JP7122901B2 - breakline extraction program, breakline extraction system - Google Patents

Description

The present invention relates to the creation of a three-dimensional model of a feature or the like, and more specifically, a breakline extraction program and breakline extraction system capable of extracting more accurate breaklines from three-dimensional point cloud data. It is about.

In the past, aerial photogrammetry using aerial photographs taken from aircraft was commonly used when performing measurements over a wide area to create topographic maps, but in recent years, aerial laser measurements have also come to be used frequently. .

Aerial photogrammetry prepares a pair of stereo pairs of aerial photographs of the same location, identifies the same object in both photographs, and identifies the object on the photograph. This is a method of obtaining the coordinates of an object on the ground using the difference in position (parallax).

On the other hand, in the aerial laser measurement, an aircraft is flown over the terrain to be measured, and the reflection signal of the laser pulse irradiated to the terrain is received and the measurement is performed. Since the aircraft is usually equipped with a positioning instrument such as a global navigation satellite system (GNSS) and an inertial measurement device such as an IMU (Inertial Measurement Unit), the laser pulse irradiation position (x, y, z ) and the irradiation attitude (ω, φ, κ), and as a result, the three-dimensional coordinates of the measurement point (the point where the laser pulse is reflected) can be obtained from the time difference between the irradiation time and the reception time. be. In addition to airborne laser measurement, in which a laser measuring instrument is mounted on an aircraft, terrestrial laser measurement, in which a laser measuring instrument is installed on the ground for measurement, is also becoming widespread these days.

According to aerial photogrammetry, aerial laser measurement, terrestrial laser measurement, etc., a large number of measurement points having three-dimensional coordinates (hereinafter, a large number of measurement points are referred to as "point cloud") are obtained. Since it is difficult to grasp the relative positional relationship of the point group using the three-dimensional coordinates, a three-dimensional model created from the point group is usually used. The three-dimensional model is a so-called three-dimensional reproduction of the shape of the object to be measured based on the three-dimensional coordinates of the point cloud. ” can be exemplified. These DSMs and DEMs are often composed of a large number of meshes, and a model is formed by giving a height to a representative point of each mesh. As a method of giving a height to a representative point of a mesh, a method by TIN (Triangulated Irregular Network) that obtains the height from an irregular triangular network formed from random data, and a method by the nearest neighbor method (Nearest Neighbor) that adopts the nearest measurement point. , inverse distance weighting (IDW), Kriging method, averaging method, and other conventional methods are employed.

When creating a 3D model, it is extremely important to set accurate breaklines. In the case of FIG. 7A, the break line BL1 is formed by the top surface SF1 and the side surface SF2, and the break line BL2 is formed by the side surface SF2 and the bottom surface SF3. there is For example, when creating a three-dimensional model of an office building shown in FIG. It is important to accurately express (reproduce) lines (substantially horizontally) and the like.

Breaklines are indispensable when forming a surface by a technique such as TIN, and when extracting points to be left in downsampling, when grasping shape changes such as subsidence or upheaval, or when It is essential for matching with CAD (Computer Aided Design) drawings.

Conventionally, when setting breaklines from a point group, a method using a plane-to-plane intersection line, a method using a normal vector of each point group, a method using a contour line of a plane, and the like have been adopted. Patent Document 1 discloses an invention for setting contour lines (break lines) of features from the arrangement of measurement points projected onto the same plane. Patent Document 2 discloses an invention in which line data is extracted from a segment point cloud It discloses an invention for setting contour lines (breaklines) of features.

JP 2014-106118 A JP 2016-205975 A

Breaklines can be automatically set using the inventions disclosed in Patent Document 1 and Patent Document 2, but in any of the conventional techniques including these inventions, the accuracy of the breaklines depends on the density of the point cloud. Therefore, it has been pointed out that a stable and accurate breakline cannot be obtained. In particular, if the density of measurement points around the breakline is low, the breakline cannot be set accurately, and as a result, a 3D model that appropriately expresses (reproduces) the measurement target (for example, a feature) cannot be obtained. .

