JP7004636B2 - Display data generator, display data generation method, and display data generation program - Google Patents

Description

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

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

Japanese Unexamined Patent Publication No. 2005-77385

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

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

In order to solve the above-mentioned problems and achieve the object, the display data generation device of the present invention includes a data acquisition unit, a point cloud data generation unit, and a display data generation unit. The data acquisition unit acquires the three-dimensional point group data of the tunnel , the drawing data including the data of the two-dimensional drawing of the tunnel , and the locus data which is the data of the locus along the extension direction of the tunnel . The point cloud data generation unit is orthogonal to the locus of a plurality of 3D points included in the 3D point cloud represented by the 3D point cloud data based on the 3D point cloud data and the locus data acquired by the data acquisition unit. Generates two-dimensional point cloud data, which is data of a two-dimensional point cloud including a plurality of two-dimensional points obtained by projecting onto an orthogonal plane. The display data generation unit displays an image in which a two-dimensional point cloud is superimposed on the drawing based on the drawing data acquired by the data acquisition unit and the two-dimensional point cloud data generated by the point cloud data generation unit. Generate display data to be displayed.

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

The figure which shows the structural example of the display data generation apparatus which concerns on Embodiment 1 of this invention. The figure which shows the relationship with the 3D point cloud, the locus, and the orthogonal plane of the object which concerns on Embodiment 1. The figure which shows the example of the image which superposed the 2D point cloud on the drawing of the object which concerns on Embodiment 1. The figure which shows an example of the detailed structure of the display data generation apparatus which concerns on Embodiment 1. The figure which shows an example of the data table of the 3D point cloud database which concerns on Embodiment 1. The figure which shows an example of the data table of the drawing database which concerns on Embodiment 1. The figure which shows an example of the data table of the locus database which concerns on Embodiment 1. The figure for demonstrating the sampling process by the display data generation apparatus which concerns on Embodiment 1. The figure for demonstrating the orthogonal plane calculated by the display data generation apparatus which concerns on Embodiment 1. The figure for demonstrating the 3D point extraction process by the display data generation apparatus which concerns on Embodiment 1. The figure for demonstrating the projection point calculated by the display data generation apparatus which concerns on Embodiment 1. The figure for demonstrating the two-dimensional point cloud data generated by the display data generation apparatus which concerns on Embodiment 1. The figure which shows an example of the image displayed on the display device by the display data generated by the display data generation device which concerns on Embodiment 1. The figure which shows the other example of the image which is displayed on the display device by the display data generated by the display data generation device which concerns on Embodiment 1. The figure which shows the other example of the image which is displayed on the display device by the display data generated by the display data generation device which concerns on Embodiment 1. The figure which shows the other example of the image which is displayed on the display device by the display data generated by the display data generation device which concerns on Embodiment 1. The figure which shows the other example of the image which is displayed on the display device by the display data generated by the display data generation device which concerns on Embodiment 1. The figure which shows the other example of the image which is displayed on the display device by the display data generated by the display data generation device which concerns on Embodiment 1. A flowchart showing an example of the first display data generation process of the display data generation device according to the first embodiment. A flowchart showing an example of a two-dimensional point cloud data generation process of the display data generation device according to the first embodiment. A flowchart showing an example of a second display data generation process of the display data generation device according to the first embodiment. A flowchart showing an example of a third display data generation process of the display data generation device according to the first embodiment. A flowchart showing an example of the fourth display data generation process of the display data generation device according to the first embodiment. A flowchart showing an example of a fifth display data generation process of the display data generation device according to the first embodiment. The figure which shows an example of the hardware configuration of the display data generation apparatus which concerns on Embodiment 1.

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

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

The storage unit 20 stores three-dimensional point cloud data, locus data, and drawing data of an object. The three-dimensional point cloud data is data representing an object as a three-dimensional point cloud. A three-dimensional point cloud is a set consisting of a plurality of three-dimensional points. The three-dimensional point cloud data includes data of a plurality of three-dimensional points, and the data of each three-dimensional point includes data indicating the position of the three-dimensional point in three dimensions.

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

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

The point cloud data generation unit 34 trajectories a plurality of 3D points included in the 3D point cloud represented by the 3D point cloud data based on the 3D point cloud data and the locus data acquired by the data acquisition unit 33. Two-dimensional point cloud data, which is data of a two-dimensional point cloud including a plurality of two-dimensional points obtained by projecting onto an orthogonal plane orthogonal to the above, is generated.

