JPH09138866A - Method and device for processing information and computer controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To unify plural pieces of hierarchical shape data with the plural different polygon patches of different precision in shape expression. SOLUTION: Shape data of each prescribed hierarchy in plural pieces of hierarchical three-dimensional shape data to be unified is positioned to be in the positional relation of a unified state. In addition, two pieces of shape data is selected from shape data after positioning to set a cut surface being the boundary surface of the unification of the both (step S301 to 306). Next each of the two pieces of shape data to be unified at the cut surface is divided to form a clearance area between both parts to generate a triangle patch in the clearance area to unify the two pieces of data. This process is executed to all of the plural pieces of hierarchical three-dimensional shape data to be the object of unification and the unification is executed to all the hierarchies through the use of the contents of positioning and the set cut surface (step S307 to S311).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an information processing apparatus and method for integrating a plurality of hierarchical geometric shape data by polygon patches into one hierarchical geometric data.

[0002]

2. Description of the Related Art Conventionally, by using a method such as lightwave distance measurement or triangulation using a stereo image [Reference: Optoelectronics (1985), No. 12, pp59-, Seiji Iguchi et al.] A range image input device for measuring a three-dimensional shape has been developed. Then, it has been proposed to create a three-dimensional geometrical shape model that approximates the surface shape of a three-dimensional object using minute plane patches based on this measurement data (for example, Japanese Patent Laid-Open No. 07-152928).

Generally, it is possible to express irregularities of a three-dimensional shape more accurately by using more planar patches having a smaller area. However, when the three-dimensional shape data is processed by a computer, the patch is used. The smaller the number, the smaller the processing amount. Therefore, a plurality of three-dimensional shape data having different precisions of shape representation are prepared, and these shape data are switched and used according to the processing capacity of the computer and the operating condition of the application. Now, the level of precision of shape representation is defined as "hierarchy", and the shape data of a plurality of hierarchies are collectively referred to as "hierarchical three-dimensional shape data".
A method for creating such hierarchical three-dimensional shape data has also been proposed (for example, Japanese Patent Laid-Open No. 07-085307).

[0004]

By the way, it is obvious that the efficiency of generating the three-dimensional shape data can be improved by making it possible to generate new three-dimensional shape data by integrating a plurality of three-dimensional shape data. However, regarding the hierarchical three-dimensional shape data as described above, there is currently no method for integrating a plurality of three-dimensional shape data into one.

Further, when integrating shape data having an opening, unless the shape data to be integrated is properly arranged, there is a possibility that the shape data after integration will have a missing portion due to the influence of the opening. In particular, in the above hierarchical three-dimensional shape data, the shape data of each hierarchy changes subtly,
There may be cases where the effect of the opening may or may not occur depending on the hierarchy.

The present invention has been made in view of the above-mentioned state of the art, and a plurality of hierarchical shape data having a plurality of different polygon patches having different precisions of shape representation are stored as one.
It is an object of the present invention to provide an information processing method and device that can be integrated into one and can enhance the functionality of a shape model used in CAD or virtual reality.

Another object of the present invention is to make it possible to automatically judge whether or not a missing portion due to an opening will occur when integrating shape data.

Another object of the present invention is to provide a method for integrating shape data even when the influence of an opening occurs.
The point is to enable integration so as to prevent the occurrence of the lacking part.

[0009]

An information processing apparatus according to the present invention for achieving the above object has the following configuration.
That is, an information processing apparatus for processing a plurality of hierarchical three-dimensional shape data, and moving means for moving the shape data of a predetermined hierarchy of each of the plurality of hierarchical three-dimensional shape data so as to have a positional relationship in an integrated state. And a setting means for selecting two shape data from the shape data after the movement by the moving means and setting a cutting plane which is a boundary surface of integration of the two.
A dividing unit that divides each of the two shape data by the cut surface and forms a gap area on both sides of the cut surface between parts used for integrating the divided shape data, and a polygon patch in the gap area. And then 2
Integration means for integrating two shape data, first control means for integrating the shape data by the integration means with respect to all of the plurality of hierarchical three-dimensional shape data to be integrated, and movement result by the moving means And second control means for performing integration by the first control means on all layers of the plurality of hierarchical three-dimensional shape data by using the cutting plane.

Further, preferably, the polygon patch is a triangular patch.

Further, preferably, the dividing means divides the space into two regions with the cutting plane as a boundary, and erases a side of a polygon patch existing in both spaces to form the gap region. .

Further, preferably, the second control means is
The setting unit, the dividing unit, the integrating unit, and the first control unit are repeated for all layers of the plurality of hierarchical three-dimensional shape data. This is because the cutting plane can be set for each layer.

Further, preferably, the integration means performs by projecting a vertex of the two shape data adjacent to the cutting plane onto a two-dimensional plane to generate a Delaunay network.

An information processing apparatus having another configuration of the present invention that achieves the above object is an information processing apparatus that processes a plurality of three-dimensional shape data, and the three-dimensional shape data to be integrated is in an integrated state. A movement means for moving to have a positional relationship,
With respect to two pieces of the shape data after the movement by the moving means, a setting means for setting a cutting surface which is a boundary surface of integration of the two and the two pieces of the shape data are divided by the cutting surface, and the divided shapes are divided. Dividing means for forming gap regions on both sides of the cut surface between the partial shapes used for data integration, and determination for determining whether the cut surface intersects at least one opening of the two shape data. Means for integrating the two shape data by generating a polygon patch in the gap area when it is determined that the cut surface does not intersect the opening of the two shape data. And a first control unit that causes the shape data to be integrated by all of the plurality of hierarchical three-dimensional shape data to be integrated.

An information processing apparatus having another configuration of the present invention which achieves the above object is an information processing apparatus for processing a plurality of three-dimensional shape data, and the three-dimensional shape data to be integrated is in an integrated state. A movement means for moving to have a positional relationship,
With respect to two pieces of the shape data after the movement by the moving means, a setting means for setting a cutting surface which is a boundary surface of integration of the two and the two pieces of the shape data are divided by the cutting surface, and the divided shapes are divided. Dividing means for forming a gap area on both sides of the cut surface between the partial shapes used for data integration, an apex for forming the gap area of the partial shape used for integration of shape data, and an opening included in the shape data. Of the vertices included in the partial shape and the vertices extracted by the extracting means are used to generate a polygon patch in the gap region,
Integration means for integrating two shape data.