SUMMARY OF THE INVENTION An object of the present invention is to solve the conventional problem, that is, a breakline extracting program, breakline It is to provide an extraction system.

The invention of the present application focuses on correcting the breakline to the correct position by collating the temporarily set breakline with the image. is.

A breakline extraction program according to the present invention is a program that causes a computer to execute a function of extracting breaklines from three-dimensional point cloud data. It has a function of causing a computer to execute calculation processing. The provisional breakline setting process is a process of setting provisional breaklines on a coordinate-added image (image associated with three-dimensional coordinates) based on the coordinates of the provisional breaklines obtained from the three-dimensional point cloud data. . The partial image extraction process is a process of extracting a partial image set based on the provisional breakline from the coordinate-given image. The partial image output process is a process of outputting the partial image extracted by the partial image extraction process to the display means. The composing point coordinate calculation process is a process of obtaining the coordinates of the breakline composing points forming the definite breakline based on the definite breakline set on the partial image by the operator while confirming the partial image output to the display means. is. In this case, it is also possible to display a temporary breakline on the partial image by partial image output processing.

The breakline extracting program of the present invention can also have a function of causing a computer to automatically generate a definite breakline without an operator's operation. In this case, the definite breakline is generated by the component point coordinate calculation process based on the pixel value of each pixel of the partial image extracted by the partial image extraction process.

The breakline extracting program of the present invention can also have a function of causing a computer to execute the breakline composing point extracting process. This breakline composing point extraction process is a process of extracting points corresponding to the breakline composing points from the three-dimensional point cloud data based on the coordinates of the breakline composing points obtained by the composing point coordinate calculation process.

The breakline extracting program of the present invention can also have a function of causing a computer to execute breakline composing point addition processing. This breakline composing point addition process is a process of adding the breakline composing points to which the coordinates obtained by the composing point coordinate calculation process are given to the three-dimensional point cloud data.

A breakline extraction system of the present invention is a system for extracting breaklines from three-dimensional point cloud data, and comprises provisional breakline setting means, partial image extraction means, display means, fixed breakline input means, and constituent point coordinate calculation means. is provided. The provisional breakline setting means is a means for setting provisional breaklines on the coordinate assigned image associated with the three-dimensional coordinates based on the coordinates of the provisional breaklines obtained from the three-dimensional point cloud data. The partial image extracting means is means for extracting a partial image set based on the provisional breakline from the coordinate-given image. The display means is means for displaying the partial image extracted by the partial image extraction process. The fixed breakline input means is means for the operator to set a fixed breakline on the partial image while confirming the partial image output to the display means. The composing point coordinate calculating means is means for calculating the coordinates of the breakline composing points forming the definite breakline set by the definite breakline input means.

The breakline extracting system of the present invention can also comprise provisional breakline setting means, partial image extracting means, fixed breakline generating means, and constituent point coordinate calculating means. This fixed breakline generating means is a means for generating a fixed breakline based on the pixel value of each pixel of the partial image extracted by the partial image extraction process.

The breakline extraction program and breakline extraction system of the present invention have the following effects.
(1) Since the setting is based on the boundary lines that clearly appear on the image, it is possible to set more accurate breaklines than in the prior art, that is, to obtain a three-dimensional model that more appropriately expresses the object to be measured. can.
(2) Since accurate breaklines can be obtained, downsampling can be performed while appropriately retaining important points.
(3) Since an appropriate 3D model can be obtained, shape changes such as subsidence and upheaval can be grasped more accurately, and consistency between the 3D model and CAD drawings can be easily and efficiently achieved. .

FIG. 4 is a flowchart showing the flow of main processing of an input-type breakline extraction program; (a) is an image diagram showing a coordinate-given image in which a temporary breakline is displayed, and (b) is an image diagram showing a partial image extracted from the coordinate-given image. FIG. 4 is a model diagram showing a partial image area set based on a provisional breakline; FIG. 4 is a flowchart showing the flow of main processing of an automatically generated breakline extraction program; 4 is a block diagram showing the main configuration of an input-type breakline extraction program; FIG. FIG. 2 is a block diagram showing the main configuration of an automatically generated breakline extraction program; (a) is a perspective view showing a breakline formed by an upper surface and a side surface and a breakline formed by a side surface and a lower surface, and (b) is a perspective view explaining a breakline formed in an office building.

