201128569 六、發明說明： 【發明所屬之技術領$】 [0001] 本發明涉及一種點雲二角網格面構建年統及方、去 〇 〇 [00〇2]近年來，隨著電腦硬體性能的提高及價格的降低，其在 掃描系統中被大量的引人。做法-般是制點雲掃^ 置獲取物體的點雲（即由多個三維離散點組成的點:集 合而後將點«料登錄電腦’執行相對應軟體對點 雲資料進行各種處理，比如電腦辅助驗證（c。咖… Αΐ_ VerifiCati〇n’CAV)、逆向工程（Reverse E—ng，RE)、有限元網格自動生成、電腦圖形 處理及模式識別（如人臉的識別）等。其中 網格面構建技術是上述各種處理 "" J极心技術。 【發明内容】 鑒於以上内容，有必要提供—種 一 統及方法，可以對所構建的-/去二角網格面構建系 以得η/Γ 形進行相對應的處理， 以得到问口口質的三角網格面。 一種點雲三角網格面構建 設備中’該資料處理設備與點雲:二:應用於資料處理 包括以下步驟：⑷㈣㈣田、置相連，該方法 點雲資料；⑻根據所獲取的點&=待測德 C)從所述構建的三角形一”枓構建三角形；( 子三角形為鱗按„域增 轉子三角形，以制 中共邊所對的’依切取共邊三角形 的三角形；⑷對選取的角;角形所呈的二面角最大 表單編號_ 功成的空祠進行修復’ [0003] [0004] 099102792 第3頁/共23頁 201128569 使得每-個修復後的三角形的外接圓内不包含點带 =後後的三㈣的頂點相其他點，且使得修復後的 _=母條邊最多被兩個三角形制；（e)根據相鄰 一:二角形的法向量夾角小於—個預設角度的原則對 =形的法向量進行調整；⑴輪出所述調整法向量後 的一角形構建的三角網格面。 [0005]201128569 VI. Description of the invention: [Technology of the invention] [0001] The present invention relates to a point cloud two-dimensional grid surface construction year and party, to go to [00〇2] in recent years, with computer hardware The performance improvement and the price reduction are greatly attracted to the scanning system. The practice is to make a point cloud to set the point cloud (that is, a point consisting of a plurality of three-dimensional discrete points: the collection then clicks on the material to log in to the computer to perform corresponding processing on the point cloud data, such as a computer. Auxiliary verification (c. coffee... Αΐ_ VerifiCati〇n'CAV), reverse engineering (Reverse E-ng, RE), automatic generation of finite element mesh, computer graphics processing and pattern recognition (such as face recognition), etc. The grid construction technique is the above-mentioned various processing "" J core technology. [Invention content] In view of the above, it is necessary to provide a unified system and method, which can construct the -/de-tilt mesh surface The corresponding η/Γ shape is processed to obtain a triangular mesh surface with a mouth-like mouth. A point cloud triangular mesh surface construction device in the 'data processing device and point cloud: two: applied to data processing including the following Steps: (4) (4) (4) Field, set connection, the method point cloud data; (8) According to the acquired point & = test de C) from the constructed triangle "" triangle; (sub-triangle is scale The triangle is used to make the triangle of the co-edge triangle of the Chinese Communist side; (4) the selected angle; the maximum form number of the dihedral angle represented by the angle _ the repaired space is repaired [0003] [0004] 099102792 Page 3 of 23 201128569 Makes the circumscribed circle of each restored triangle not including the other points of the vertices of the three (four) points after the point ==, and makes the repaired _= the side of the mother bar up to two triangles (e) adjust the normal vector of the shape according to the principle that the angle of the normal one: the normal angle of the square is less than a preset angle; (1) the triangular mesh constructed by the angle after the adjustment of the normal vector Face. [0005]