[0016]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

<First Embodiment> FIG. 1 is a block diagram showing the basic configuration of a hierarchical three-dimensional shape data integration device according to the first embodiment. In the figure, 101 is a storage device for storing processing procedures, and 102 is a storage device for storing information and input / output data necessary for processing. 1
Reference numeral 03 denotes a CPU, which performs various processes according to the processing procedure stored in the storage device 101. A display unit 104 displays information required for various processes and three-dimensional shape data under the control of the CPU 103. Reference numeral 105 denotes a valuator, and an operator inputs an instruction for parallel movement or rotation of shape data. A keyboard 106 is used to input data and instructions from the user. A mouse 107 is used to input various instructions on the display unit 104. An interface 108 exchanges data with an external device.

FIG. 2 is a diagram showing the data structure of the hierarchical shape data file stored in the storage device 102, that is, the hierarchical triangular polygon data. In FIG.
1 is data representing the shape of the target 1, and the identifier 201
(ID0), vertex coordinates 202, connection information 212 between vertices
Is described. Reference numeral 210 is data representing the shape of the layer 1, which is one of a plurality of layers, and describes connection information (polygon data 205) between a pair of vertices.

Reference numeral 208 denotes a delimiter, which represents a delimiter of each target object information. This delimiter 208 can be used to store polygon data of a plurality of target objects. 202 is vertex data, which is data in which the identifier IDP is given to the three-dimensional coordinates (X, Y, Z) of all the vertices included in the target. Reference numeral 203 denotes a delimiter, which represents a partition of the vertex coordinates 202 and the connection information 212 between the vertices. Reference numeral 205 represents polygon data connection information for one layer, and a set of three vertex identifiers forms one set.
Represents three triangles. Reference numeral 206 denotes a delimiter, which represents a boundary between the connection information 212 and the shooting condition 207.
Reference numeral 208 is a code indicating the end of the shape data, and 209 is a code indicating the end of the shape data file.

Next, the procedure for integrating the three-dimensional shape data using the shape data stored in the storage device 102 will be described with reference to the flowchart of FIG.

First, in step S301, the storage device 1
A plurality of hierarchical shape data are read from 02. In the subsequent integration processing, some or all of the plurality of hierarchical shape data will be integrated. When the storage of the hierarchical shape data is completed, the steps S302 to S
Proceed to 303.

In step S303, subsequent steps S
One of a plurality of layers for the processing of 304 to S306
One layer is selected, and the shape data of the layer is displayed on the display unit 104.
To be displayed. As a result, the three-dimensional shape is displayed on the display unit 104 in accordance with the data of the selected hierarchy of the plurality of hierarchical shape data in step S301.

If the shape data read next is composed of a unique coordinate system, the keyboard 106 and the keyboard 106 are displayed while looking at the shape data of the hierarchy selected in step S303 displayed on the display unit 104. Valuator 1
The operator operates 05 to match the positional relationship (parallel movement and rotation) between the individual coordinate systems, and performs alignment so that all data can be expressed in one world coordinate system (step S304). ). That is, the two shape images to be integrated are moved in parallel or rotationally to set the positional relationship between them.

By the above processing, the shape data to be integrated is represented in one world coordinate system W. next,
In step S305, two pieces of shape data having overlapping portions are selected, and in step S306, a cutting plane is set in the overlapping portion of the shape data to be integrated. Also in this step, the operator operates the keyboard 106 and the valuator 105 while observing each shape displayed on the display device to set the cut surface at an appropriate position.

Next, one layer is selected from the plurality of layers of the shape data stored in step S301. The layer selected in this step is set to L (step S3)
07). Layer L on the cutting plane set in step S306
Each shape data is divided into two parts, and the partial shape data to be left in the integrated data is selected (step S308). As a result, two pieces of partial shape data sandwiching the cut surface are selected. In step S309, step S
The two partial shape data divided at 308 are integrated.
As a result of this integration, the vertex data and polygon data shown in FIG. 2 are added.

Steps S307 to S3 described above
The processing for one layer of 09 is repeated until the data for all layers is processed (step S310).

Further, the shape integration by the above processing is repeated until all the shapes to be integrated are integrated (step S311). Here, since the alignment performed in step S304 is reflected in the vertex data 202 of each shape data, it is not necessary to perform the alignment as in step S304 again for other layers. Finally step S31
At 2, the shape data of the target object thus integrated is output to the shape data file.

Next, the shape division processing by the cut surface in step S308 will be described. FIG. 4 shows the first embodiment.
5 is a flowchart showing a procedure of shape division processing in FIG. First, in step S401, the set of vertices included in the shape data is divided into two parts with the cutting plane as a boundary. For example, if the three-dimensional coordinates of the vertex are (x1, y1, z
1), if the equation of the cutting plane is ax + by + cz + d = 0, then a · x1 + b · y1 + c · z1 + d ≦ 0 and a · x1 +
It is divided into two parts of b · y1 + c · z1 + d <0.
As a result, the set of vertices is divided into two subsets A and B.

Next, in step S402, one side P1P2 connecting the vertices of the polygon data of the shape data is selected. Then, in step S403, both end points P
1. Determine whether P2 belongs to the subset A or B described above.

Here, when both end points of an edge are vertices belonging to different subsets A and B, that is, ((P1εA) ∧ (P2εB)) ∨ ((P1εB) ∧ (P2 ΕA)) ... (1) is true, the process proceeds to step S404, and the side P1P2 is deleted from the polygon data. This is performed for all sides of the polygon data (step S405). As a result, polygon data DA, DB composed of vertices belonging to either one of the vertex subsets A or B is generated. Of these, one polygon data to be left as the data after integration is selected in step S406. In this step S406, the operator interactively selects the shapes of the two polygon data DA, DB displayed on the display unit 104 while observing the shapes.

Next, the shape integration process shown in step S309 will be described. FIG. 5 is a flowchart showing the procedure of the shape integration process in the first embodiment. The process shown in FIG. 5 is executed for the two partial shapes to be integrated that are selected in step S308, and the integration of both shapes is achieved.