An example of an embodiment of the breakline extraction program and breakline extraction system of the present invention will be described with reference to the drawings. The breakline extraction system of the present invention is a system that executes the breakline extraction program of the present invention. Therefore, the breakline extracting program of the present invention will be described first, and then the breakline extracting system of the present invention will be described.

1. Breakline extraction program The breakline extraction program of the present invention is a program that causes a computer to execute the function of extracting breaklines from a large number of measurement point data having three-dimensional coordinates (hereinafter referred to as "three-dimensional point cloud data"). is. Here, the three-dimensional coordinates are coordinates having information of plane position and height, and examples include coordinates (X, Y, Z) in a triaxial orthogonal coordinate system and latitude, longitude, and altitude in a geodetic coordinate system. be able to. In the process of extracting breaklines by the breakline extraction program of the present invention, breaklines (hereinafter referred to as "provisional breaklines BLt") are obtained provisionally from the three-dimensional point cloud data, and these provisional breaklines BLt are used. A partial image (hereinafter referred to as a "partial image") is cut out using a partial image, and a final breakline (hereinafter referred to as a "determined breakline BLc") is determined based on the partial image. It should be noted that the breakline extraction program of the present invention has a format in which a defined breakline BLc is set by an operator operation (hereinafter referred to as an "input-type breakline extraction program") and a format in which a defined breakline BLc is automatically generated from a partial image ( hereinafter referred to as "automatically generated breakline extraction program"). The input type breakline extraction program and the automatic generation type breakline extraction program will be described below in order.

(input-type breakline extraction program)
An input-type breakline extraction program will be described with reference to FIG. FIG. 1 is a flowchart showing the flow of main processing of an input-type breakline extraction program. First, a "coordinate-assigned image" is created by associating three-dimensional coordinates with an image (Step 10). This image is obtained by obtaining a range including the breakline to be extracted, and is an image obtained by obtaining a range including part or all of the area in which the three-dimensional point group is arranged.

As described above, the coordinate-assigned image is an image associated with three-dimensional coordinates, and for example, three-dimensional coordinates are assigned to each pixel. This coordinate-assigned image can be created using conventional photogrammetry techniques or SfM (Structure from Motion), which has been widely used in recent years. 3D coordinates can be added to the image using ICP (Iterative Closest Point). Note that when the coordinate-added image is prepared in advance, the process of creating the coordinate-added image (Step 10) can be omitted, that is, the process is not essential for the input-type breakline extraction program.

Apart from the creation of coordinate-attached images (or preparation of ready-made coordinate-attached images), provisional breaks are made from 3D point cloud data obtained by performing measurements such as aerial photogrammetry and airborne laser measurement (terrestrial laser measurement). A line BLt is set (Step 20). This temporary breakline BLt can be set by a conventionally used method such as a method using a plane-to-plane intersection line, a method using a normal vector of each point group, or a method using a plane outline.

When a coordinate-given image is created (or a ready-made coordinate-given image is prepared) and provisional breaklines BLt are set, a range including the provisional breakline BLt is cut out of the coordinate-given image to extract a partial image ( Step 30). The partial image extraction processing will be described in detail below.

First, a provisional breakline BLt is set on the coordinate-given image. As described above, the coordinate-attached image has three-dimensional coordinates, and of course the provisional breakline BLt also has three-dimensional coordinates. Therefore, the coordinate-attached image can also represent the provisional breakline BLt. be. However, if the three-dimensional coordinate system of the coordinate-added image and the three-dimensional coordinate system of the provisional breakline BLt are different, the provisional breakline BLt is set after converting one of the three-dimensional coordinates into the other coordinate system. do.

