnel can be displayed. In this case, the display processing unit 22 determines the direction of the three-dimensional point group by the same process as the above-described three-dimensional point group display process, and the three-dimensional point group having the determined direction is generated by the image processing unit 25. It can be displayed on the display unit 2 together with the clipped image. As described above, the user of the image generation device 1 confirms the clipped image and the image of the three-dimensional point group in an appropriate direction by selecting a partial region of the developed image and the image state of the output image. Can do. Therefore, it is possible to efficiently inspect the tunnel and grasp the state.

  The deformation data editing unit 28 shown in FIG. 3 edits deformation data that is image data of deformation included in the developed image based on a user operation. FIG. 22 is a diagram illustrating an example of a deformed data editing screen according to the first embodiment. The display processing unit 22 displays a modified data editing screen 60 shown in FIG. 22 on the display unit 2 when the modified data is requested to be edited by a user operation.

  As shown in FIG. 22, the deformation data editing screen 60 includes a deformation data display area 61, a deformation ID input frame 62, position change buttons 63a, 63b, 63c, and 63d, a wide-angle button 64, and a telephoto button. 65, a reset button 66, and a confirmation button 67. The position change buttons 63a, 63b, 63c, 63d, the wide-angle button 64, the telephoto button 65, the reset button 66, and the confirm button 67 are GUI (Graphical User Interface) buttons.

  When the deformation ID is input to the deformation ID input frame 62 on the deformation data editing screen 60, the deformation data editing unit 28 corresponds to the deformation ID input to the deformation ID input frame 62. The range information is acquired from the deformed data table 46 stored in the deformed data storage unit 13. The deformation data editing unit 28 generates a cut-out image as an output image by the same processing as the processing of the image processing unit 25. That is, the deformation data editing unit 28 develops an image of the deformation range corresponding to the deformation ID based on the image state of the expansion image, the image state of the output image, and the deformation range corresponding to the deformation ID. The cut-out image is generated, and at least one of the rotation process and the inversion process of the deformation range image is performed to generate a cut-out image. The display processing unit 22 displays the output image generated by the deformation data editing unit 28 in the deformation data display area 61. The image state of the output image is set in advance, but can be changed by a user operation as will be described later.

The deformed data table 46 is in the state shown in FIG. 12, and the deformed ID input to the deformed ID input frame 62 is “DF1”. In this case, the deformation data editing unit 28 sets the coordinate ranges “x _d β _min1 , x _d β _max1 , y _d β _min1 , y _d β _max1 ” associated with the deformation ID “DF1” in the deformation data table 46. Is obtained from the cut-out image data table 45. The deformation data editing unit 28 cuts out an image having a coordinate range “x _d β _min1 , x _d β _max1 , y _d β _min1 , y _d β _max1 ” cut out from the developed image and rotated or inverted. Generate an image as an output image. For example, the image state of the developed image is a look-down view, the image state of the output image is a look-up view, and the center position of the coordinate ranges “x _d β _min1 , x _d β _max1 , y _d β _min1 , y _d β _max1 ” _{Y d} coordinates in is the first threshold value _Y d th1 smaller. In this case, the deformation data editing unit 28 is an image obtained by cutting out an image of the coordinate ranges “x _d β _min1 , x _d β _max1 , y _d β _min1 , y _d β _max1 ” from the developed image and vertically inverting it. A cutout image is generated as an output image.

  When the deformation data table 46 does not include any deformation data, the deformation data editing unit 28 performs the entire tunnel expansion image or the expansion based on the expansion image data stored in the structure data storage unit 11. An arbitrary area of the image is generated as an output image. Further, even when the deformation ID input to the deformation ID input frame 62 is not in the deformation data table 46, the deformation data editing unit 28 is based on the developed image data stored in the structure data storage unit 11. The entire developed image of the tunnel or an arbitrary region of the developed image is generated as an output image. The display processing unit 22 displays the output image generated by the deformation data editing unit 28 on the display unit 2.

  When any of the position change buttons 63a, 63b, 63c, 63d, the wide-angle button 64, and the telephoto button 65 is operated by a user operation, the deformation data editing unit 28 performs processing corresponding to the operated button. The position change buttons 63a, 63b, 63c, and 63d are buttons for shifting the center position of the image displayed in the deformed data display area 61 in the right direction, the left direction, the upward direction, and the downward direction. The wide-angle button 64 is a button for reducing and displaying the image displayed in the deformation data display area 61. The telephoto button 65 is a button for enlarging and displaying the image displayed in the deformation data display area 61. Hereinafter, the position change buttons 63a, 63b, 63c, and 63d will be referred to as position change buttons 63 when shown without distinction.

  When the position change button 63 is operated, the deformation data editing unit 28 performs the same processing as the image processing unit 25 using an image obtained by moving the center position of the image displayed in the deformation data display area 61 as an output image. Is generated from the developed image. The display processing unit 22 displays the output image generated by the deformation data editing unit 28 in the deformation data display area 61.