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

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

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

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

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

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

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

The storage unit 20 includes a three-dimensional point cloud database 21, a drawing database 22, and a locus database 23. The 3D point cloud database 21 includes the 3D point cloud data of the object 5 obtained by the 3D point cloud measuring device 4 for each measurement date and time. The data of the three-dimensional point includes, for example, data indicating the coordinates of the three-dimensional point in the XYZ axis coordinate system as the data indicating the position of the three-dimensional point in three dimensions.

The 3D point cloud measuring device 4 generates 3D point cloud data from the image pickup data of the object 5 obtained by the image pickup device or the measurement data obtained by the laser scanner device. For example, the three-dimensional point cloud measuring device 4 measures the phase difference between the time and wavelength at which the laser pulse reciprocates between the surface of the object 5 and the surface of the object 5, and measures the direction in which the laser pulse is emitted. The shape is detected, and the detected shape is output as the three-dimensional point cloud data which is the data of the above-mentioned three-dimensional point cloud 60. Although one object 5 is shown in FIG. 4, the three-dimensional point cloud measuring device 4 measures each of the plurality of objects 5 and outputs the three-dimensional point cloud data based on the measurement result. be able to.

FIG. 5 is a diagram showing an example of a data table of the three-dimensional point cloud database according to the first embodiment. As shown in FIG. 5, in the data table of the 3D point cloud database 21, "object ID (Identifier)", "point cloud ID", "measurement date and time", and "3D point cloud data" are associated with each other. The data is included.

The "object ID" is identification information unique to each object 5. The "point cloud ID" is identification information unique to each three-dimensional point cloud data. The "measurement date and time" is the date and time when the object 5 is measured by the 3D point cloud measuring device 4 in order to obtain the 3D point cloud data. The "three-dimensional point cloud data" is the three-dimensional point cloud data obtained by the three-dimensional point cloud measuring device 4.

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

As described above, the 3D point cloud database 21 includes the 3D point cloud data DT obtained by the 3D point cloud measuring device 4 for each measurement date and time, but the 3D point cloud database 21 includes the 3D points. The group data DT may be generated by a device other than the three-dimensional point cloud measuring device 4.

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

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

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

Returning to FIG. 4, the locus database 23 stored in the storage unit 20 will be described. The locus database 23 includes locus data which is data of the locus 61 of each object 5. The locus data is data of a line extending along the extending direction of the object 5. The locus data included in the locus database 23 is not the data of the line along the stretching direction of the object 5, but the data of a plurality of three-dimensional points arranged along the stretching direction of the object 5, and these. It may be data including the data of the direction vector associated with each of the three-dimensional points of. Such a direction vector is, for example, data indicating the direction of the locus 61 passing through the three-dimensional point.

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

In the example shown in FIG. 7, it is shown that the locus data DL ₁ is included as the locus data of the object ID “O001” and the locus data DL ₂ is included as the locus data of the object ID “O002”. There is. Hereinafter, when each of the locus data DL ₁ and DL ₂ is shown without distinction, it is described as the locus data DL.

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

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

The storage processing unit 31 adds the measurement data received from the three-dimensional point cloud measuring device 4 to the three-dimensional point cloud database 21 of the storage unit 20 via the network 7. The measurement data from the 3D point cloud measuring device 4 includes the object ID, the measurement date and time data, and the 3D point cloud data DT, and the storage processing unit 31 acquires from the 3D point cloud measuring device 4. A new point cloud ID is associated with the measured data and added to the three-dimensional point cloud database 21. Further, the storage processing unit 31 can also acquire the drawing data DF and the locus data DL from a device (not shown) via the network 7 and the communication unit 10.

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

Further, the reception unit 32 can receive a display mode designation operation, which is an operation for designating the display mode of the point group, as an operation of the user to the input device 3. The display mode of the point cloud includes, for example, a first display mode in which coloring is performed according to the shade of the point cloud, and a second display mode in which highlighting is performed according to the positional deviation between the drawing and the point cloud. There is. The reception unit 32 is an operation of designating a line showing the shape of the object 5 on the drawing for comparing the positional deviation with the two-dimensional group as the line to be compared as the user's operation to the input device 3. Can accept specified operations.

When the point cloud superimposition operation is accepted by the reception unit 32, the data acquisition unit 33 has the three-dimensional point cloud data DT, the drawing data DF, and the drawing data DF associated with the data of the object ID specified in the point cloud superimposition operation. The locus data DL is acquired from the storage unit 20. When a plurality of point cloud IDs are designated by the point cloud superimposition operation, the data acquisition unit 33 stores a plurality of three-dimensional point cloud data DTs associated with the designated plurality of point cloud IDs from the storage unit 20. get.