First, for each of the two partial shapes, the vertex that was the end point of the side deleted in step 404 is selected (step S501). Next, in step S502, the selected point group is converted into one two-dimensional coordinate system. In the first embodiment, one polygon patch D1
To the coordinate system of the original distance image that generated
Project the point cloud selected from 1 and another polygon patch D2. Step S for polygon patch D1
The transformation matrix for registration in 304 is R1 (4 × 4 matrix), the original three-dimensional coordinate system (coordinates recorded in the shape data file) in the polygon patch D1 and the basis of this polygon patch. If the conversion matrix of the distance image with the two-dimensional coordinate system is C1 (3 × 4 matrix), the point (x, y, z) represented by the world coordinate system W is calculated by the following equation (2). Converted to two-dimensional coordinates (I, J).

[0033]

(Equation 1)

The conversion parameter C1 required for projection is
It is recorded in the shooting conditions of the shape data describing the polygon patch D1. Next, in step S503, the Delaunay network is generated on the two-dimensional coordinates using the projected point group [Reference: Information Processing (1989), Vol. 30, No. 9, pp. 1067-10].
75, Kokichi Sugihara]. Of the Delaunay network, polygon patch D
An edge connecting the vertex of 1 and the vertex of D2 is selected, and this connection relation is added to the polygon patches D1 and D2 (step S504). As a result, the gap existing between the two shapes sandwiching the cut surface is connected by the polygon patch, and both data can be integrated. An example in which the present embodiment is applied to hierarchical shape data having three layers is shown in FIG.
A, FIG. 6B, and FIG. 6C are shown. That is, 3 in FIGS. 6A to 6C.
FIG. 6B shows an integration result when shape data is stored in hierarchical layers, FIG. 6A being the highest hierarchical layer, and FIG.
6C and the shape data of the lower hierarchy.

As described above, according to the first embodiment, the integration of a plurality of shape data is performed on the data of all layers, and the integration of hierarchical three-dimensional shape data becomes possible.

<Embodiment 2> In the first embodiment, the position of the cutting plane is the same for all the layers, but the position of the cutting plane can be changed for each layer. FIG. 7 is a flowchart showing the flow of processing of the method for integrating hierarchical shape data according to the second embodiment.

Steps S701 and S70 of FIG.
2, step S703, step S704, step S
705, step S707, step S706, step S708, step S709, step S710, step S711, and step S712 are step S301, step S302, and step S30 of FIG. 3, respectively.
3, step S304, step S305, step S
The process is the same as 306, step S307, step S308, step S309, step S310, step S311, and step S312.

As described above, since the setting of the cutting plane is executed in the loop of the shape integration process for each layer, it is possible to specify an appropriate cutting plane for each layer.

In the first and second embodiments, the shape data of all layers is stored at the beginning of the entire process, but a single layer data is sequentially stored from the layered shape data in which a plurality of layers are described. However, it is also possible to perform shape data integration processing for each layer.

As described above, according to each of the above-mentioned embodiments, a plurality of hierarchical shape data having a plurality of different polygon patches having different precisions of shape representation are integrated into one,
It is possible to generate hierarchical shape data without a lacking part of the target object. Therefore, it is possible to enhance the functionality of the shape model used in CAD and virtual reality.

<Third Embodiment> According to the first and second embodiments, a plurality of three-dimensional geometric data are divided by a certain cutting plane, and the divided three-dimensional geometric shapes are connected to each other. Are integrated into one.

In this three-dimensional shape data integration method, the operator sets cutting planes at the overlapping portions of the two shape models, and the vertices in the gap area between the geometric shapes divided and separated by the cutting planes ( After extracting (adjacent points of the cut surface), geometric shapes are connected by creating a new triangular patch having the adjacent points as vertices. At this time, when the side connecting the vertices of the triangular patch intersects the cut surface, one of the end points of the side is set as the adjacent point of the cut surface. Therefore, in order to generate one piece of shape data having no missing portion from the two pieces of shape data to be integrated, it is necessary to set a cut surface at a portion where the three-dimensional shapes to be integrated overlap.

On the other hand, in the conventional range image input method, the light is two-dimensionally scanned by using the rotation of the mirror, or the image is input by using the fixed camera. It is impossible to perform the measurement, and the three-dimensional geometric shape created from the measurement result always has an opening. FIG. 8 is a diagram showing an opening having a three-dimensional geometric shape.

Therefore, according to the first and second embodiments, when an attempt is made to integrate the above-described shape having the opening and the shape filling the opening, the following two problems occur in extracting the adjacent points of the cut surface. .

(1) When the operator erroneously sets the cut surface and the opening to intersect: Since the operator does not detect whether the cut surface and the opening intersect, the operator sets the cut surface. I do not know that is unfair.

(2) When the operator intentionally intersects the cut surface with the opening: Since the vertices of the opening are not used as the vertices of the triangle patch connecting the two geometric shapes, the triangle patch is Some parts are not created. As a result, there will be gaps in the integrated geometry.

Therefore, in the third embodiment, the operator can know whether or not the position of the cutting plane set for integrating a plurality of shape data is appropriate, and if the position of the cutting plane is inappropriate. Even in this case, the polygon patch data independently generated based on the distance image data input from a plurality of directions can be integrated into one to generate the geometrical shape data having no missing portion of the target object.

The outline of the processing procedure according to the third embodiment will be described below.

In the apparatus for integrating three-dimensional shape data according to the third embodiment, triangular polygon data representing the shape of an object generated from plane distance image data is input. The triangular polygon data includes data of vertex coordinates, coordinates of each vertex in the distance image, connection information between the vertices, and shooting conditions (shooting conditions of the distance image that is the basis for creating shape data).

In some cases, the input single geometrical shape data may only represent the shape of a part of the target object. For example, the shape data generated from the distance image input by observing the target object from above does not represent the shape of the bottom surface of the object. Therefore, a plurality of three-dimensional polygon data representing the shape of the target object is input from different directions. Further, the shape data generated from the distance image has an open shell structure, and the end points of the sides of the polygons forming the opening are extracted for later processing.