Specifically, when the range of the X _d Y _d coordinate system of the image displayed in the deformation data display area 61 is changed by operating the position change button 63, the deformation data editing unit 28 starts from the developed image. A cut-out image is generated by performing an image cut-out process and at least one of a rotation process and an inversion process. Here, it referred to as a slicing range X _d Y _d coordinate system range after the change of the image displayed on the Deformation data display area 61, and is referred to as a center position coordinate Y _d dcn the Y _d coordinates of such cutout range . In this case, the deformation data editing unit 28 can generate a cut-out image as an output image based on the processing condition in which the selection position coordinate Y _d sel shown in FIG. 16 is replaced with the center position coordinate Y _d dcn.

For example, the image state of the unfolded image in the unfolded image data table 43 is a look-down view as shown in FIG. 7, and the image displayed in the deformed data display area 61 is the image ID “of the deformed data table 46 shown in FIG. It is assumed that the image is “DF1”. It is also assumed that the output image is a look-up view. In this case, Deformation data editing unit 28, if the center position coordinate Y _d dcn first threshold value Y _d th1 or less, to generate an image obtained by image cutout range upside down as an output image. If the center position coordinate Y _d dcn is greater than the first threshold Y _d th1 and less than or equal to the second threshold Y _d th2, the deformation data editing unit 28 obtains the image in the cutout range by rotating 90 degrees and left-right reversed. The generated image is generated as an output image. If the center position coordinate Y _d dcn is larger than the second threshold Y _d th2, the deformation data editing unit 28 generates a cut-out image that is an image in the cut-out range as a left-right inverted output image.

When the wide-angle button 64 or the telephoto button 65 is operated, the deformation data editing unit 28 changes the image displayed in the deformation data display area 61 by the same processing as the operation of the position change button 63. An image in the range of the X _d Y _d coordinate system is generated as a cut-out image. For example, when the deformation data editing unit 28 is an operation to the wide-angle button 64, the range of the X _d Y _d coordinate system of the image displayed in the deformation data display area 61 is changed without changing the center position of the image. Expanding. Then, the deformed data editing unit 28 performs the same processing as the position change button 63 on the enlarged image in the range of the X _d Y _d coordinate system to generate a cutout image.

Further, when the operation is performed on the telephoto button 65, the deformation data editing unit 28 does not change the range of the X _d Y _d coordinate system of the image displayed in the deformation data display area 61 without changing the center position of the image. Reduce to. Then, the deformation data editing unit 28 performs the same processing as the position change button 63 on the reduced image in the range of the X _d Y _d coordinate system to generate a cutout image.

  The deformed data editing unit 28 generates an output image by reducing the cut-out image when the operation is performed on the wide-angle button 64 and enlarging the cut-out image when the operation is performed on the telephoto button 65. . The display processing unit 22 displays the output image generated by the deformation data editing unit 28 in the deformation data display area 61.

Thus, Deformation data editing unit 28, when instructed to change the X _d Y _d coordinate system range in the image displayed on the Deformation data display area 61, and cutout processing of the image from the unfolded image, the rotation A cut-out image is generated by at least one of the processing and the inversion processing. Then, the deformed data editing unit 28 can use the generated clipped image as an output image, or enlarge or reduce the generated clipped image as an output image.

When the reset button 66 is operated after changing the range of the X _d Y _d coordinate system of the image displayed in the deformation data display area 61, the deformation data editing unit 28 displays it in the deformation data display area 61. Set the image to be initialized. The initial state is, for example, an image of a deformation range corresponding to the deformation ID input to the deformation ID input frame 62. In addition, the initial state may be the entire developed image described above or an arbitrary region of the developed image.

The deformation data editing unit 28 changes the range of the X _d Y _d coordinate system of the image of the deformation ID input to the deformation ID input frame 62 and displayed in the deformation data display area 61. When the confirmation button 67 is operated, the cut-out image data storage unit 12 is updated. For example, it is assumed that the deformation ID input to the deformation ID input frame 62 is “DF1” shown in the deformation data table 46 of FIG. In this case, Deformation data editing unit 28, the variable shape data table 46, a display coordinate range _{"x d β min1, x d β} max1, y d β min1, y d β max1 " to Henjo data display area 61 The range is changed to the range of the X _d Y _d coordinate system of the _displayed image. Thereby, the deformation data table 46 can be updated.

In addition, the deformation data editing unit 28 changes the X _d Y _d coordinate system range of the image having no deformation ID in the deformation data table 46 and then operates the deformation data display area when the confirmation button 67 is operated. The coordinate range of the image displayed in 61 is added to the deformation data table 46 in association with the new deformation ID. As a result, new deformation data can be added to the deformation data table 46.

Note that an image state input frame for inputting an image state can be provided on the deformation data editing screen 60 of FIG. In this case, the deformed data editing unit 28 can generate an image displayed in the deformed data display area 61 so that the image state input in the image state input frame is obtained. For example, assume that the image state input to the image state input frame is a look-down view, and the image state of the developed image in the developed image data table 43 is a look-down view as shown in FIG. In this case, if the center position coordinate Y _d dcn is equal to or smaller than the first threshold value Y _d th1, the deformation data editing unit 28 generates an image obtained by rotating the image in the cutout range by 180 degrees as an output image. If the center position coordinate Y _d dcn is larger than the first threshold Y _d th1 and equal to or smaller than the second threshold Y _d th2, the deformation data editing unit 28 outputs an image obtained by rotating the image in the cutout range by 270 degrees. Generate as an image. If the center position coordinate Y _d dcn is larger than the second threshold value Y _d th2, the deformation data editing unit 28 generates a cut-out image that is an image in the cut-out range as an output image as it is.