2A and 2B are image diagrams for explaining the relationship between the temporary breakline BLt and the partial image PHb, where (a) is an image diagram showing the coordinate-assigned image PHa displaying the temporary breakline BLt, and (b) is the coordinate-assigned image. FIG. 4 is an image diagram showing a partial image PHb extracted from PHa; FIG. 3 is a model diagram showing the area of the partial image PHb set with reference to the provisional breakline BLt. In FIG. 2A, the actual boundary line DL (solid line) and the provisional break line BLt (broken line) are displayed. The position of the provisional break line BLt is slightly shifted. As described above, the accuracy of the breakline set by the conventional method depends on the density of the point group, so the state shown in FIG. 2(a) can occur.

When the provisional breakline BLt is set on the coordinate-given image as shown in FIG. 2(a), an extended area is set with reference to the provisional breakline BLt. Specifically, as shown in FIG. 3, an extension area is set by extending an extension width WD around the provisional break line BLt. Then, an image corresponding to this extended area is cut out from the coordinate assigned image PHa to extract a partial image PHb shown in FIG. 2(b). In setting the expansion area, the setting is not limited to the method shown in FIG. 3, and can be set by various methods such as making the right and left of the provisional break line BLt asymmetric, or using a shape including an ellipse or a polygon. . Of course, the extension width WD shown in FIG. 3 can also be designed with arbitrary dimensions (or the number of pixels) according to the required specifications. If the breakline is composed of a plurality of line segments (that is, polygonal lines), it is preferable to set an extension region for each line segment and extract the partial image PHb.

When the partial image PHb can be extracted, the partial image PHb is displayed on display means such as a display (Step 41). At this time, only the partial image PHb may be displayed, or the partial image PHb may be superimposed with the provisional breakline BLt. Then, while confirming the partial image PHb (or the partial image PHb and the temporary breakline BLt) displayed on the display means, the operator inputs the breakline to be originally set as the fixed breakline BLc (Step 42). At this time, the operator only has to look at the range of the partial image PHb based on the provisional break line BLt, and can clearly confirm the boundary line DL by looking at the partial image PHb as shown in FIG. 2(b). Therefore, it is possible to easily input the defined break line BLc. In addition, in order to input the fixed break line BLc by operator operation, a method of tracing the image using an input means such as a mouse or a keyboard, or specifying a feature point (end point or change point) of the boundary line DL on the image can be performed. Various methods conventionally used, such as a (clicking) method, can be employed.

When the defined breakline BLc can be set, the three-dimensional coordinates of the points forming this defined breakline BLc (hereinafter referred to as "breakline composing points") are assigned to the orientation elements of the coordinate-given image PHa (that is, the partial image PHb). (Step 50). At this time, it is possible to extract characteristic points such as end points and change points from the defined break line BLc and use them as break line composing points. It is also possible to calculate a general formula in a dimensional coordinate system, extract points on the linear formula at predetermined intervals, and use them as breakline composing points.

When the breakline composing points are extracted and their three-dimensional coordinates are calculated, these breakline composing points are compared with the three-dimensional point cloud data while referring to the orientation elements of the coordinate-given image. This three-dimensional point cloud data is three-dimensional point cloud data in which provisional breaklines BLt are set. As a result of comparing the breakline point cloud data with the 3D point cloud data, if measurement point data that is the same as or similar to the breakline point cloud data (within a threshold distance) is detected from the 3D point cloud data, this measurement point It is recorded in the data that the point constitutes a breakline (Step 60). On the other hand, if measurement point data identical or similar to the breakline composing point is not detected from the 3D point cloud data, the breakline composing point should be newly added as data of the 3D point cloud data (Step 60).

When measurement points forming breaklines are extracted from the 3D point cloud data and new breakline composing points are added to the 3D point cloud data, breaklines are set from the 3D point cloud data, and 3D A model is created (Step 70). Since the breaklines set here are based on the defined breaklines BLc, their positions are accurate, and therefore the three-dimensional model created based on these breaklines also appropriately represents the measurement object (for example, a feature). It is (reproduced).