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

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

The locus sampling unit 41 samples the locus data DL acquired by the data acquisition unit 33 to generate a plurality of three-dimensional points along the stretching direction of the object 5. FIG. 8 is a diagram for explaining the sampling process by the display data generation device according to the first embodiment. In addition, in order to make the explanation easy to understand, a plurality of drawings including FIG. 8 described below illustrate a three-dimensional Cartesian coordinate system including a Z axis whose positive direction is vertically upward.

In the example shown in FIG. 8, the sampling process by the locus sampling unit 41 generates data of a plurality of three-dimensional points _{PL1 to PL9 passing} through the locus 61 indicated by the locus data DL. In the example shown in FIG. 8, in order to facilitate understanding, three-dimensional points along the stretching direction of the object 5 among a plurality of three-dimensional points included in the three-dimensional point group 60 of the object 5 are shown. , Some 3D points are not shown. In the following, when each of the three-dimensional points _{PL1 to PL9 is} shown without distinction, it may be described as the three- _dimensional point PL. The data of the three- _dimensional point PL includes data _indicating the three-dimensional position of the three-dimensional point _PL and data of the direction vector of the three-dimensional point PL. The direction vector is data indicating the direction of the locus ₆₁ passing through the three-dimensional point PL.

The sampling interval by the locus sampling unit 41 is changed according to the state of the locus 61. For example, the locus sampling unit 41 can reduce the sampling interval as the curvature of the locus 61 is larger. Further, when the data generated by the sampling process by the trajectory sampling unit 41 and the trajectory data DL are data of the same format, the sampling process by the trajectory sampling unit 41 is not performed. The sampling intervals by the locus sampling unit 41 may be equal intervals.

The orthogonal plane calculation unit 42 shown in FIG. 4 calculates a plurality of orthogonal _planes including the corresponding three-dimensional point _PL among the plurality of three-dimensional point PL generated by the locus sampling unit 41 and orthogonal to the locus 61. do. FIG. 9 is a diagram for explaining an orthogonal plane calculated by the display data generation device according to the first embodiment.

In the example shown in FIG. ₉ , a plurality of orthogonal planes 62 ₁ to _{629 including the corresponding three-dimensional points PL among the plurality of three-dimensional points PL1 to PL9 and orthogonal} to the locus 61 are formed by the orthogonal plane calculation unit 42. It is being calculated. Hereinafter, when each of the plurality of orthogonal planes 62 ₁ to ₆₂₉ is shown without distinction, it is referred to as an orthogonal plane 62.

As described above, the data of the three- _dimensional point PL includes the data _indicating the three-dimensional position of the three- _dimensional point PL and the data of the direction vector of the three-dimensional point PL. The orthogonal plane calculation unit 42 calculates a plane including the three-dimensional position of the three- _dimensional point PL and _orthogonal to the direction vector of the three-dimensional point PL as the orthogonal plane 62. For example, the orthogonal plane calculation unit 42 calculates a plane including the three-dimensional position of the three-dimensional point _PL1 and orthogonal to the direction vector of the three _- dimensional point _PL1 as the orthogonal plane 621.

The three-dimensional point extraction unit 43 shown in FIG. 4 is a plurality of orthogonal planes among a plurality of three-dimensional point _PLs included in the three-dimensional point group 60 indicated by the three-dimensional point group data DT acquired by the data acquisition unit 33. A three-dimensional point within a preset distance Dth is extracted from any of the 62 for each of the plurality of orthogonal planes 62. FIG. 10 is a diagram for explaining a three-dimensional point extraction process by the display data generation device according to the first embodiment. In addition, in order to make the explanation easy to understand, FIG. ₁₀ shows a plurality of three-dimensional points PL1 to _PL9 and a plurality of orthogonal planes 62 ₁ to ₆₂₉ when viewed from the Z-axis direction.

As shown in FIG. ₁₀ , the three-dimensional point extraction unit 43 is preset from any of a plurality of orthogonal planes 62 ₁ to 629 among the plurality of three-dimensional points constituting the three-dimensional point group 60 of the object 5. Three-dimensional points within the distance Dth are extracted for each of the plurality of orthogonal planes 62 ₁ to ₆₂₉ .

The projection point calculation unit 44 shown in FIG. 4 projects a projection point obtained by projecting a three-dimensional point extracted by the three-dimensional point extraction unit 43 onto the corresponding orthogonal plane 62 among a plurality of orthogonal planes 62 ₁ to ₆₂₉ . Calculate. FIG. 11 is a diagram for explaining a projection point calculated by the display data generation device according to the first embodiment.