  Further, the display processing unit 22 displays on the display unit 2 a deformation data editing screen including a three-dimensional point cloud display area for displaying a three-dimensional point cloud image on the deformation data editing screen 60 shown in FIG. Can do. FIG. 23 is a diagram illustrating another example of the modified data editing screen according to the first embodiment. The deformation data editing screen 60A shown in FIG. 23 includes a three-dimensional point cloud display area 68 for displaying an image of a three-dimensional point cloud in addition to the deformation data editing screen 60.

The display processing unit 22 can determine the direction of the 3D point cloud of the tunnel displayed in the 3D point cloud display area 68 under the processing conditions shown in FIG. Specifically, the display processing unit 22 displays in the three-dimensional point cloud display area 68 based on the image state of the image displayed in the deformed data display area 61, the center position coordinate Y _d dcn, and the tunnel axis vector. The direction of the three-dimensional point group of the tunnel to be determined is determined. The image state of the image displayed in the deformed data display area 61 indicates whether the image displayed in the deformed data display area 61 is a look-down view or a look-up view.

For example, assume that the image state of the image displayed in the deformed data display area 61 is a look-up view, and the image state of the developed image is a look-down view. In this case, if the center position coordinate Y _d dcen is equal to or less than the first threshold value Y _d th1, the display processing unit 22 displays an image of the three-dimensional point group of the tunnel with the tunnel axis vector oriented in the right direction. This is displayed in the dimension point group display area 68. If the center position coordinate Y _d dcen is greater than the first threshold value Y _d th1 and less than or equal to the second threshold value Y _d th2, the display processing unit 22 performs the three-dimensional tunnel in a state where the direction of the tunnel axis vector is directed downward. The point cloud image is displayed in the three-dimensional point cloud display area 68. If the center position coordinate Y _d dcen is greater than the second threshold value Y _d th2, the display processing unit 22 displays a 3D point cloud image of the tunnel in a state where the direction of the tunnel axis vector is directed leftward. Displayed in the display area 68.

  As described above, the user of the image generation apparatus 1 can check the cut-out image and the image of the three-dimensional point group in an appropriate direction while editing the deformation data. Therefore, the modification data can be edited appropriately and efficiently.

  When the deformed ledger generation unit 29 illustrated in FIG. 3 determines that there is an instruction to generate a ledger by a user operation, each deformed ledger generation unit 29 is generated in the tunnel based on the deformed data table 46 stored in the deformed data storage unit 13. A deformed image ledger to which the deformed image is pasted is generated. Since the developed image of the tunnel is a captured image, the deformed image ledger can be called a deformed photo ledger. The deformed ledger generation unit 29 can output the information of the generated deformed image ledger to the image output unit 26 and can transmit the information from the image output unit 26 to an external device via the communication unit 30 and the network. For example, when the external device is a printer, the deformed ledger generation unit 29 can print the deformed image ledger with the external device via the image output unit 26 and the communication unit 30.

  FIG. 24 is a diagram illustrating an example of a deformed image ledger generated by the deformable ledger generating unit according to the first embodiment. In the deformed image ledger 70 shown in FIG. 24, each deformed image is arranged in a preset frame based on a plurality of deformed data included in the deformed data table 46. Each frame includes information such as a deformation ID and a deformation position in addition to a deformed image. The deformed position is, for example, a three-dimensional coordinate in the XYZ coordinate system corresponding to the center position in the deformed range included in the deformed data table 46 shown in FIG. The deformation ledger generation unit 29 calculates the center position of the deformation range included in the deformation data table 46, acquires the three-dimensional coordinates in the XYZ coordinate system corresponding to the center position based on the mapping data table 44, The acquired three-dimensional coordinates can be arranged in the deformed image ledger 70. Further, the transformation ledger generation unit 29 obtains a range of three-dimensional coordinates in the XYZ coordinate system corresponding to the transformation range included in the transformation data table 46 based on the mapping data table 44, and acquires the obtained three-dimensional coordinate. The range can also be arranged in the deformed image ledger 70.

  In the deformed image ledger 70 shown in FIG. 24, a blank frame for entering various information is set. The deformable ledger generation unit 29 can also change the format of the deformed image ledger 70 based on a user operation. Thereby, the user of the image generating apparatus 1 can obtain the deformed image ledger 70 in which the deformed image is pasted in a desired format.