(Automatically generated breakline extraction program)
An automatically generated breakline extraction program will be described with reference to FIG. FIG. 4 is a flowchart showing the main processing flow of the automatically generated breakline extraction program. As with the input-type breakline extraction program, a coordinate-assigned image is first created (Step 10), provisional breaklines BLt are set from the three-dimensional point cloud data by a conventional technique (Step 20), and a partial image based on the provisional breakline BLt is extracted (Step 30). Even in this case, when the coordinate-added image is prepared in advance, the process of creating the coordinate-added image (Step 10) can be omitted, that is, the process is not essential for the automatically generated breakline extraction program.

When the partial image PHb can be extracted, a definite breakline BLc is generated by a conventionally used image processing technique (Step 43). Specifically, based on the pixel values assigned to the pixels forming the partial image PHb, that is, the pixel value difference between adjacent pixels, the pixel value gradient (a value obtained by dividing the pixel value difference by the inter-pixel distance), and the like are calculated. Using this, a clear boundary (edge) is extracted, and this is defined as a definite breakline BLc. As pixel values, values determined by color models such as RGB, CMYK (Cyan, Magenta, Yellow, Keycolor), NCS, and Ostwald color system can be used, and grayscale can also be used.

Normally, when edges are extracted by image processing technology, a relatively large (wide range) image is targeted, so processing takes a long time, and in some cases, it may not be possible (or even impossible) to extract edges accurately. However, the automatic generation type breakline extraction program only needs to search the range of the partial image PHb, so that the processing time is short and the defined breakline BLc can be extracted relatively accurately. Furthermore, if a shape representing the provisional breakline BLt (for example, a linear expression in a three-dimensional coordinate system) is calculated as a preprocessing, the final breakline BLc can be extracted by relying on the shape. and can be extracted more accurately, which is extremely suitable. In image processing such as the RANSAC (Random Sampling Consensus) method and Hough transform, which have been widely used in the past, the judgment criterion is whether or not the largest number of feature points (such as edges) exist on the extraction result (such as the extracted straight line). and On the other hand, in the present invention, the final breakline BLc is extracted by comparing the shape of the provisional breakline BLt with the partial image PHb based on the provisional breakline BLt. Therefore, in the conventional method such as the RANSAC method, even if the shape is significantly different, if the color gradient (edge) is clear, it will be extracted as a result. In addition, since it is detected according to the shape of the provisional breakline BLt, it is possible to extract the definite breakline BLc with higher precision than the conventional method.

When the definite breakline BLc can be generated, the three-dimensional coordinates of the breakline composing points are calculated (Step 50) in the same manner as in the input-type breakline extraction program, and the measurement points constituting the breakline are extracted from the three-dimensional point cloud data, New breakline composing points are added to the three-dimensional point cloud data (Step 60). Then, after setting breaklines from the 3D point group data, a 3D model is created (Step 70).

2. Breakline Extraction System Next, the breakline extraction system of the present invention will be described with reference to the drawings. The breakline extraction system of the present invention is a system that executes the breakline extraction program described so far. Only specific content will be described. That is, the contents not described here are the same as those described in "1. Breakline extraction program". Further, the breakline extraction system of the present invention, like the breakline extraction program of the present invention, is an "input-type breakline extraction system" that sets a definite breakline BLc by an operator's operation, and automatically generates a definite breakline BLc from a partial image. It can be broadly classified into “automatically generated breakline extraction system”. The input type breakline extraction system and the automatic generation type breakline extraction system will be described below in order.

(Input-type breakline extraction system)
The input-type breakline extraction system 100a will be described with reference to FIG. FIG. 5 is a block diagram showing the main configuration of the input-type breakline extraction system 100a. As shown in this figure, the input-type breakline extraction system 100a includes provisional breakline setting means 101, partial image extraction means 102, display means 103, fixed breakline input means 104, and component point coordinate calculation means 105. Furthermore, it is also possible to include three-dimensional point cloud data storage means 106, coordinate-added image storage means 107, component point extraction/addition means 108, and three-dimensional model creation means 109. FIG.