Here, the shape data to be integrated may be composed of each unique coordinate system. In such a case, the positional relationship (parallel movement and rotation) between the individual coordinate systems is matched, and the alignment is performed so that all data can be expressed in one world coordinate system. In the third embodiment, this work is performed by an interactive operation by the operator.

Next, the cutting plane is set in the world coordinate system by the interactive operation of the operator. Since the two shape data are integrated in the subsequent processing with this cut surface as a boundary, this cut surface is set at a portion where the two shape data to be integrated overlap and do not intersect the opening of each shape data. There must be. If the operator does not set the cutting plane correctly in this work (that is, if the set cutting plane intersects the opening of the geometric shape), a warning is displayed and the cutting plane is set again. Return to. On the other hand, when the cutting plane is set correctly (that is, when the set cutting plane does not intersect the opening of the geometric shape), each shape data is divided into two parts by this cutting plane, and one part is divided. Select. That is, one piece of partial shape data is selected from the two pieces of shape data.

Subsequently, these two partial shape data are integrated. For that purpose, the point data adjacent to the cut surface in one of the partial shape data is converted into the coordinate system (three-dimensional coordinate system) of the other partial shape data. Furthermore, in the latter partial coordinate data, along with the point data adjacent to the cut surface,
Project onto an appropriate image coordinate system (two-dimensional coordinate system). Then, the Delaunay triangulation is generated using the point data projected on this coordinate system. The connection relation of the generated triangular net,
A triangle patch is generated in a region where the triangle patch does not exist, with the cut surface as a connection relation of the original point data in contact with the boundary. The original two shape data are integrated by the individual partial shape data and the generated triangle patch.

Finally, the shape data of the target object thus integrated is output so that it can be used by another application.

The three-dimensional shape integrating apparatus of this embodiment will be described in detail below. The configuration of the three-dimensional shape data integration device according to the third embodiment is similar to that of the first embodiment (FIG. 1), and thus the description thereof is omitted here.

Next, the procedure of integrating the three-dimensional shape data using the shape data stored in the storage device 102 will be described with reference to the flowchart of FIG.

First, in step S801, the storage device 1
A plurality of shape data is read from 02. When the reading of the plurality of shape data is completed, the process proceeds from step S802 to step S803. In step S803, the vertices existing in the opening are extracted for each geometric shape model. Next, in the case where the read shape data is composed of individual independent coordinate systems, the operator operates the keyboard 106 and the valuator 105 while watching each shape data displayed on the display device in step S804. Manipulate the positional relationship between individual coordinate systems (translation and rotation)
The alignment is performed so that all data can be expressed in one world coordinate system. Hereinafter, it is assumed that all the shape data are represented by this one world coordinate system W.

Next, in step S805, two pieces of shape data having overlapping portions are selected, and in step S806, a cut surface is set in the overlapping portions. This step is also performed by the operator operating the keyboard 106 and the valuator 105 while observing each shape displayed on the display device. Further, in step S807, each shape data is divided into two parts on the cut surface, and one of the partial shape data to be left in the integrated data is selected. As a result, two pieces of partial shape data sandwiching the cut surface are selected.

Next, it is verified whether the cut surface set in step S806 intersects the opening of the shape data to be integrated (step S808). If the cut surface does not intersect the opening of the shape data to be integrated, step S81
If 0, the process proceeds to step S811 if they intersect (step S809). When the process proceeds to step S811, a warning that the cutting plane needs to be reset is displayed on the display unit 104, and the process returns to step S806. Then, the cutting plane is reset.

When the process proceeds to step S810, the two partial shape data divided in step S807 are integrated. The shape integration by the above processing is repeated until all the shapes to be integrated are integrated. Finally, step S
At 813, the shape data of the target object thus integrated is output to the shape data file.

Next, the process of extracting the opening end points in step S803 will be described in detail. FIG. 10 is a flowchart showing the procedure of the extraction processing of the opening end points in the third embodiment. That is, the processing shown in FIG. 10 is performed on each shape data input in step S801.

First, in step S901, one of the end points of the opening is extracted. In the third embodiment, when the coordinates of the vertices of the shape data on the distance image are (xd, yd), the vertex having the largest yd among the vertices having the largest xd is selected as one point of the opening end point. To do. Now, this point is P0
(= P2). In step S902, the coordinates of the point P1 are set so that the point P1 becomes the vector P1P2 = (0, -1). Further, in step S903, the variable θmax is set to 360 degrees.

Next, in step S904, another end point of the side of the triangle patch having the end point P2 as an end point is selected. Let this point be Pc. In step S905, the vector P1
The angle θ formed by P2 and the vector PcP2 is determined. The range of the value of θ is 0 degree or more and less than 360 degrees. Next, in step S906, the values of θ and θmax are compared. If θ ≦ θmax, the point Pc is stored as the point P3 in step S907, and the value of θ is substituted for θmax to be updated. θ>
If θmax, the process returns to step S904. The processing from step S904 to step S907 is performed for all the vertices connected to the point P2 (step S90).
8).

When the processing is completed for all Pc, the process proceeds to step S909, and the point P3 is registered as the opening end point. If the point P3 is the same as the point P0, the extraction processing of the opening end point is ended, and if it is not the same point, the process proceeds to step S911 (step S910). Step S
At 911, point P2 is updated as point P1 and point P3 as point P2,
The process returns to step S903. The above-described method of extracting the end points of the opening is performed by the processing of boundary line tracking in image processing [“Introduction to computer image processing”, pp. 83-85, (Soken Shuppan) ".

FIG. 19 is a diagram showing the concept of the extraction processing of the opening end points in this embodiment. The shaded portion on the distance image in FIG. 7B is a region where points where the vertices of the three-dimensional shape shown in FIG. 9A are projected on the distance image are present (hereinafter referred to as region Re). Is. The opening end points (points Q1, Q2, Q3 ...) Are connected on the beads by the sides of the plane patch, and the points on the distance image corresponding to the opening end points are on the contour line of the region Re. According to the method of the present embodiment, the projection end points of the patch model existing on the contour line are traced in the order of Q1 ′ → Q2 ′ → Q3 ′ → ..., thereby the opening end points of Q1 → Q2 → Q3 → ... Find in order.