FIG. 11 shows an example in which the three-dimensional points extracted by the three-dimensional point extraction unit 43 are the three-dimensional points _{PA1 to PA9 with} respect to one orthogonal plane 62. That is, the three-dimensional points _PA1 to _PA9 are three-dimensional points within the distance Dth with respect to the orthogonal plane 62 of one of the plurality of three-dimensional points constituting the three-dimensional point group 60 of the object 5.

In the example shown in FIG. 11, the projection point calculation unit 44 calculates the projection points P _B1 to P _B9 obtained by projecting the three-dimensional points _PA1 to _PA9 onto the orthogonal plane 62. The projection of the three-dimensional points _{PA1 to PA9 onto the orthogonal plane 62 is performed by projecting the three-dimensional points PA1 to PA9 onto the orthogonal} plane 62 in a direction orthogonal to the orthogonal plane 62.

For example, the projection point P _B1 is obtained by projecting the three-dimensional point _PA1 onto the orthogonal plane 62 in a direction orthogonal to the orthogonal plane 62. Further, the projection point P _B2 is obtained by projecting the three-dimensional point _PA2 onto the orthogonal plane 62 in the direction orthogonal to the orthogonal plane 62. Hereinafter, when each of the projection points P _B1 to P _B9 is shown without distinction, it may be described as the projection point P _B.

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

FIG. 12 shows a projection point _{cloud PGB} including a plurality of projection points PB projected on each orthogonal plane 62. As shown in FIG. 12, the data generation unit 45 is a two-dimensional point cloud obtained by arranging a plurality of projection points P _B on one plane 64 by superimposing a plurality of orthogonal planes 62 ₁ to ₆₂₉ . Two-dimensional point cloud data DX, which is 72 data, is generated.

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

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

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

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

The data generation unit 51 can specify the dimensions of the object 5 shown in the drawing and adjust the dimensions of the object 5 shown in the drawing 71 based on the information indicating the dimensions included in the drawing data DF. The 2D point cloud data DX contains information on the measured values measured by the 3D point cloud measuring device 4, and adjusts the dimensions of the object 5 or the 2D point cloud 72 shown in FIG. 71. By doing so, the dimensions of the object 5 shown in FIG. 71 and the object 5 shown in the two-dimensional point cloud 72 can be matched.

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

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

Also in this case, the data generation unit 51 adjusts the dimensions of the object 5 extracted by the extraction process or the dimensions of the two-dimensional point group 72 based on the information indicating the dimensions included in the drawing data DF. The data generation unit 51 arranges the two-dimensional point cloud 72 at a position most likely to match the line indicating the shape of the object 5 extracted by the extraction process while changing the position of the two-dimensional point cloud 72. Matching processing can be performed. The alignment process between the drawing 71 and the two-dimensional point cloud 72 by the data generation unit 51 is not limited to the above-mentioned process.

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

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

FIG. 14 is a diagram showing another example of an image displayed on the display device by the display data generated by the display data generation device according to the first embodiment. In the example shown in FIG. 14, the data generation unit 51 has different colors for the two-dimensional points in the region with high density, the two-dimensional points in the region with low density, and the two-dimensional points in the region with intermediate density. Is set. For example, the data generation unit 51 sets the two-dimensional points in the region where 15 or more two-dimensional points exist in red, and the two-dimensional points in the region where five or more and less than 15 two-dimensional points exist in green. It is possible to set each of the two-dimensional points in the region where there are less than two two-dimensional points to blue.

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

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

Further, when the point cloud superimposition operation including the display mode designation operation for designating the second display mode is received by the reception unit 32, the data generation unit 51 determines the object 5 in the drawing 71 determined by the position shift determination unit 53. Based on the positional deviation between the line indicating the shape of the above and each two-dimensional point, the display data DW including the data in which the two-dimensional point satisfying the preset condition is highlighted by the display device 2 is generated.

The misalignment determination unit 53 is based on the drawing data DF and the two-dimensional point cloud data DX, and each of the two-dimensional points included in the two-dimensional point cloud 72 represented by the two-dimensional point cloud data DX and the object 5 in the drawing 71. Judgment of the positional deviation from the line indicating the shape of. The data generation unit 51 generates display data DW including data in which the two-dimensional points determined by the position shift determination unit 53 satisfy the preset conditions are highlighted by the display device 2. For example, the data generation unit 51 can perform a process of dividing the size of the position shift determined by the position shift determination unit 53 into three stages and color-coding each two-dimensional point for each size of the position shift.

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

In the example shown in FIG. 15, the color of the two-dimensional point is divided into three stages according to the positional deviation, but the data generation unit 51 can also divide the color of the two-dimensional point into two stages or four or more stages. .. Further, the data generation unit 51 can also generate display data DW in which highlighting such as darkening the color of a two-dimensional point having a large positional deviation is performed. Further, the data generation unit 51 can also generate display data DW in which highlighting such as darkening the color of a two-dimensional point having a smaller positional deviation is performed.