Each means shown in FIG. 5 executes a program describing the contents to be performed by each means, and can be manufactured as a dedicated one, or a general-purpose computer device can be used. This computer device can be configured by a personal computer (PC), a tablet terminal such as an iPad (registered trademark), a smart phone, a PDA (Personal Data Assistance), or the like. A computer device includes a processor such as a CPU, memory such as a ROM and a RAM, and may further include input means such as a mouse and a keyboard, and a display. In the case of a general PC, input is performed using a device such as a mouse or keyboard, but in tablet terminals and smartphones, input is often performed using a touch panel (tap, pinch in/out, slide, etc.).

Temporary breakline setting means 101 shown in FIG. 5 is means for executing temporary breakline setting processing (Step 20 shown in FIG. 1), and partial image extraction means 102 executes partial image extraction processing (Step 30 shown in FIG. 1). The display means 103 is means for displaying a partial image such as a display, the determined breakline input means 104 is means for inputting a determined breakline such as a mouse or keyboard, and the constituent point coordinate calculation means 105 is means for calculating the constituent point coordinates. It is means for executing the calculation process (Step 50 shown in FIG. 1). The three-dimensional point cloud data storage means 106 is means for storing three-dimensional point cloud data, the coordinate-given image storage means 107 is means for storing coordinate-given images, and the constituent point extraction/addition means 108 is means for storing three-dimensional point data. It is means for executing the process of extracting and adding constituent points to the group data storage means 106 (Step 60 shown in FIG. 1), and the three-dimensional model creation means 109 executes the three-dimensional model creation process (Step 70 shown in FIG. 1). It is a means. The three-dimensional point cloud data storage means 106 and the coordinate-added image storage means 107 can be constructed in, for example, a database server. may The three-dimensional point cloud data storage means 106 and the coordinate-added image storage means 107 can be placed in a local network, or can of course be a cloud server for storage via the Internet.

(Automatically generated breakline extraction system)
The automatically generated breakline extraction system 100b will be described with reference to FIG. FIG. 6 is a block diagram showing the main configuration of the automatically generated breakline extraction system 100b. As shown in this figure, the automatic generation type breakline extraction system 100b includes provisional breakline setting means 101, partial image extraction means 102, fixed breakline generation means 110, and component point coordinate calculation means 105. Means 103 , three-dimensional point cloud data storage means 106 , coordinate-added image storage means 107 , component point extraction/addition means 108 , and three-dimensional model creation means 109 can also be included.

Each means shown in FIG. 6 executes a program in which the contents of each means are described. Computer equipment may also be used.

Temporary breakline setting means 101 shown in FIG. 6 is means for executing temporary breakline setting processing (Step 20 shown in FIG. 4), and partial image extraction means 102 executes partial image extraction processing (Step 30 shown in FIG. 4). The defined breakline generation means 110 is means for executing the defined breakline generation process (Step 43 shown in FIG. 4), and the constituent point coordinate calculation means 105 is means for executing the constituent point coordinate calculation process (Step 50 shown in FIG. 4). is a means of executing The three-dimensional point cloud data storage means 106 is means for storing three-dimensional point cloud data, the coordinate-given image storage means 107 is means for storing coordinate-given images, and the constituent point extraction/addition means 108 is means for storing three-dimensional point data. 3D model creation means 109 executes the 3D model creation process (Step 70 shown in FIG. 4). It is a means. The three-dimensional point cloud data storage means 106 and the coordinate-added image storage means 107 in this case can also be constructed in, for example, a database server, as in the input-type breakline extraction system 100a, and may be constructed in different database servers. However, one database server may also be used for construction. The three-dimensional point cloud data storage means 106 and the coordinate-added image storage means 107 can be placed in a local network, or can of course be a cloud server for storage via the Internet.

The breakline extraction program and breakline extraction system of the present invention can be used to create three-dimensional models of civil engineering structures such as bridges and retaining walls, and artificial structures such as architectural structures such as housing complexes and office buildings. It can also be used to create 3D models of natural terrain. According to the present invention, it is possible to create an accurate three-dimensional model of natural topography, and as a result, by comparing the three-dimensional models of two periods, it is possible to appropriately grasp topographical changes, and as a result, effective disaster countermeasures can be implemented. Considering that it is possible to implement the above, the present invention can be said to be an invention that can be expected not only to be industrially applicable but also to make a great contribution to society.