  The transformation ledger generation unit 29 acquires the transformation range information corresponding to each transformation ID from the transformation data table 46. The deformation ledger generation unit 29 generates a cut-out image for each deformation as an output image by the same processing as the processing of the image processing unit 25. That is, the transformation ledger generation unit 29 develops an image of the transformation range corresponding to the transformation ID based on the image state of the development image, the image state of the output image, and the transformation range corresponding to the transformation ID. The cut-out image is generated, and at least one of rotation processing and inversion processing of the image in the deformation range is performed, and a cut-out image is generated for each deformation. Thereby, for example, the deformed image set in the deformed image ledger 70 can be in the same state as a captured image obtained by an inspector capturing an actual structure. The image state of the output image can be set by a user operation.

  The deformation development view generation unit 40 shown in FIG. 3 generates a deformation development view based on the deformation data table 46 stored in the deformation data storage unit 13. Such a deformed development view is a view in which a deformed image is arranged on a development view of a tunnel.

  FIG. 25 is a diagram illustrating an example of a modified development diagram generated by the modified development diagram generation unit according to the first embodiment. In the deformed development view 80 shown in FIG. 25, four deformed images having the deformation IDs “DF1” to “DF4” are arranged in the developed view of the tunnel.

  The deformation development diagram generation unit 40 acquires the deformation range of each deformation from the deformation data table 46, and cuts out a developed image area corresponding to the acquired deformation range as a deformation image from the developed image of the tunnel. . The deformed development view generation unit 40 places the cut out deformed image in the developed view of the tunnel, and arranges information such as a deformation ID at a position corresponding to the deformed image placed in the developed view of the tunnel. By doing so, the deformed development view 80 is generated. The deformed development drawing generation unit 40 can output the information of the generated deformed development drawing 80 to the image output unit 26 and transmit the information from the image output unit 26 to an external device via the communication unit 30 and the network. For example, when the external device is a printer, the deformed development drawing generation unit 40 can print the deformed development drawing 80 on the external device via the image output unit 26 and the communication unit 30.

  As shown in FIG. 25, the deformed development drawing generation unit 40 adds a frame line to the outer periphery of the cut out deformed image, and thereby easily grasps the position of the deformation in the deformed development drawing 80. can do. The deformed development drawing generation unit 40 can set the line type used for the frame line to a broken line as shown in FIG. 25 or a solid line. In addition, the deformed development drawing generation unit 40 can emphasize the deformed position by making the frame line a thick line.

  The information of the tunnel development view is stored in the storage unit 10 in advance, and the deformation development view generation unit 40 is based on the information of the tunnel development view stored in the storage unit 10. Can be generated. In addition, the deformed development view generation unit 40 can also arrange an image obtained by removing the region other than the region of the deformation range of each deformed image in the developed view of the tunnel. Also in this case, the deformed development drawing generation unit 40 arranges the information of the deformation ID at a position corresponding to the deformed image.

  Next, the operation of the image generation apparatus 1 will be described using a flowchart. FIG. 26 is a flowchart of an example of processing of the control unit of the image generation device according to the first embodiment.

  As shown in FIG. 26, the control unit 20 of the image generation apparatus 1 determines whether or not there is a three-dimensional point cloud display operation (step S10). The 3D point cloud display operation is a user operation for displaying an image of the 3D point cloud of the structure on the display unit 2. When it is determined that there is a three-dimensional point cloud display operation (step S10: Yes), the control unit 20 generates an image of the three-dimensional point cloud of the structure based on the three-dimensional point cloud data stored in the storage unit 10. It displays on the display part 2 (step S11).

  The control unit 20 determines whether or not a three-dimensional point is selected by a user operation from a plurality of three-dimensional points constituting the three-dimensional point group of the structure displayed on the display unit 2 (step S12). . When it is determined that the three-dimensional point is not selected (step S12: No), the control unit 20 repeats the process of step S12. When it is determined that there is a three-dimensional point selection (step S12: Yes), the control unit 20 performs an output image generation process (step S13). The process in step S13 is the process shown in FIG. 27 and will be described in detail later. The control unit 20 displays the output image generated by the output image generation process in step S13 on the display unit 2 (step S14).

  When the process of step S14 ends or when it is determined that there is no 3D point cloud display operation (step S10: No), the control unit 20 determines whether there is a list display operation (step S15). The list display operation is a user operation for displaying the above-described list image 50 on the display unit 2. When it is determined that there is a list display operation (step S15: Yes), the control unit 20 performs a three-dimensional point cloud display process (step S16). The process in step S16 is the process shown in FIG. 28 and will be described in detail later.

  When the process of step S16 is completed or when it is determined that there is no list display operation (step S15: No), the control unit 20 determines whether there is a modified data editing operation (step S17). The deformed data editing operation is a user operation for editing deformed data. When it is determined that there is a deformed data editing operation (step S17: Yes), the control unit 20 performs a deformed data editing process (step S18). The processing in step S18 is the processing shown in FIG. 29 and will be described in detail later.

  When the process of step S18 is completed or when it is determined that there is no modified data editing operation (step S17: No), the control unit 20 determines whether there is a modified image ledger generation operation (step S19). ). Such a deformed image ledger generation operation is a user operation for generating the deformed image ledger 70. When it is determined that there is a deformed image ledger generation operation (step S19: Yes), the control unit 20 performs a deformed image ledger generation process (step S20). The process in step S20 is the process shown in FIG. 30, and will be described in detail later.