In step S901, an appropriate one point (point Q1 in the three-dimensional shape shown in (A)) to be the starting point of extraction is first obtained. In the method of the present embodiment, the coordinates projected on the range image with respect to the vertices on the patch model are checked and X
Point Q1 having the largest Y coordinate among the points having the largest coordinates
(The projection point is Q1 '). Since the point Q1 ′ is on the contour line of the area Re, the point Q1 is one of the end points of the opening.

The vertex P (Xv, Y on the three-dimensional shape
v, Zv) projected onto the range image at point P '(I, J)
Using the transformation matrix C from the world coordinate system to the range image,
It is expressed as the following formula.

[0068]

(Equation 2)

Alternatively, there is a method of adding coordinate information on the distance image to the vertex data of the polygon data shown in FIG. Generally, since a three-dimensional shape patch model is created from a distance image, the coordinates of points on the distance image corresponding to each vertex are known. Therefore, the vertex data is stored in a format such as (IDp, X, Y, Z, I, J). In this case, since it is not necessary to calculate the coordinates on the distance image by the above-described calculation formula, the processing time related to the extraction processing of the opening end points can be shortened.

The shape division processing shown in step S807 is executed in accordance with the processing flow shown in FIG. 5 for each of the two pieces of shape data. The processing content is the same as the processing described in the flowchart of FIG. 4, and will be omitted here to avoid duplication of description.

Next, the processing for verifying the position of the cutting plane shown in step S808 will be further described. FIG. 11 is a flow chart showing the procedure of the processing for verifying the cut surface position according to the third embodiment. The process shown in FIG. 11 is executed for each of the two partial shapes to be integrated selected in step S807.

First, one vertex is selected from the set of vertices of the opening extracted in step S803 (step S).
1001). The vertex selected in this process is P0. Next, one of the vertices of the triangular patch forming the partial shape is selected (step S1002). The vertex selected in this process is Pd. Next, in step S1003, it is determined whether P0 and Pd are the same point. If it is determined in this step that they are the same point, the result of verification of the cut surface position is set as the cut surface intersecting the opening of the relevant geometric shape (step S1004).

On the other hand, if it is determined in step S1003 that the points are not the same, the process proceeds to step S1005.
In step S1005, it is determined whether the processing has been completed for all the vertexes of the partial shape, and if not completed, the processing returns to step S1002. When the processing is completed for all Pd, the steps from step S1005 to step S1005.
In step 1006, it is determined whether the processing has been completed for the vertices of all openings. If the processing has not been completed for all the vertices of the opening, the process returns to step S1001. When the above processing is completed for the vertices of all openings, the process advances to step S1007, and the result of verification of the cutting plane position is that the cutting plane is set not to intersect the geometrical opening.

Next, the shape integration process of step S810 is executed in the process flow shown in FIG. 5 for the two partial shapes to be integrated selected in step S807. The processing of FIG. 5 is the same as that described in the first embodiment, and thus the description thereof is omitted here.

As described above, according to the third embodiment,
It becomes possible for the operator to know whether the position of the cutting plane set to integrate a plurality of shape data is appropriate.

<Fourth Embodiment> The fourth embodiment is different from the third embodiment in the processing method of verifying the cutting surface position. The processing for verifying the position of the cutting plane in the present embodiment is executed in accordance with the flow of processing shown in FIG. 12 for each piece of shape data to be integrated. FIG. 12 is a flow chart showing the procedure of the cut surface verification processing in the fourth embodiment.

First, a subset L to which polygon data to be left as integrated data selected by the operator in step 406 (FIG. 4) of the shape division process (step S807) belongs.
(Either A or B) is calculated (step S110)
1). Next, in step S1102, one point P1 is selected from the set of vertices of the opening of the relevant polygon data. Further, in step S1103, it is determined whether the point P1 belongs to the subset L. When it is determined that the cut surface belongs, it is set that the cut surface intersects the opening of the geometric shape as a verification result of the cut surface position (step S110).
4).

On the other hand, when it is determined that the point P1 does not belong to the subset L, it is determined in step S1105 whether the processing has been completed for all the vertices of the opening. If it is determined that the processing is completed, the process proceeds to step S1106,
If not completed, the process returns to step S1102. When the process proceeds to step S1106, the verification result of the cutting plane position sets that the cutting plane does not intersect the opening of the geometric shape.

<Fifth Embodiment> In the third and fourth embodiments, when the setting of the cut surface position is inappropriate, that is, when the cut surface and the opening of the shape data to be integrated intersect, the shape data is integrated. No processing is done.

However, when the shape of the shape model to be integrated is smooth in the vicinity of the cut surface, or when the cut surface is near the opening of the shape data to be integrated, the vertex of the opening is apex. Can be considered as vertices adjacent to the cut plane and used to connect the shape data by triangular patches. In the fifth embodiment, a case will be described in which the shape data is integrated even when the cut surface and the opening of the shape data intersect.

FIG. 13 is a flowchart of the three-dimensional shape data integration process of this embodiment. Step S1201, Step S1202, Step S1203, Step S120
4, step S1205, step S1206, step S1207, step S1209, step S121
0 is step S801, step S802, step S803, step S804, step S80, respectively.
5, step S806, step S807, step S
812 and step S813.

That is, the fifth embodiment is different from the third embodiment in that there is no processing (step S809) for verifying the position of the cut surface and deciding whether or not the integration can be executed, and step S1208 is omitted.
It becomes possible to use a part of the vertices of the opening as the vertices of the triangular patch in the shape integration processing in. The shape integration process of the fifth embodiment will be described below. FIG. 14 is a flowchart showing the procedure of the shape integration process of the fifth embodiment.

Steps S1301 and S in FIG.
1304 and step S1305 are the same as step S501, step S503, and step S504 of FIG. 5, respectively. In step S1302, step S803
Of the opening end points extracted in (FIG. 9), step S40
In 6 (FIG. 4), the endpoints included in the subset (A or B) to which the polygon data to be left as the integrated data selected by the operator belong are selected. Step S130
In the processing of 3 or less, the vertices of the shape data selected in step S1301 and step S1302 are used to connect the shape data.