100a Input type breakline extraction system 100b Automatic generation type breakline extraction system 101 Temporary breakline setting means (of breakline extraction system) 102 Partial image extraction means (of breakline extraction system) 103 Display means (of breakline extraction system) 104 Determined breakline input means (of breakline extraction system) 105 Constituent point coordinate calculation means (of breakline extraction system) 106 Three-dimensional point group data storage means (of breakline extraction system) 107 Coordinates (of breakline extraction system) Applied image storage means 108 Constituent point extraction additional means (of breakline extraction system) 109 Three-dimensional model creation means (of breakline extraction system) 110 Fixed breakline generation means (of breakline extraction system) BLt Temporary breakline DL Boundary line PHa Coordinate-added image PHb Partial image WD Extended width

Claims (7)

In a program that causes a computer to execute the function of extracting breaklines from 3D point cloud data,
provisional breakline setting processing for setting the provisional breakline on a coordinate-added image associated with the three-dimensional coordinates based on the coordinates of the provisional breakline obtained from the three-dimensional point cloud data;
a partial image extraction process for extracting a partial image set based on the temporary breakline from the coordinate-given image;
a partial image output process for outputting the partial image extracted by the partial image extraction process to display means;
Constructing point coordinate calculation processing for obtaining the coordinates of the breakline composing points constituting the defined breakline based on the defined breakline set on the partial image by the operator while confirming the partial image output to the display means. When,
A breakline extraction program characterized by having a function of causing the computer to execute The partial image output processing displays the temporary breakline on the partial image.
The breakline extracting program according to claim 1, characterized by: In a program that causes a computer to execute the function of extracting breaklines from 3D point cloud data,
provisional breakline setting processing for setting the provisional breakline on a coordinate-added image associated with the three-dimensional coordinates based on the coordinates of the provisional breakline obtained from the three-dimensional point cloud data;
a partial image extraction process for extracting a partial image set based on the temporary breakline from the coordinate-given image;
Generating a defined breakline based on the pixel value of each pixel of the partial image extracted by the partial image extraction process, and calculating the coordinates of the breakline composing points constituting the defined breakline. processing;
A breakline extraction program characterized by having a function of causing the computer to execute breakline composing point extraction processing for extracting points corresponding to the breakline composing points from the three-dimensional point cloud data based on the coordinates of the breakline composing points obtained in the composing point coordinate calculation processing,
4. The breakline extracting program according to any one of claims 1 to 3, further comprising a function to be executed by said computer. a breakline point addition process for adding the breakline points to which the coordinates obtained in the point coordinate calculation process are assigned to the three-dimensional point cloud data,
5. The breakline extracting program according to claim 1, further comprising a function to be executed by said computer. In a system that extracts breaklines from 3D point cloud data,
provisional breakline setting means for setting the provisional breakline on the coordinate-added image associated with the three-dimensional coordinates based on the coordinates of the provisional breakline obtained from the three-dimensional point cloud data;
partial image extracting means for extracting a partial image set based on the temporary breakline from the coordinate-given image;
display means for displaying the partial image extracted by the partial image extraction means ;
defined breakline setting means for allowing an operator to set a defined breakline on the partial image while confirming the partial image output to the display means;
composing point coordinate calculating means for obtaining the coordinates of the breakline composing points constituting the definite breakline set by the definite breakline setting means;
A breakline extraction system comprising: In a system that extracts breaklines from 3D point cloud data,
provisional breakline setting means for setting the provisional breakline on the coordinate-added image associated with the three-dimensional coordinates based on the coordinates of the provisional breakline obtained from the three-dimensional point cloud data;
partial image extracting means for extracting a partial image set based on the temporary breakline from the coordinate-given image;
definite breakline generating means for generating a definite breakline based on the pixel value of each pixel of the partial image extracted by the partial image extracting means ;
composing point coordinate calculating means for calculating the coordinates of the breakline composing points forming the definite breakline generated by the definite breakline generating means;
A breakline extraction system comprising:

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