一種點雲三角網格面構建系統’應用於資料處理設備中 ’該資料處理設備與點雲掃描裝置相連，該系統包括： ^取模組，祕從點雲掃描裝置中獲轉稱體的點雲 貝料；構建模組，用於根據所獲取的點雲資料構建三角 t選取餘，詩從料構義三__取—個種 子二角形，以該種子三角形為基準按照區域增長法依 次選取共邊三角形中共邊所對的角最大且與種子三角形 所呈的二面角最大的三角形；修復模組，用於對選取的 三角形形成的技進行錢，使得每—娜復後的三角 形的外接圓内不包含點雲中除該修復後的三角形的頂點 外的其他點，且使得修復制三角形的每條邊最多被兩 個三角形共用；調整模組，用於根據相鄰兩個三角形的 :向量夾角小於一個預設角度的原則，對三角形的法向 量進行調整，·及輸出模組，用於輸出所述調整法向量後 的三角形構建的三角網格面。 [_相較於習知技術，本發明提供的點^網格面構建系 統及方法’可以根據自動從點雲掃描中獲取點雲資料， 根據所獲取點雲資料構建三角形，並對所構建的三角形 進行相對應的處理，以得到高品質的三角網格面，避免 099102792 表單編號A0101 第4頁/共23頁 0992005371-0 201128569 了所構建的三角形出現扭曲、交叉及法向量方向不一致 的情況。 【實施方式】 [0007] 如圖1所示，係本發明點雲三角網格面構建系統較佳實施 例的應用環境圖。該點雲三角網格面構建系統1 0應用於 * 資料處理設備1中。該資料處理設備1與點雲掃描裝置2相 連，該點雲掃描裝置2用於對待測物體3的表面進行掃描 ，以獲取待測物體3表面的點雲货料，例如：點的三維座 標及點雲總數。 Ο [0008] 所述點雲三角網格面構建系統10用於從點雲掃描裝置2中 獲取點雲資料，根據所獲取的點雲資料構建三角形，從 所構建的三角形中選取出高品質三角形，對所述高品質 三角形進行修復及法向量調整，從而得到高品質的三角 網格面。 [0009] 如圖2所示，係圖1中點雲三角網格面構建系統10的功能 槿細_。該點雪芝备綑格而谨捸条铋.1 Π白括獾放描:紐1 Π (1 〆、»·—— I——* —% / ·φ · ·* · ·-- — * · τ -4 , ,4， 秦 w , w I · /、 、 «· v v 〇 、構建模組101、選取模組102、修復模組103、調整模 組104及輸出模組105。本發明所稱的模組是完成一特定 功能的資料處理設備程式段，比程式更適合於描述軟體 在資料處理設備中的執行過程，因此在本發明以下對軟 體描述中都以模組描述。 [0010] 所述獲取模組100用於從點雲掃描裝置2中獲取待測物體3 的點雲資料。所述點雲資料包括點的三維座標及點雲總 數0 099102792 表單編號Α0101 第5頁/共23頁 0992005371-0 201128569 所述構建模組101用於根據所獲取的點雲資料構建三角形 。I先，構建模組101根據點雲資料令點 算得到所述點雲的包㈣，該包為—個―二座方ζ/十 作该正立方體的外接球，最後作該外接球的外接四面體 、亥外接四面體為初始四面體。然後，構建模組101將所 4點雲中的點逐個插人初始四面體中以構建若干個三角 , 形’所構建的每-個三角形的外接圓不包含所述點雲中 除該三角形的頂點外的其他點。如圖4a所示，在初:四 面體ABCD中插入點(Π，將點01與其所在的四面體觀的 各頂點相連；如圖4b所示，插入點02，將點〇2與其所在 〇 的四面體01BCD的各頂點相連；如圖4c所示，插入點卯 ，將點03與其所在的四面麵〇2c_各頂點相連，得到 二角形010203即為所構建的三角形。A point cloud triangular mesh surface construction system is applied to a data processing device. The data processing device is connected to a point cloud scanning device. The system includes: a module for capturing a point from a point cloud scanning device. Cloud shell material; a building module for constructing a triangle t selection remainder according to the acquired point cloud data, and a poem from the material structure three __ taking a seed dihedron, and sequentially selecting the seed triangle according to the region growing method The triangle of the co-edge triangle with the largest angle and the largest dihedral angle with the seed triangle; the repair module is used to make money for the formed triangle, so that the triangle of each after the complex The circle does not contain other points in the point cloud other than the vertices of the repaired triangle, and each edge of the repaired triangle is shared by at most two triangles; the adjustment module is used to: according to the adjacent two triangles: vector The principle that the angle is less than a preset angle, the normal vector of the triangle is adjusted, and the output module is used to output the triangle constructed by the triangle after adjusting the normal vector Surface. [_ Compared with the prior art, the point ^mesh surface construction system and method provided by the present invention can automatically acquire point cloud data from point cloud scanning, construct a triangle according to the acquired point cloud data, and construct the triangle according to the acquired point cloud data. The triangle is processed accordingly to obtain a high-quality triangular mesh surface, avoiding 099102792 Form No. A0101 Page 4 / Total 23 Page 0992005371-0 201128569 The triangles constructed are inconsistent in the direction of distortion, intersection and normal vector. [Embodiment] [0007] As shown in Fig. 1, an application environment diagram of a preferred embodiment of a point cloud triangular mesh surface construction system of the present invention is shown. The point cloud triangular mesh surface construction system 10 is applied to the * data processing device 1. The data processing device 1 is connected to a point cloud scanning device 2 for scanning a surface of the object 3 to be measured to obtain a point cloud material on the surface of