In this way, the data generation unit 51 generates the display data DW that displays each two-dimensional point on the display device 2 in the color corresponding to the positional deviation, so that the user of the display data generation device 1 can refer to the drawing 71. The deviation from the two-dimensional point cloud 72 can be easily grasped, and the difference between the drawing 71 and the actual object 5 can be grasped more easily.

Further, the data generation unit 51 is a region in which there are a predetermined number or more of two-dimensional points per unit area whose positional deviation from the line indicating the shape of the object 5 in the drawing 71 exceeds a preset range. It is possible to determine whether or not there is an area. In this case, when the data generation unit 51 determines that there is a misaligned region, the data generation unit 51 can generate display data DW for displaying an image highlighting the misaligned region on the display device 2.

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

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

Further, the position shift determination unit 53 includes a line indicating a part of the shape of the object 5, which is a line of the comparison target designated by the comparison target designation operation when the comparison target designation operation is received by the reception unit 32. It is also possible to determine the positional deviation from each of the two-dimensional points included in the dimensional point group 72.

In this way, the data generation unit 51 generates the display data DW for displaying the image highlighting the area where the positional deviation is large on the display device 2, so that the user of the display data generation device 1 can use the drawings 71 and 2. The deviation from the dimensional point cloud 72 can be easily grasped, and the difference between the drawing 71 and the actual object 5 can be grasped more easily.

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

When the distance display request operation is received by the reception unit 32, the data generation unit 51 displays display data DW including data for displaying information indicating the distance between two points calculated by the distance calculation unit 54 on the display device 2. Can be generated. With such display data DW, the display device 2 receives the distance between the two two-dimensional points selected by the distance display request operation, or the two three-dimensional points corresponding to the two two-dimensional points selected by the distance display request operation. Information indicating the distance between them can be displayed.

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

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

Further, when the distance display request operation is received by the reception unit 32, the distance calculation unit 54 has two two dimensions selected by the distance display request operation among the plurality of three-dimensional points constituting the three-dimensional point group 60. It is possible to calculate the distance between two three-dimensional points corresponding to a point. In this case, the data generation unit 51 can display information indicating the distance between the two three-dimensional points corresponding to the two two-dimensional points selected by the distance display request operation. The three-dimensional point corresponding to the two-dimensional point selected by the distance display request operation is the three-dimensional point before being converted into the two-dimensional point, and is the three-dimensional point before the projection of the two-dimensional point. The distance calculation unit 54 can acquire information on a three-dimensional point corresponding to a two-dimensional point from the point cloud data generation unit 34.

As described above, the data generation unit 51 is the information indicating the distance between the two two-dimensional points selected by the distance display request operation, or the two three corresponding to the two two-dimensional points selected by the distance display request operation. Display data DW that displays information indicating the distance between dimension points on the display device 2 can be generated. Therefore, the user of the display data generation device 1 can measure a desired portion of the object 5 without going to the place where the object 5 exists.

The reception unit 32 is limited to the selection of two two-dimensional points corresponding to two three-dimensional points whose distances from each other in the direction along the extending direction of the locus 61 are equal to or more than a preset threshold value Dth1 and less than a threshold value Dth2. It can also be accepted as a distance display request operation. As a result, the data generation unit 51 displays on the display device 2 an image 70 including information indicating the distance between two three-dimensional points whose distances from each other in the stretching direction of the object 5 are at positions equal to or greater than the threshold Dth1 and less than the threshold Dth2. Display data DW to be displayed can be generated. The reception unit 32 can receive the setting operation of the threshold values Dth1 and Dth2 from the input device 3. As a result, the threshold values Dth1 and Dth2 can be set by the user.

Next, the display data DW generated by the display data generation device 1 by the comparison target designation operation will be described. When the point cloud superimposition operation including the target point cloud designation operation is received by the reception unit 32, the data acquisition unit 33 corresponds to the point cloud IDs of the plurality of three-dimensional point cloud 60s designated by the target point cloud designation operation. The 3D point cloud data DT is acquired from the storage unit 20.

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

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

FIG. 18 is a diagram showing another example of an image displayed on the display device by the display data generated by the display data generation device according to the first embodiment. In the example shown in FIG. 18, the data generation unit 51 superimposes two two-dimensional point clouds 72a and 72b on the drawing 71, and surrounds a region having a difference between the two-dimensional point cloud 72a and the two-dimensional point cloud 72b. A display data DW for displaying the image 70 including the 81 and the mark 82 for calling attention to the user on the display device 2 is generated. Since the difference between the two two-dimensional point clouds having different measurement dates and times is highlighted by the frame 81, for example, the portion of the object 5 where the secular variation has occurred can be easily grasped.