FIG. 15 is a diagram showing a connection example of shape data by the method of the fifth embodiment. In the figure, the integration of the partial shape # 1 and the partial shape # 2 is shown. The right part of the opening of the partial shape # 1 and the opening of the partial shape # 2 are deleted by the shape dividing process.

As described above, according to the third and fourth embodiments, it is possible for the operator to know whether the position of the cutting plane set for integrating a plurality of shape data is appropriate. In addition, even if the position of the cut surface is inappropriate,
It becomes possible to integrate polygon patch data generated independently based on the distance image data input from a plurality of directions into one, and generate geometric shape data without a lacking part of the target object.

Further, according to the above-mentioned embodiment, even if the cut surface does not intersect any one of the two shape data at all, the setting position of the cut surface is appropriate without changing the processing contents. It becomes possible for the operator to know. Further, even when the cut surface does not intersect any one of the two shape data at all, the shape data can be integrated without changing the processing content. That is, even when a cut surface is set in a region where two three-dimensional shapes do not overlap, the same effect can be obtained by applying the same algorithm as that of the third to fifth embodiments (the operator can set the cut surface at an appropriate position). You can see if you can get). However, even in such a case, although the shape data can be integrated, from the viewpoint of the accuracy of the shape data obtained as a result of the integration (how faithfully the shape of the target object is reproduced). Cut surface is 2
It is desirable that the three three-dimensional shapes be set in a bulky area.

The object of the present invention achieved by the function of the above apparatus or the function of the method is also achieved by a storage medium (for example, a floppy disk, a CD-ROM, a magneto-optical disk, etc.) in which the program of the above-mentioned embodiment is stored. it can. That is, the storage medium is mounted on the device and the program itself read from the storage medium achieves the novel function of the present invention. Note that the configuration and procedure for causing the CPU 103 to execute the control program provided from these storage media are obvious to those skilled in the art, and therefore description thereof is omitted. The structural features of the program according to the present invention will be described below.

FIG. 16 is a diagram for explaining the structural features of the program according to the present invention. FIG. 16A shows the processing procedure of this program. In FIG.
Reference numeral 1 denotes a moving process, which moves the shape data of a predetermined hierarchy of each of the plurality of hierarchical three-dimensional shape data so as to have an integrated positional relationship. This is a process corresponding to step S304 in the flowchart of FIG. Further, 1602 is a setting process, which selects two shape data from the shape data after the movement by the movement process 1601 and sets a cut surface which is a boundary surface of integration of the two. This is a process corresponding to step S306 in the flowchart of FIG.

Reference numeral 1603 denotes a dividing process, which divides each of the two shape data to be integrated by the cut surface, and forms a gap area on both sides of the cut surface in a part used for integrating the divided shape data. This is a process corresponding to step S308 in the flowchart of FIG. 1
Reference numeral 604 denotes an integration process, which creates a triangular patch in the gap area and integrates the two shape data. This is a process corresponding to step S309 in FIG.

Further, 1605 is the first control processing,
The shape data integration by the integration processing 1604 is executed for all of the plurality of hierarchical three-dimensional shape data to be integrated. This is a process corresponding to step S310 in FIG. Reference numeral 1606 denotes a second control processing, which uses the movement result of the movement processing 1601 and the cutting plane set in the setting processing 1602 to perform the integration by the first control processing 1605 for all the layers of the plurality of hierarchical three-dimensional shape data. . This is a process corresponding to step S311 in FIG. As described in the second embodiment, the setting process 1602 may be performed for each layer.

FIG. 16B is a diagram showing a memory map of a storage medium for storing the program according to the present invention. Movement processing module 1601 ′, setting processing module 1602 ′, division processing module 1603 ′, integrated processing module 1604 ′, first control module 160
5 ′ and the second control module 1606 ′ are respectively the above-mentioned movement processing 1601, setting processing 1602, and division processing 160.
3 is a program module that executes an integration process 1604, a first control process 1605, and a second control process 1606.

FIG. 17 is a diagram for explaining the structural features of another program according to the present invention. FIG. 17A shows the processing procedure of this program. The moving process 1701, the setting process 1702, and the dividing process 1703 are respectively the moving process 1601, the setting process 1602, and the dividing process 1603 described above.
Perform the same processing as. Further, the moving process 1701 is a process corresponding to step S804 in FIG.
02 is a process corresponding to step S806 in FIG.
The division process 1703 is a process corresponding to step S807 in FIG.

A determination process 1704 determines whether or not the cut surface intersects with at least one opening of the two shape data to be integrated. This is step S in FIG.
This is processing corresponding to 808. Reference numeral 1705 denotes an integration process. When it is determined that the cut surface does not intersect the opening of the two shape data to be integrated, a triangle patch is generated in the gap area and the two shape data are integrated. This is a process corresponding to steps S809 and S810 in FIG.

FIG. 17B shows a memory map of a storage medium for storing the program according to the present invention. Movement processing module 1701 ′, setting processing module 17
02 ', the division processing module 1703', the determination processing module 1704 ', and the integration processing module 1705' are program modules that execute the movement processing 1701, the setting processing 1702, the division processing 1703, the determination processing 1704, and the integration processing 1705, respectively.

FIG. 18 is a diagram for explaining the structural features of another program according to the present invention. FIG. 18A shows the processing procedure of this program. The moving process 1801, the setting process 1802, and the dividing process 1803 are the same as the moving process 1601, the setting process 1602, and the dividing process 1603, respectively. Note that the moving process 1801 and the setting process 180
2. The division processing 1803 is performed in step S1 of FIG.
It corresponds to 204, S1206, and S1207.

Reference numeral 1804 denotes an extraction process, which extracts the vertices forming the gap area of the partial shapes used for integration and the vertices included in the partial shape among the vertices of the opening having the shape data to be integrated. This is step S1 in FIG.
This is processing corresponding to 301 and S1302. Reference numeral 1805 denotes an integration process, which uses the vertices extracted in the extraction process 1804 to generate a triangle patch in the gap area and integrates two pieces of shape data to be integrated. This is a process corresponding to steps S1303 to S1305 in FIG.

FIG. 18B shows a memory map of a storage medium for storing the program according to the present invention. Movement processing module 1801 ′, setting processing module 18
02 ', the division processing module 1803', the extraction processing module 1804 ', and the integration processing module 1805' are program modules for executing the movement processing 1801, the setting processing 1802, the division processing 1803, the extraction processing 1804, and the integration processing 1805, respectively. .