the object 3 to be tested, for example, a three-dimensional coordinate of the point and The total number of point clouds. [0008] The point cloud triangular mesh surface construction system 10 is configured to acquire point cloud data from the point cloud scanning device 2, construct a triangle according to the acquired point cloud data, and select a high quality triangle from the constructed triangle. The high quality triangle is repaired and normal vector adjusted to obtain a high quality triangular mesh surface. [0009] As shown in FIG. 2, the function of the point cloud triangular mesh surface construction system 10 in FIG. 1 is _. At this point, the snow berry is bundled and the 捸 捸 1 1 1 1 1 1 1 1 1 : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : τ -4 , , 4, Qin w , w I · /, «· vv 〇, construction module 101, selection module 102, repair module 103, adjustment module 104 and output module 105. The present invention The called module is a data processing device program segment that performs a specific function, and is more suitable for describing the execution process of the software in the data processing device than the program, and therefore is described in the following description of the software in the present invention. [0010] The acquisition module 100 is configured to acquire point cloud data of the object 3 to be measured from the point cloud scanning device 2. The point cloud data includes the three-dimensional coordinates of the point and the total number of point clouds. 0 099102792 Form No. 1010101 Page 5 of 23 Page 0992005371-0 201128569 The construction module 101 is configured to construct a triangle according to the acquired point cloud data. First, the construction module 101 calculates the packet of the point cloud according to the point cloud data order (4), and the package is- One-two squares/ten as the outer ball of the positive cube, and finally the external tetrahedron of the external ball The tetrahedron is an initial tetrahedron. Then, the building block 101 inserts the points in the 4-point cloud one by one into the initial tetrahedron to construct a plurality of triangles, and the circumscribed circle of each triangle constructed by the shape 'does not include the Points other than the vertices of the triangle in the point cloud. As shown in Figure 4a, insert a point in the initial: tetrahedron ABCD (Π, connect point 01 to the vertices of the tetrahedral view it is in; as shown in Figure 4b Inserting point 02, connecting point 〇2 to the vertices of the tetrahedron 01BCD where it is located; as shown in Fig. 4c, inserting point 卯, connecting point 03 with the vertices of the four sides 〇2c_ where it is located, to obtain a dipole 010203 It is the triangle that is constructed.
[〇〇12]所述選取模組102從所述構建的三角形中選取—個種子三 角形，以該種子三角形為基準按照區域增長法，依次選 取共邊二角形中共邊所對的角最大且與種子三角形所呈 的二面角最大的三角形。所述二面角最大可以使構建的 一角形與種子二角形趨於一個平面，即可使所構建的二 U 角形組成的三角網格面貼近於待測物體3的曲面；所述對 角最大可以使所構建的三角形趨於正三角形，透過‘‘二 面角最大且對角最大原則”可以選取出高品質的三角形 。所述選取模組102從所述點雲中選取2軸座標最大的點 (或者X軸座標最大的點，或者γ軸座標最大的點），在 *亥點所在的三角形中選取任意一個三角形為種子三角形 。如圖5所示，三角形ABC為種子三角形，以三角形ABc的 099102792 表單編號A0101 第6頁/共23頁 0992005371-0 201128569 邊ΑΒ向外擴展，得到三角形ABD、三角形ΑΒ D1及三角形 ABD2，其中，點D、D1及D2都為所述點雲中的點。三角 形ABC與三角形ABD的二面角為170度，三角形ABC與三角 形ABD1的二面角為130度，三角形ABC與三角形AB D2的 二面角為110度，則三角形ABD與種子三角形ABC的二面 角最大。邊AB的對角ZADB為58度，ZAD1B為40度，Z AD2B為30度，則ZADB為共邊AB所對的角最大的角，由 此可見，三角形ADB為共邊三角形中共邊所對的角最大， 且與種子三角形的二面角最大的三角形。 Ο [0013] 所述修復模組1 03用於對選取的三角形形成的空洞進行修 復，使得每一個修復後的三角形的外接圓内不包含點雲 中除該修復後的三角形的頂點外的其他點，且使得修復 後的三角形的每條邊最多被兩個三角形共用。