  When the process of step S20 is completed or when it is determined that there is no deformed image ledger generation operation (step S19: No), the control unit 20 determines whether there is a deformed development diagram generation operation (step). S21). Such a deformed development view generation operation is a user operation for generating the deformed development view 80. When it is determined that there is a deformed development view generation operation (step S21: Yes), the control unit 20 performs a deformed development view generation process (step S22). The process of step S22 is the process shown in FIG. 31, and will be described in detail later. When the process of step S22 ends or when it is determined that there is no deformed development drawing generation operation (step S21: No), the control unit 20 ends the process shown in FIG.

  Next, the output image generation process in step S13 shown in FIG. 26 will be described. FIG. 27 is a flowchart of an example of the output image generation process according to the first embodiment.

  As shown in FIG. 27, the control unit 20 determines the coordinates on the developed image corresponding to the three-dimensional point selected by the user operation (step S30), and determines the positional relationship of the viewpoint position with respect to the tunnel (step S31). ). Next, the control part 20 determines the processing method of a cut-out range based on the determination result of step S30, and the determination result of step S31 (step S32). The processing method of the cutout range is a method including at least one of the cutout processing of the image of the cutout range, the rotation processing and the inversion processing of the image of the cutout range. Based on the determined processing method, the control unit 20 processes the cutout range to generate a cutout image as an output image (step S33), and ends the process illustrated in FIG.

  Next, the three-dimensional point cloud display process in step S16 shown in FIG. 26 will be described. FIG. 28 is a flowchart of an example of the 3D point cloud display process according to the first embodiment.

  As shown in FIG. 28, the control unit 20 displays a list of cut-out images using the list image 50 (step S40). The control unit 20 determines whether or not a cutout image is selected by a user operation (step S41). When the cutout image is not selected (Step S41: No), the control unit 20 repeatedly performs the process of Step S41. When the cut-out image is selected (step S41: Yes), the control unit 20 calculates the gazing point (step S42) and calculates the viewpoint position (step S43). The control unit 20 determines the direction of the three-dimensional point group (step S44), generates an image of the three-dimensional point group in the determined direction, and displays it on the display unit 2 (step S45). When the process of step S45 ends, the control unit 20 ends the process shown in FIG.

  Next, the deformed data editing process in step S18 shown in FIG. 26 will be described. FIG. 29 is a flowchart of an example of deformed data editing processing according to the first embodiment.

  As illustrated in FIG. 29, the control unit 20 determines whether or not a deformation ID is input by a user operation (step S50). When it determines with the deformation | transformation ID not being input (step S50: No), the control part 20 repeats the process of step S50. When it is determined that the deformation ID is input (step S50: Yes), the control unit 20 acquires information on the deformation range corresponding to the deformation ID (step S51). Further, the control unit 20 determines the positional relationship of the viewpoint position with respect to the tunnel (step S52).

  The control unit 20 determines a processing method for the cutout range based on the positional relationship of the viewpoint position with respect to the tunnel (step S53). Then, the control unit 20 performs processing of the cutout range based on the determined processing method, and displays the cutout image on the display unit 2 as an output image (step S54). When the process of step S54 ends, the control unit 20 ends the process shown in FIG.

  Next, the deformed image ledger generation process in step S20 shown in FIG. 26 will be described. FIG. 30 is a flowchart of an example of the deformed image ledger generation process according to the first embodiment.

  As shown in FIG. 30, the control unit 20 selects one deformation ID from the deformation data table 46 (step S60), and stores information on the deformation range corresponding to the selected deformation ID. (Step S61). Next, the control unit 20 determines the processing method of the cutout range based on the image state of the developed image, the image state of the output image, and the deformation range corresponding to the deformation ID (step S62). And the control part 20 performs the process of a cutout range based on the determined processing method, and produces | generates a cutout image as an output image (step S63).

  The control unit 20 determines whether or not all the deformation IDs have been selected from the deformation data table 46 (step S64). When it determines with the control part 20 not selecting all the deformation | transformation ID (step S64: No), it transfers a process to step S60. When it determines with having selected all the deformation | transformation ID (step S64: Yes), the control part 20 produces | generates the deformation | transformation image ledger 70 containing the output image corresponding to each produced | generated deformation | transformation ID (step S65). The control unit 20 outputs the generated deformed image ledger 70 (step S66) and ends the process shown in FIG.

  Next, the deformed development view generation process in step S22 shown in FIG. 26 will be described. FIG. 31 is a flowchart of an example of a modified development view generation process according to the first embodiment.

  As shown in FIG. 31, the control unit 20 acquires information on the deformation range corresponding to each deformation ID from the deformation data table 46 (step S70), and changes the deformation ID corresponding to each deformation ID in the developed image. The image in the shape range is cut out as a deformed image (step S71). The control unit 20 arranges the deformed images corresponding to the cut out deformed IDs in the developed view of the structure to generate the deformed developed view 80 (step S72). And the control part 20 outputs the produced | generated deformation | transformation expansion | deployment drawing 80 (step S73), and complete | finishes the process shown in FIG.