Further, these two-dimensional point clouds 72a and 72b are displayed in different colors from each other. In this way, since the plurality of two-dimensional point clouds 72a and 72b generated by using the plurality of three-dimensional point clouds 60 obtained at different measurement dates and times are superimposed on the drawing 71, displacement of the object 5 due to aging and the like, etc. Can be grasped.

The data generation unit 51 may display a frame 81 surrounding the area having the difference shown in FIG. 18 when the difference between the two two-dimensional point clouds 72a and 72b having different measurement dates and times satisfies a preset condition. can. For example, the data generation unit 51 can highlight an area where the number of two-dimensional points whose displacement amount exceeds the preset amount is equal to or larger than the preset number.

Further, the data generation unit 51 colors the difference region between the two two-dimensional point clouds 72a and 72b calculated by the difference calculation unit 55, or changes the color density, so that the two two-dimensional points have different measurement dates and times. The difference between the point groups 72a and 72b can be highlighted.

Subsequently, the operation of the display data generation device 1 will be described with reference to a flowchart. FIG. 19 is a flowchart showing an example of the first display data generation process of the display data generation device according to the first embodiment.

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

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

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

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

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

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

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

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

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

As shown in FIG. 21, the processing unit 30 performs arithmetic processing of the density degree (step S32). In the process of step S32, the density of the region where each two-dimensional point included in the two-dimensional point cloud 72 is located is calculated based on the two-dimensional point cloud data DX generated in step S31.

Then, the processing unit 30 performs color-coding processing according to the density calculated in step S32 (step S33). In such a color-coding process, the processing unit 30 sets each two-dimensional point included in the two-dimensional point cloud 72 superimposed on the drawing 71 to a color corresponding to the degree of density. The processing unit 30 performs display data generation processing for generating display data DW for displaying an image 70 on which an image 70 in which a two-dimensional point cloud 72 representing each two-dimensional point in a color corresponding to the degree of density is superimposed on a drawing 71 is displayed on the display device 2. (Step S34). The processing unit 30 performs display data output processing for outputting the display data DW generated in step S34 to the display device 2 (step S35). When the processing unit 30 finishes the processing of step S35, the processing unit 30 ends the processing shown in FIG. 21.

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

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

Then, the processing unit 30 performs enhancement processing according to the positional deviation calculated in step S42 (step S43). In such highlighting processing, the processing unit 30 highlights information that highlights the portion where the positional deviation occurs, for example, when the positional deviation between the drawing 71 and the two-dimensional point cloud 72 satisfies a preset condition. Generate information. The processing unit 30 displays an image 70 on which the two-dimensional point cloud 72 is superimposed on the drawing 71 on the display device 2 in a state where the positional deviation between the drawing 71 and the two-dimensional point cloud 72 is emphasized to satisfy a preset condition. Display data generation processing for generating display data DW is performed (step S44). The processing unit 30 performs display data output processing for outputting the display data DW generated in step S44 to the display device 2 (step S45). When the processing unit 30 finishes the processing of step S45, the processing unit 30 ends the processing shown in FIG. 22.

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

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

Then, the processing unit 30 generates information indicating the distance calculated in step S52 (step S53). The processing unit 30 generates display data DW for displaying the image 70 on the display device 2 by adding the information indicating the distance generated in step S53 to the image in which the two-dimensional point cloud 72 is superimposed on the drawing 71. (Step S54). The processing unit 30 performs display data output processing for outputting the display data DW generated in step S54 to the display device 2 (step S55). When the processing unit 30 finishes the processing of step S55, the processing unit 30 ends the processing shown in FIG. 23.

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

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

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

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

Then, the processing unit 30 generates display data DW for displaying the image 70 in which the frame information generated in step S63 is added to the image in which the two-dimensional point cloud 72 is superimposed on the drawing 71 on the display device 2. Perform processing (step S64). The processing unit 30 performs display data output processing for outputting the display data DW generated in step S64 to the display device 2 (step S65). When the processing unit 30 finishes the processing of step S65, the processing unit 30 ends the processing shown in FIG. 24.

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

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

The memory 102 includes one or more 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). include. Further, the memory 102 includes a recording medium in which a computer-readable program is recorded. Such recording media include one or more of non-volatile or volatile semiconductor memories, magnetic disks, flexible memories, optical discs, compact discs, and DVDs (Digital Versatile Discs). The display data generation device 1 may include integrated circuits such as an ASIC (Application Specific Integrated Circuit) and an FPGA (Field Programmable Gate Array).