如圖6所示 ，S為選取的三角形構建的曲面，邊界為ABCDEFGHI， JKL。在本實施例中，首先，所述修復模組103修復頂點 的兩條邊界所形成的空洞，即連接BD，EG，GI及填補邊 界JKL，並更新邊界為ABDEGI ;接著，所述修復模組103 修復共頂點的兩條邊界所形成的空洞，即連接BE，EI， 並更新邊界為ABEI。依此類推，按照修復後的三角形的 外接圓内不包含點雲中除修復後的三角形的頂點外的其 他點，且使得修復後的三角形的每條邊最多被兩個三角 形共用的原則，依次對邊界所形成的空洞進行修復。若 在修復過程中出現三角形的一條邊被兩個以上三角共用 的情況，則保留共邊三角形中構成的二面角最大的兩個 三角形。 099102792 表單編號A0101 第7頁/共23頁 0992005371-0 201128569 [0014] 所述調整模組104用於根據相鄰兩個三角形的法向量失角 小於一個預設角度的原則’對三角形的法向量進行調整 。在本實施例中，所述預設角度為90度。如圖7a所示， 三角形ABC的法向量為N1，三角形ABD的法向量為N2，N1 和N2的夾角為α，夾角α大於90度，為正向的法向量 ，則調整模組104以N1為基準調整法向量N2的方向，調整 後的法向量如7b圖所示’ N1和N2的夾角α小於9〇度。 [0015] 所述輸出模組105用於輸出所述調整法向量後的三角形構 建的三角網格面。 [0016]如圖3所示，係本發明點雲三角網格面構建方法較佳實施 例的流程圖。首先，步驟S1 〇，被取模组！ 〇 0從點雲掃描 裝置2中獲取待測物體3的點雲資料。所述g雲資料包括 點的三維座標及點雲總數。 [ΟΟΠ]步驟S11，構建模組101根據所獲取的點雲資料構建三角 形。首先，構建模組1〇1根據點雲資料中點的三維座標， 計算得到所述點雲的包圍盒，該包圍盒為一個正立方體 ，作该正立方體的外接球，最後作該外接球的外接四面 體，該外接四面體為初始四面體。然後，構建模組1〇1將 所述點雲中的點逐個插入初始四面體中以構建若干個三 角形，所構建的每一個三角形的外接圓不包含所述點雲 中除該三角形的頂點外的其他點。 闺«S12，選取模組1()2從所述構建的三角形#選取一個 種子二角形，以該種子三角形為基準按照區域增長法， 依次選取共邊三角形中共邊所對的角最大且與種子三角 099102792 表單編號A0J01 第8頁/共23頁 0992005371-0 201128569 形所呈的二面角最大的三角形。所述選取模組102從所述 點雲中選取Z軸座標最大的點（或者X軸座標最大的點， 或者Y軸座標最大的點），在該點所在的三角形中選取任 意一個三角形為種子三角形。 [0019] 步驟S13，修復模組103對選取的三角形形成的空洞進行 修復，使得每一個修復後的三角形的外接圓内不包含點 雲中除該修復後的三角形的頂點外的其他點，且使得修 復後的三角形的每條邊最多被兩個三角形共用。 [0020] 步驟S14，調整模組1 04根據相鄰兩個三角形的法向量夾 角小於一個預設角度的原則，對三角形的法向量進行調 整。在本實施例中，所述預設角度為90度。 [0021] 步驟S15，輸出模組105用於輸出所述調整法向量後的三 角形構建的三角網格面。 [0022] 綜上所述，本發明符合發明專利要件，爰依法提出專利 申請。惟，以上所述者僅為本發明之較佳實施例，本發 明之範圍並不以上述實施例為限，舉凡熟悉本案技藝之 人士援依本發明之精神所作之等效修飾或變化，皆應涵 蓋於以下申請專利範圍内。 【圖式簡單說明】 [0023] 圖1係本發明點雲三角網格面構建系統較佳實施例的應用 環境圖。 [0024] 圖2係圖1中點雲三角網格面構建系統的功能模組圖。 [0025] 圖3係本發明點雲三角網格面構建方法較佳實施例的流程 圖。 099102792 表單編號 A0101 第 9 頁/共 23 頁 0992005371-0 201128569 [0026] 圖4a-4c係根據點雲資料構建三角形010203的示意圖。 [0027] 圖5係選取共邊三角形中共邊所對的角最大，且與種子三 角形的二面角最大的三角形的示意圖。 [0028] 圖6係修復三角形的示意圖。 [0029] 圖7a-7b係調整三角形法向量的示意圖。 【主要元件符號說明】 [0030] 資料處理設備1 [0031] 點雲掃描裝置2 [0032] 待測物體 3 [0033] 點雲三角網格面構建系統1 〇 [0034] 獲取模組 100 [0035] 構建模組 101 [0036] 選取模組 102 [0037] 修復模組 103 [0038] 調整模組 104 [0039] 輸出模組 105 099102792 表單編號A0101 第10頁/共23頁 0992005371-0[〇〇12] The selection module 102 selects a seed triangle from the constructed triangles, and according to the seed triangle method, sequentially selects the angle of the common side of the common triangle to be the largest and The triangle with the largest dihedral angle represented by the seed triangle. The dihedral angle can maximize the angle between the constructed corner and the seed dime, so that the triangular mesh surface composed of the constructed two U-angles is close to the curved surface of the object 3 to be tested; The constructed triangle can be made to be an equilateral triangle, and a high-quality triangle can be selected by the principle of 'the dihedral angle is the largest and the diagonal maximum principle. The selection module 102 selects the largest 2-axis coordinate from the point cloud. Point (or the point with the largest coordinate of the X axis, or the point with the largest coordinate of the γ axis), select any triangle as the seed triangle in the triangle where the *Hai point is located. As shown in Figure 5, the triangle ABC is the seed triangle, with the triangle ABc 099102792 Form No. A0101 Page 6 of 23 0992005371-0 201128569 The side edge expands outward to obtain a triangle ABD, a triangle ΑΒ D1 and a triangle ABD2, where points D, D1 and D2 are points in the point cloud The dihedral angle of the triangle ABC and the triangle ABD is 170 degrees, the