  FIG. 32 is a diagram illustrating an example of a hardware configuration of the image generation apparatus according to the first embodiment. As illustrated in FIG. 32, the image generation device 1 includes a computer including a processor 101, a memory 102, an input / output circuit 103, and a communication device 104.

  For example, the processor 101, the memory 102, the input / output circuit 103, and the communication device 104 can transmit and receive data to and from each other via a bus 105. The communication unit 30 is realized by the communication device 104. The storage unit 10 is realized by the memory 102. The processor 101 reads out and executes a program stored in the memory 102, thereby executing an input receiving unit 21, a display processing unit 22, a selection position determination unit 23, a viewpoint position determination unit 24, an image processing unit 25, and an image output unit 26. The functions of the viewpoint position determination unit 27, the modified data editing unit 28, the modified ledger generation unit 29, and the modified development view generation unit 40 are executed. The processor 101 is an example of a processing circuit, and includes one or more of a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a system LSI (Large Scale Integration).

  The memory 102 includes at least one of RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory). Including. The memory 102 includes a recording medium on which a computer-readable program is recorded. Such a recording medium includes one or more of a nonvolatile or volatile semiconductor memory, a magnetic disk, a flexible memory, an optical disk, a compact disk, and a DVD (Digital Versatile Disc). The image generation apparatus 1 may include an integrated circuit such as an application specific integrated circuit (ASIC) and a field programmable gate array (FPGA).

  As described above, the image generation apparatus 1 according to the first embodiment includes the structure data storage unit 11, the display processing unit 22, the selection position determination unit 23, and the image processing unit 25. The structure data storage unit 11 has a correspondence relationship between 3D point cloud data including 3D point cloud data of the structure, development image data of the structure, coordinates of the 3D point cloud, and coordinates of the development image. And mapping data indicative of The display processing unit 22 displays an image of the three-dimensional point group on the display unit 2 based on the three-dimensional point group data stored in the structure data storage unit 11. The selection position determination unit 23 sets the coordinates of the selected three-dimensional point out of the three-dimensional point group displayed on the display unit 2 based on the developed image data and mapping data stored in the structure data storage unit 11. The coordinates on the corresponding developed image are determined. The image processing unit 25 outputs, as an output image, a cutout image generated by image processing including cutout processing that cuts out an image of a cutout range that is a range including coordinates on the developed image determined by the selection position determination unit 23 from the developed image. Generate. The image processing executed by the image processing unit 25 includes at least one of rotation processing and inversion processing of the image in the cutout range based on the coordinates on the developed image determined by the selection position determination unit 23. Thereby, a required image can be appropriately obtained from the developed image of the structure.

  The image generation apparatus 1 further includes a viewpoint position determination unit 24 that determines whether the viewpoint position is a position inside the structure or a position outside the structure. Based on the 3D point cloud data stored in the structure data storage unit 11, the display processing unit 22 displays an image of the 3D point cloud when the 3D point cloud is viewed from the designated viewpoint position on the display unit 2. indicate. The viewpoint position determination unit 24 determines whether the viewpoint position specified as the positional relationship with respect to the structure at the specified viewpoint position is a position inside the structure or a position outside the structure. The image processing performed by the image processing unit 25 is rotation processing and inversion processing of an image in the cutout range based on the coordinates on the developed image determined by the selection position determination unit 23 and the positional relationship determined by the viewpoint position determination unit 24. Including at least one process. As a result, an image corresponding to the designated viewpoint position can be obtained from the image of the structure viewed from the inside of the structure and the image of the structure viewed from the outside of the structure.

  In addition, the viewpoint position determination unit 24 includes a plurality of three-dimensional points of a three-dimensional point group within a preset range and an orthogonal plane G1 that includes the specified viewpoint position and is orthogonal to the first direction that is the extending direction of the structure. Are projected onto the orthogonal plane G1, and based on the plurality of three-dimensional points projected onto the orthogonal plane G1, it is determined whether the designated viewpoint position is a position inside the structure or a position outside the structure. Thereby, it can be determined using the data of the three-dimensional point group whether the designated viewpoint position is a position inside the structure or a position outside the structure.

  The image generation device 1 also includes a cut-out image data storage unit 12 and a viewpoint position determination unit 27. The cutout image data storage unit 12 stores data indicating the cutout image in association with the coordinate range of the cutout image in the developed image and the positional relationship of the viewpoint position with respect to the structure. When a cutout image is selected, the viewpoint position determination unit 27 determines the viewpoint position with respect to the three-dimensional point group based on the coordinate range of the cutout image and the positional relationship of the viewpoint position with respect to the structure. The display processing unit 22 displays on the display unit 2 an image of the three-dimensional point group when the three-dimensional point group is viewed from the viewpoint position determined by the viewpoint position determining unit 27. Thereby, even when there is no viewpoint position data when the cut-out image is generated, the direction of the three-dimensional point group displayed on the display unit 2 can be appropriately determined.