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

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

Further, the display data generation unit 35 displays the display data DW including data for highlighting the two-dimensional points satisfying the condition that the positional deviation from the drawing 71 is preset among the plurality of two-dimensional points on the display device 2. Generate data DW. As a result, the user of the display data generation device 1 can easily grasp the deviation between the drawing 71 and the two-dimensional point cloud 72, and more easily grasp the difference between the drawing 71 and the actual object 5. be able to.

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

Further, the display data generation device 1 according to the first embodiment includes a storage unit 20 for storing a plurality of three-dimensional point cloud data DTs. The data acquisition unit 33 acquires a plurality of three-dimensional point cloud data DTs from the storage unit 20. The point cloud data generation unit 34 generates a plurality of two-dimensional point cloud data DX based on the plurality of three-dimensional point cloud data DTs acquired by the data acquisition unit 33. The display data generation unit 35 highlights the difference portion between the plurality of two-dimensional point clouds on the display device 2 based on the difference between the plurality of two-dimensional point clouds indicated by the plurality of two-dimensional point cloud data DX. Generate display data DW including data. As a result, the user of the display data generation device 1 can easily grasp, for example, the portion of the object 5 that has undergone secular variation.

Further, the point cloud data generation unit 34 includes a locus sampling unit 41, an orthogonal plane calculation unit 42, a three-dimensional point extraction unit 43, a projection point calculation unit 44, and a data generation unit 45. The locus sampling unit 41 samples the locus data DL acquired by the data acquisition unit 33 to generate a plurality of three-dimensional points along the stretching direction of the object 5. The orthogonal plane calculation unit 42 calculates a plurality of orthogonal planes 62 including the corresponding three-dimensional points among the plurality of three-dimensional points generated by the locus sampling unit 41 and orthogonal to the locus 61. The 3D point extraction unit 43 is within a preset distance Dth from any of a plurality of orthogonal planes 62 among a plurality of 3D points indicated by the 3D point group data DT acquired by the data acquisition unit 33. Three-dimensional points are extracted for each of the plurality of orthogonal planes 62. The projection point calculation unit 44 calculates a projection point obtained by projecting a three-dimensional point extracted by the three-dimensional point extraction unit 43 onto a corresponding orthogonal plane 62 among a plurality of orthogonal planes 62. The data generation unit 45 is a two-dimensional point in which a plurality of projection points obtained by projecting onto a plurality of orthogonal planes 62 by the projection point calculation unit 44 are arranged on one plane 64 by superimposing the plurality of orthogonal planes 62. The data of the group 72 is generated as the two-dimensional point cloud data DX.

The configuration shown in the above-described embodiment shows an example of the content of the present invention, can be combined with another known technique, and is one of the configurations as long as it does not deviate from the gist of the present invention. It is also possible to omit or change the part.

1 Display data generation device, 2 Display device, 3 Input device, 4 3D point cloud measurement device, 5 Object, 7 Network, 10 Communication section, 20 Storage section, 21 3D point cloud database, 22 Drawing database, 23 Trajectories Database, 30 processing unit, 31 storage processing unit, 32 reception unit, 33 data acquisition unit, 34 point cloud data generation unit, 35 display data generation unit, 36 display data output unit, 41 trajectory sampling unit, 42 orthogonal plane calculation unit , 43 3D point extraction unit, 44 projection point calculation unit, 45, 51 data generation unit, 52 density calculation unit, 53 position shift determination unit, 54 distance calculation unit, 55 difference calculation unit, 60 3D point cloud, 61 Trajectory, 62, 62 ₁ to 629 orthogonal plane, 64 plane, 70 image, 71 drawing, 72, 72a, 72b 2D point cloud, _74,81 frame, 75,82 mark, 76,77 2D point, 78 characters , DF, DF ₁ , DF ₂ drawing data, DL, DL ₁ , DL ₂ locus data, DT, DT ₁ to DT ₇ 3D point cloud data, DW display data, DX 2D point cloud data, Dth distance, Dth1, _Dth2 threshold, PA1 to _PA9 , PL, _{PL1 to PL9 three-dimensional points, P B, P B1 to P B9 projection points} , _PGB projection point cloud.