dihedral angle of the triangle ABC and the triangle ABD1 is 130 degrees, and the dihedral angle of the triangle ABC and the triangle AB D2 is 110 degrees, then the triangle ABD The dihedral angle of the seed triangle ABC is the largest. The diagonal ZADB of the edge AB is 58 degrees, the ZAD1B is 40 degrees, and the Z AD2B is 30 degrees. The ZADB is the angle at which the angle of the common side AB is the largest, and thus, the triangle ADB is visible. The triangle that is the largest in the co-edge triangle and the largest in the dihedral angle of the seed triangle. Ο [0013] The repair module 103 is used to repair the void formed by the selected triangle, so that each The circumscribed circle of the repaired triangle does not contain other points in the point cloud except the vertices of the repaired triangle, and each side of the repaired triangle is shared by at most two triangles. As shown in Fig. 6, S is The curved surface of the selected triangle has a boundary of ABCDEFGHI, JKL. In this embodiment, first, the repair module 103 repairs the void formed by the two boundaries of the vertex, that is, connects the BD, the EG, the GI, and the fill boundary JKL. And updating the boundary to ABDEGI; then, the repair module 103 repairs the void formed by the two boundaries of the common vertex, that is, connects BE, EI, and updates the boundary to ABEI. And so on, according to the repaired triangle The circle does not contain other points in the point cloud except the vertices of the repaired triangle, and the principle that the edges of the restored triangle are shared by at most two triangles, and the voids formed by the boundary are repaired in turn. In the case that one side of the triangle is shared by more than two triangles during the repair process, the two triangles with the largest dihedral angle formed in the co-edge triangle are retained. 099102792 Form No. A0101 Page 7 of 23 0992005371-0 201128569 [ The adjustment module 104 is configured to adjust the normal vector of the triangle according to the principle that the normal vector loss angle of the adjacent two triangles is less than a preset angle. In this embodiment, the preset angle is 90 degrees. As shown in FIG. 7a, the normal vector of the triangle ABC is N1, the normal vector of the triangle ABD is N2, the angle between N1 and N2 is α, and the angle α is greater than 90 degrees, which is a positive normal vector, and the adjustment module 104 is N1. Adjusting the direction of the normal vector N2 for the reference, the adjusted normal vector is as shown in Fig. 7b. The angle α between N1 and N2 is less than 9 degrees. [0015] The output module 105 is configured to output a triangle mesh surface constructed by the triangle after the adjustment normal vector. [0016] As shown in Fig. 3, it is a flow chart of a preferred embodiment of the method for constructing a point cloud triangular mesh surface of the present invention. First, step S1 〇, the module is taken! 〇 0 Acquires point cloud data of the object 3 to be measured from the point cloud scanning device 2. The g cloud data includes the three-dimensional coordinates of the points and the total number of point clouds. [ΟΟΠ] In step S11, the building module 101 constructs a triangle according to the acquired point cloud data. First, the building module 101 calculates a bounding box of the point cloud according to the three-dimensional coordinates of the midpoint of the point cloud data, the bounding box is a positive cube, the outer ball of the positive cube, and finally the outer ball An external tetrahedron is an initial tetrahedron. Then, the building module 101 inserts the points in the point cloud one by one into the initial tetrahedron to construct a plurality of triangles, and the circumscribed circle of each triangle constructed does not include the vertices of the triangle except the triangle. Other points.