  In addition, the viewpoint position determination unit 27 determines, as the viewpoint position, a coordinate on a straight line connecting the center position in the coordinate range of the clipped image and the specific coordinates inside the structure based on the positional relationship of the viewpoint position with respect to the structure. . The specific coordinates are, for example, coordinates on the tunnel axis vector. Thereby, even when there is no data of the viewpoint position when the cut-out image is generated, the viewpoint position can be appropriately determined.

  The display processing unit 22 determines the direction of the three-dimensional point group based on the center position in the coordinate range of the cut-out image and the positional relationship of the viewpoint position with respect to the structure, and the image of the three-dimensional point group in the determined direction. Is displayed on the display unit 2. Thereby, the direction of the three-dimensional point group displayed on the display unit 2 can be appropriately determined.

  In addition, the image generation apparatus 1 includes a deformation data storage unit 13 and a deformation data editing unit 28. The deformation data storage unit 13 stores deformation data including information on a deformation coordinate range that is a coordinate range of deformation of the structure in the developed image of the structure. The deformation data editing unit 28 edits the deformation data based on a user operation. When the user operation is an operation for changing the deformed coordinate range, the deformed data editing unit 28 performs processing for cutting out the image of the changed deformed coordinate range from the developed image and rotation of the image of the changed deformed coordinate range. A cut-out image that is an image obtained by at least one of the processing and the inversion processing is generated. The display processing unit 22 displays the cut-out image generated by the deformation data editing unit 28 on the display unit 2. Thereby, for example, the deformed image can be displayed in the same direction as the captured image obtained by the inspector imaging the actual structure, and the deformed data can be easily changed.

  In addition, after the deformed coordinate range is changed, the deformed data editing unit 28 is stored in the deformed data storage unit 13 when there is a user operation for determining the changed deformed coordinate range. The coordinate range included in the deformation data is changed to the changed coordinate range after the change. Thereby, change data can be changed easily.

  Further, the image generation apparatus 1 includes a deformed ledger generation unit 29. The deformed ledger generation unit 29 is an image obtained by cutting out the image of the deformed coordinate range from the developed image based on the deformed data, and at least one of rotation processing and inversion processing of the deformed coordinate range image. Is generated as a deformed image of a structure, and a deformed ledger generation unit 29 is generated for generating ledger information including the deformed image. Thereby, the ledger information including the deformed image in an appropriate direction can be obtained from the developed image of the structure.

  Further, the image generation device 1 includes a deformed development view generation unit 40. Based on the deformation data, the deformed development view generation unit 40 generates a deformed development view 80 by placing an image of the deformed coordinate range cut out from the developed image in the development view of the structure. Accordingly, it is possible to generate a deformed development view 80 in which the deformed image obtained from the developed image is arranged on the development view of the structure.

  The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

  DESCRIPTION OF SYMBOLS 1 Image generation apparatus, 2 Display part, 3 Input part, 10 Storage part, 11 Structure data storage part, 12 Cut-out image data storage part, 13 Deformation data storage part, 20 Control part, 21 Input reception part, 22 Display process Unit, 23 selection position determination unit, 24 viewpoint position determination unit, 25 image processing unit, 26 image output unit, 27 viewpoint position determination unit, 28 modified data editing unit, 29 modified ledger generation unit, 30 communication unit, 40 modification Shape development diagram generation unit, 41 3D point cloud data table, 42 tunnel axis data table, 43 development image data table, 44 mapping data table, 45 cutout image data table, 46 deformation data table, 50 list image, 60 deformation Data editing screen, 60A deformation data editing screen, 61 deformation data display area, 62 deformation ID input frame, 63, 6 a, 63 b, 63c, 63d position change button, 64 wide angle button, 65 telephoto button 66 reset button 67 enter button, 68 three-dimensional point group display area, 70 Henjo image ledger, 80 Deformation developed view.

Claims (12)