Claims (8)

A data acquisition unit that acquires three-dimensional point group data of a tunnel , drawing data including data of a two-dimensional drawing of the tunnel , and trajectory data which is data of a trajectory along an extension direction of the tunnel .
Based on the 3D point cloud data and the locus data acquired by the data acquisition unit, a plurality of 3D points included in the 3D point cloud indicated by the 3D point cloud data are orthogonal to the locus. A point cloud data generation unit that generates two-dimensional point cloud data, which is data of a two-dimensional point cloud including a plurality of two-dimensional points obtained by projecting onto a plane.
Based on the drawing data acquired by the data acquisition unit and the two-dimensional point cloud data generated by the point cloud data generation unit, an image in which the two-dimensional point cloud is superimposed on the drawing is displayed on the display device. A display data generation device including a display data generation unit that generates display data to be displayed. The display data generation unit is
The display data generation device according to claim 1, wherein the color of each two-dimensional point is changed based on the density of a region in which each two-dimensional point included in the two-dimensional point group is located. The display data generation unit is
It is characterized in that display data including data for highlighting two-dimensional points having a condition in which the positional deviation from the drawing is set in advance among the plurality of two-dimensional points is highlighted by the display device is generated as the display data. The display data generation device according to claim 1 or 2. It is equipped with a reception unit that accepts the selection of two two-dimensional points included in the two-dimensional point cloud.
The display data generation unit is
Data for displaying information indicating the distance between the two two-dimensional points or information indicating the distance between the two three-dimensional points corresponding to the two two-dimensional points among the plurality of three-dimensional points on the display device. The display data generation device according to any one of claims 1 to 3, wherein the display data including the display data is generated as the display data. A storage unit for storing a plurality of the three-dimensional point cloud data is provided.
The data acquisition unit
A plurality of the three-dimensional point cloud data are acquired from the storage unit, and the data is obtained.
The point cloud data generation unit is
A plurality of the two-dimensional point cloud data are generated based on the plurality of the three-dimensional point cloud data acquired by the data acquisition unit.
The display data generation unit is
Based on the difference between the plurality of two-dimensional point clouds indicated by the plurality of the two-dimensional point cloud data, the display data including the data for highlighting the difference portion on the display device can be generated as the display data. The display data generation device according to any one of claims 1 to 4, which is characterized. The point cloud data generation unit is
A locus sampling unit that performs sampling processing of the locus data acquired by the data acquisition unit to generate a plurality of three-dimensional points along the extending direction of the tunnel , and a locus sampling unit.
An orthogonal plane calculation unit that calculates a plurality of orthogonal planes including the corresponding three-dimensional points among the plurality of three-dimensional points generated by the locus sampling unit and orthogonal to the locus.
It is within a preset distance from any of the plurality of orthogonal planes among the plurality of three-dimensional points included in the three-dimensional point group indicated by the three-dimensional point group data acquired by the data acquisition unit. A 3D point extraction unit that extracts 3D points for each of the plurality of orthogonal planes,
A projection point calculation unit that calculates a projection point obtained by projecting the three-dimensional point extracted by the three-dimensional point extraction unit onto a corresponding orthogonal plane among the plurality of orthogonal planes.
The data of the two-dimensional point group in which a plurality of projection points obtained by projecting onto the plurality of orthogonal planes by the projection point calculation unit are arranged on one plane by superimposing the plurality of orthogonal planes is obtained in the above 2 The display data generation device according to any one of claims 1 to 5, further comprising a data generation unit for generating dimension point group data. It is a display data generation method executed by a computer.
A data acquisition step for acquiring three-dimensional point cloud data of a tunnel , drawing data including data of a two-dimensional drawing of the tunnel , and trajectory data which is data of a trajectory along an extension direction of the tunnel .
Based on the 3D point cloud data and the locus data acquired by the data acquisition step, a plurality of 3D points included in the 3D point cloud indicated by the 3D point cloud data are orthogonal to the locus. A point cloud data generation step for generating 2D point cloud data, which is 2D point cloud data including a plurality of 2D points obtained by projecting onto a plane, and
A display device that superimposes the data of the two-dimensional points on the drawings based on the drawing data acquired by the data acquisition step and the two-dimensional point cloud data generated by the point cloud data generation step. A display data generation method comprising: a display data generation step for generating display data to be displayed in. A data acquisition step for acquiring three-dimensional point cloud data of a tunnel , drawing data including data of a two-dimensional drawing of the tunnel , and trajectory data which is data of a trajectory along an extension direction of the tunnel .
Based on the 3D point cloud data and the locus data acquired by the data acquisition step, a plurality of 3D points included in the 3D point cloud indicated by the 3D point cloud data are orthogonal to the locus. A point cloud data generation step for generating 2D point cloud data, which is 2D point cloud data including a plurality of 2D points obtained by projecting onto a plane, and
A display device that superimposes the data of the two-dimensional points on the drawings based on the drawing data acquired by the data acquisition step and the two-dimensional point group data generated by the point group data generation step. A display data generation program characterized by having a computer execute a display data generation step that generates display data to be displayed in.

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