Further, the present invention may be applied to a system composed of a plurality of devices or an apparatus composed of a single device. Further, it goes without saying that the present invention can be applied to the case where it is achieved by supplying a program to a system or an apparatus. In this case, the storage medium storing the program according to the present invention constitutes the present invention. Then, by reading the program from the storage medium to the system or device, the system or device operates in a predetermined manner.

[0099]

As described above, according to the present invention, it becomes possible to integrate a plurality of hierarchical shape data having a plurality of different polygon patches having different precisions of shape representation into one, and CAD or virtual reality. It is possible to enhance the functionality of the shape model used in.

Further, according to the present invention, when the shape data are integrated, it is possible to automatically determine whether or not the missing portion due to the opening will be generated due to the good or bad of various setting states at the time of the integration processing.

Further, according to the present invention, even when the influence of the opening portion occurs when the shape data is integrated, it is possible to perform the integration so as to prevent the occurrence of the lacking portion.

[0102]

[Brief description of the drawings]

FIG. 1 is a block diagram showing a basic configuration of a hierarchical three-dimensional shape data integration device according to a first embodiment.

FIG. 2 is a diagram showing a data structure of a hierarchical shape data file stored in a storage device 102, that is, a hierarchical triangular polygon data.

FIG. 3 is a flowchart showing a procedure for integrating three-dimensional shape data according to the first embodiment.

FIG. 4 is a flowchart showing a procedure of shape division processing according to the first embodiment.

FIG. 5 is a flowchart showing a procedure of shape integration processing according to the first embodiment.

FIG. 6A is a diagram showing an example in which the processing of the first exemplary embodiment is applied to hierarchical shape data having three layers.

FIG. 6B is a diagram showing an example in which the processing of the first exemplary embodiment is applied to hierarchical shape data having three layers.

FIG. 6C is a diagram showing an example in which the processing of the first exemplary embodiment is applied to hierarchical shape data having three layers.

FIG. 7 is a flowchart showing a processing flow of a method for integrating hierarchical shape data according to the second embodiment.

FIG. 8 is a diagram showing an opening having a three-dimensional geometric shape.

FIG. 9 is a flowchart showing a procedure for integrating three-dimensional shape data according to the third embodiment.

FIG. 10 is a flowchart illustrating a procedure of extraction processing of an opening end point according to the third embodiment.

FIG. 11 is a flow chart showing a procedure of processing for verifying the position of a cutting surface according to the third embodiment.

FIG. 12 is a flowchart illustrating a procedure of a cut surface verification process according to the fourth embodiment.

FIG. 13 is a flowchart illustrating a procedure of a process of integrating three-dimensional shape data according to the fifth embodiment.

FIG. 14 is a flowchart illustrating a procedure of shape integration processing according to the fifth embodiment.

FIG. 15 is a diagram showing a connection example of shape data according to the method of the present embodiment.

FIG. 16 is a diagram illustrating structural characteristics of a program according to the present invention.

FIG. 17 is a diagram illustrating a structural feature of another program according to the present invention.

FIG. 18 is a diagram illustrating a structural feature of another program according to the present invention.

FIG. 19 is a diagram showing a concept of extraction processing of an opening end point according to the present embodiment.

[Explanation of symbols]

 101, 102 storage device 103 CPU 104 display unit 105 valuator 106 keyboard 107 mouse 108 interface

Claims (17)