Three-dimensional point cloud data including data of a three-dimensional point cloud of the structure, development image data of the structure, mapping data indicating a correspondence relationship between the coordinates of the three-dimensional point cloud and the coordinates of the development image; A structure data storage unit for storing
A display processing unit that displays an image of the three-dimensional point group on a display unit based on the three-dimensional point group data stored in the structure data storage unit;
The development corresponding to the coordinates of the selected three-dimensional point among the three-dimensional point group displayed on the display unit based on the data of the developed image and the mapping data stored in the structure data storage unit A selection position determination unit for determining coordinates on the image;
Image processing for generating, as an output image, a cut-out image generated by image processing including cut-out processing for cutting out an image in a cut-out range that is a range including coordinates on the developed image determined by the selection position determination unit And comprising
The image processing executed by the image processing unit is:
An image generation apparatus comprising: at least one of a rotation process and an inversion process of the image in the cutout range based on the coordinates on the developed image determined by the selection position determination unit. A viewpoint position determination unit that determines whether the viewpoint position is an internal position of the structure or an external position of the structure;
The display processing unit
Based on the 3D point cloud data stored in the structure data storage unit, an image of the 3D point cloud when the 3D point cloud is viewed from a specified viewpoint position is displayed on the display unit,
The viewpoint position determination unit
Determining whether the designated viewpoint position is a position inside the structure or a position outside the structure as a positional relationship of the designated viewpoint position with respect to the structure;
The image processing executed by the image processing unit is:
Including at least one of rotation processing and inversion processing of the image in the cut-out range based on the coordinates on the developed image determined by the selection position determination unit and the positional relationship determined by the viewpoint position determination unit The image generating apparatus according to claim 1. The structure is
A structure extending in the first direction;
The viewpoint position determination unit
The plane including the viewpoint position and orthogonal to the first direction and a plurality of 3D points of the 3D point group within a preset range are projected onto the plane, and the plurality of 3D projected onto the plane The image generating apparatus according to claim 2, wherein it is determined based on a point whether the viewpoint position is a position inside the structure or a position outside the structure. A cut-out image data storage unit that stores data indicating the cut-out image in association with the coordinate range of the cut-out image in the developed image and the positional relationship;
A viewpoint position determination unit that determines a viewpoint position for the three-dimensional point group based on the coordinate range of the clipped image and the positional relationship when the clipped image is selected;
The display processing unit
The image generation according to claim 2 or 3, wherein an image of the three-dimensional point group when the three-dimensional point group is viewed from the viewpoint position determined by the viewpoint position determining unit is displayed on the display unit. apparatus. The viewpoint position determination unit
The image according to claim 4, wherein a coordinate on a straight line connecting a center position in a coordinate range of the cut-out image and a specific coordinate inside the structure is determined as a viewpoint position based on the positional relationship. Generator. The display processing unit
A direction of the three-dimensional point group is determined based on a center position in the coordinate range of the cut-out image and the positional relationship, and an image of the three-dimensional point group having the determined direction is displayed on the display unit. The image generation apparatus according to claim 4 or 5. A deformation data storage unit that stores deformation data including information of a deformed coordinate range that is a deformed coordinate range of the structure in the developed image;
A deformation data editing unit that edits the deformation data based on a user operation,
The deformation data editing unit
When the user operation is an operation of changing the deformed coordinate range, a process of cutting out the image of the deformed coordinate range after the change from the developed image, and a rotation process and an inversion of the image of the deformed coordinate range after the change Generating a cut-out image that is an image obtained by at least one of the processes;
The display processing unit
The image generation apparatus according to claim 2, wherein the cut-out image generated by the deformed data editing unit is displayed on the display unit. The deformation data editing unit
Coordinates included in the deformation data stored in the deformation data storage unit when a user operation for determining the changed deformation coordinate range is performed after the deformation coordinate range is changed The image generation apparatus according to claim 7, wherein a range is changed to the modified coordinate range after the change. Based on the deformation data, a cut-out image that is an image obtained by cutting out the image of the deformed coordinate range from the developed image and at least one of rotation processing and inversion processing of the image of the deformed coordinate range The image generating apparatus according to claim 7, further comprising: a deformed ledger generating unit that generates a deformed image of the structure and generates ledger information including the deformed image. A deformation development view generation unit configured to generate a deformation development view by placing an image of the deformation coordinate range cut out from the development image on the development view of the structure based on the deformation data; The image generation apparatus according to claim 7, wherein the image generation apparatus is an image generation apparatus. An image generation method executed by a computer,
Three-dimensional point cloud data including data of a three-dimensional point cloud of the structure, development image data of the structure, mapping data indicating a correspondence relationship between the coordinates of the three-dimensional point cloud and the coordinates of the development image; Display processing step for displaying an image of the three-dimensional point group on the display unit based on the three-dimensional point group data stored in the storage unit storing
On the developed image corresponding to the coordinates of the selected three-dimensional point among the three-dimensional point group displayed on the display unit based on the data of the developed image and the mapping data stored in the storage unit A selection position determination step for determining coordinates;
Image processing for generating, as an output image, a cut-out image generated by image processing including cut-out processing for cutting out an image of a cut-out range that is a range including coordinates on the developed image determined by the selection position determining step. And including steps,
The image processing of the image processing step includes
An image generation method comprising: at least one of rotation processing and inversion processing of the image in the cutout range based on the coordinates on the developed image determined by the selection position determination step. Three-dimensional point cloud data including data of a three-dimensional point cloud of the structure, development image data of the structure, mapping data indicating a correspondence relationship between the coordinates of the three-dimensional point cloud and the coordinates of the development image; Display processing step for displaying an image of the three-dimensional point group on the display unit based on the three-dimensional point group data stored in the storage unit storing
On the developed image corresponding to the coordinates of the selected three-dimensional point among the three-dimensional point group displayed on the display unit based on the data of the developed image and the mapping data stored in the storage unit A selection position determination step for determining coordinates;
Image processing for generating, as an output image, a cut-out image generated by image processing including cut-out processing for cutting out an image of a cut-out range that is a range including coordinates on the developed image determined by the selection position determining step. Step to the computer,
The image processing of the image processing step includes
An image generation program comprising: at least one of rotation processing and inversion processing of the image in the cutout range based on the coordinates on the developed image determined by the selection position determination step.

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