[Claims] 1. An information processing device for processing a plurality of hierarchical three-dimensional shape data, wherein the shape data of a predetermined hierarchy of each of the plurality of hierarchical three-dimensional shape data is moved so as to have an integrated positional relationship. And a setting unit that selects two shape data from the shape data after the movement by the moving unit and sets a cut surface that is a boundary surface of the integration of the two. A dividing unit that divides each of the divided shape data and forms a gap area on both sides of the cut surface in a portion used for integration of the divided shape data, and a polygon patch is generated in the gap area to integrate the two shape data. A first control means for causing the integration of the shape data by the integration means for all of the plurality of hierarchical three-dimensional shape data to be integrated, An information processing apparatus, comprising: a second control unit that performs integration by the first control unit on all layers of the plurality of hierarchical three-dimensional shape data using the movement result of the moving unit and the cut surface. . 2. The information processing apparatus according to claim 1, wherein the polygon patch is a triangular patch. 3. The dividing means divides the space into two regions with the cutting plane as a boundary, and erases edges forming polygon patches existing in both spaces to form the gap region. The information processing apparatus according to claim 1, wherein: 4. The second control means repeats the setting means, the dividing means, the integrating means, and the first control means for all layers of the plurality of hierarchical three-dimensional shape data. The information processing device according to claim 1. 5. The integration unit performs the method by projecting the vertices of the two shape data adjacent to the cut surface onto a two-dimensional plane to generate a Delaunay network. Information processing equipment. 6. An information processing method for processing a plurality of hierarchical three-dimensional shape data, wherein the shape data of a predetermined hierarchy of each of the plurality of hierarchical three-dimensional shape data is moved so as to have an integrated positional relationship. And a setting step of selecting two shape data from the shape data after the movement by the moving step and setting a cut surface that is a boundary surface of integration of the two, by the cut surface of the two shape data. A dividing step of dividing each of them and forming a gap area on both sides of the cut surface between the parts used for integrating the divided shape data; and a polygon patch is generated in the gap area to integrate the two shape data. And a first control step of causing shape data integration by the integration step to be performed on all of the plurality of hierarchical three-dimensional shape data to be integrated, An information processing method comprising: a moving result of the moving step and a second control step of performing integration by the first control step on all layers of the plurality of hierarchical three-dimensional shape data by using the cut surface. . 7. An information processing apparatus for processing a plurality of three-dimensional shape data, comprising moving means for moving the three-dimensional shape data to be integrated into a positional relationship in an integrated state, and moving means after the moving means. For two pieces of shape data, a setting unit that sets a cutting surface that is a boundary surface for integrating the two, and each of the two shape data is divided by the cutting surface, and a partial shape used for integrating the divided shape data. Dividing means for forming a gap area on both sides of the cut surface between the two, shape determining means for determining whether the cut surface intersects at least one opening of the two shape data, and the cut surface When it is determined that the opening of the two shape data does not intersect, a polygon patch is generated in the gap area, and integration means for integrating the two shape data is provided. Information processing apparatus according to symptoms. 8. The determining means determines whether there is a match between the extracting means for extracting the apex of the opening of the shape data and the apex of the partial shape obtained by the dividing means. A determination means for determining whether or not the determination means determines that the opening and the cut surface intersect each other if there is a match between the vertex of the partial shape and the vertex of the opening. The information processing device according to claim 7. 9. The determining means, in the space divided by the cut surface, in a space where a partial shape used for integration exists, when an opening of shape data that is a basis of the partial shape exists, The information processing apparatus according to claim 7, wherein the cut surface is determined to intersect with the opening. 10. When the determination unit determines that the cut surface intersects the opening of the two shape data, the notification unit further includes a notification unit for notifying the fact. Information processing equipment. 11. An information processing method for processing a plurality of three-dimensional shape data, comprising a moving step of moving the three-dimensional shape data to be integrated so as to have a positional relationship in an integrated state, and a moving step after the moving by the moving step. With respect to two pieces of shape data, a setting step of setting a cutting surface that is a boundary surface of integration of the two, and each of the two shape data is divided by the cutting surface, and a partial shape used for integration of the divided shape data. A dividing step of forming a gap area on both sides of the cut surface between the two, a determination step of determining whether or not the cut surface intersects at least one opening of the two shape data, and the cut surface If it is determined that the opening of the two shape data does not intersect, a polygon patch is generated in the gap area and the two shape data are integrated. And a first control step of causing shape data to be integrated according to the process for all of the plurality of hierarchical three-dimensional shape data to be integrated. 12. An information processing apparatus for processing a plurality of three-dimensional shape data, comprising moving means for moving the three-dimensional shape data to be integrated into a positional relationship in an integrated state, and moving means after the moving means. For two pieces of shape data, a setting unit that sets a cutting surface that is a boundary surface for integrating the two, and each of the two shape data is divided by the cutting surface, and a partial shape used for integrating the divided shape data. Dividing means for forming a gap area on both sides of the cut surface between, a vertex forming the gap area of the partial shape used for integrating shape data, and the portion of the vertex of the opening included in the shape data Extraction means for extracting vertices included in the shape and a vertex extracted by the extraction means are used to generate a polygon patch in the gap area to integrate the two shape data. The information processing apparatus characterized by comprising a coupling means. 13. The dividing means performs division into the partial shape and generation of the gap area by erasing a side of a polygon patch that intersects the cut surface for each shape data, and the extracting means, The vertices belonging to a partial shape used for integration and the vertices of an opening included in the partial shape used for the integration among the vertices of the sides deleted by the dividing unit are extracted. Information processing equipment. 14. An information processing method for processing a plurality of three-dimensional shape data, comprising a moving step of moving the three-dimensional shape data to be integrated so as to have a positional relationship in an integrated state, and a moving step after the moving step. With respect to two pieces of shape data, a setting step of setting a cutting surface that is a boundary surface of integration of the two, and each of the two shape data is divided by the cutting surface, and a partial shape used for integration of the divided shape data. A dividing step of forming gap areas on both sides of the cut surface between, a vertex forming the gap area of the partial shape used for integrating shape data, and a portion of the vertex of the opening included in the shape data An extraction step of extracting the vertices included in the shape, and a polygon patch are generated in the gap area using the vertices extracted in the extraction step to integrate the two shape data. The information processing method characterized by comprising: a case step. 15. A computer control device for controlling a computer by reading a predetermined program from a memory medium, wherein the memory medium integrates shape data of a predetermined hierarchy of each of a plurality of hierarchical three-dimensional shape data. The procedure code of the moving process for moving to obtain the positional relationship of 2 and the shape data after the moving by the moving process are selected, and the procedure of the setting process for setting the cut surface which is the boundary surface of the integration of the two is selected. A code, a procedure code of a dividing step of dividing each of the two shape data by the cutting surface, and forming a gap region on both sides of the cutting surface in a part used for integrating the divided shape data; A procedure code of an integration process for generating a polygon patch in a region and integrating the two shape data, and shape data obtained by the integration process. The procedure code of the first control process that causes integration to be performed on all of the plurality of hierarchical three-dimensional shape data to be integrated, and the plurality of hierarchical three-dimensional using the movement result by the moving process and the cutting plane. And a procedure code of a second control step for performing integration by the first control step for all layers of shape data. 16. A computer control device for controlling a computer by reading a predetermined program from a memory medium, wherein the memory medium moves to make the three-dimensional shape data to be integrated into a positional relationship in an integrated state. The procedure code of the process and the procedure code of the setting process for setting the cut surface that is the boundary surface of the integration of the two pieces of shape data after the movement in the moving step, and the two shape data of the two shape data by the cut surface. A procedure code of a dividing step of dividing each of them and forming a gap region on both sides of the cut surface between the partial shapes used for integrating the divided shape data, and the cut surface is at least one of the two shape data. The procedure code of the determination process for determining whether or not the opening intersects the opening, and it is determined that the cut surface does not intersect the opening of the two shape data. If it is, generates a polygon patch to the gap region, the computer controller, characterized in that it comprises a procedure code of integration step of integrating the two shape data. 17. A computer control device for controlling a computer by reading a predetermined program from a memory medium, wherein the memory medium sets shape data of shape data to be integrated into a positional relationship in an integrated state. Regarding the procedure code of the moving step to move and the shape data after the movement by the moving step, the procedure code of the setting step of setting the cut surface that is the boundary surface of the integration of the two, and the two by the cut surface. Dividing each piece of shape data and using a procedure code of a dividing step for forming gap areas on both sides of the cut surface between the partial shapes used for integrating the divided shape data, In the extraction process of extracting the vertices forming the gap area and the vertices included in the partial shape among the vertices of the opening included in the shape data. A computer, comprising: a sequential code; and a procedure code of an integration step of creating a polygon patch in the gap area using the vertices extracted in the extraction step and integrating the two shape data. Control device.