闺«S12, select module 1 () 2 to select a seed dih shape from the constructed triangle #, according to the seed triangle as the reference according to the region growing method, sequentially select the co-edge triangle in the co-edge of the largest angle and the seed Triangle 099102792 Form No. A0J01 Page 8 of 23 0992005371-0 201128569 The triangle with the largest dihedral angle. The selection module 102 selects the point with the largest Z coordinate (or the point with the largest coordinate of the X axis or the point with the largest coordinate of the Y axis) from the point cloud, and selects any triangle as a seed in the triangle where the point is located. triangle. [0019] Step S13, the repair module 103 repairs the void formed by the selected triangle, so that the circumscribed circle of each restored triangle does not include other points in the point cloud except the vertices of the repaired triangle, and Make each side of the repaired triangle share up to two triangles. [0020] Step S14, the adjustment module 104 adjusts the normal vector of the triangle according to the principle that the normal vector angle of the adjacent two triangles is less than a preset angle. In this embodiment, the preset angle is 90 degrees. [0021] Step S15, the output module 105 is configured to output a triangular mesh surface constructed by the triangle after adjusting the normal vector. [0022] In summary, the present invention complies with the requirements of the invention patent, and submits a patent application according to law. The above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited to the above-described embodiments, and equivalent modifications or variations made by those skilled in the art in light of the spirit of the present invention are It should be covered by the following patent application. BRIEF DESCRIPTION OF THE DRAWINGS [0023] FIG. 1 is an application environment diagram of a preferred embodiment of a point cloud triangular mesh surface construction system of the present invention. 2 is a functional module diagram of the point cloud triangular mesh surface construction system of FIG. 1. 3 is a flow chart of a preferred embodiment of a method for constructing a point cloud triangular mesh surface of the present invention. 099102792 Form No. A0101 Page 9 of 23 0992005371-0 201128569 [0026] Figures 4a-4c are schematic diagrams of building a triangle 010203 from point cloud data. [0027] FIG. 5 is a schematic diagram of selecting a triangle having the largest angle in the co-edge triangle and having the largest dihedral angle with the seed triangle. [0028] FIG. 6 is a schematic diagram of a repair triangle. [0029] FIGS. 7a-7b are schematic diagrams of adjusting a triangular normal vector. [Main Component Symbol Description] [0030] Data Processing Apparatus 1 [0031] Point Cloud Scanning Apparatus 2 [0032] Object to be measured 3 [0033] Point cloud triangular mesh surface construction system 1 [0034] Acquisition module 100 [0035] Building module 101 [0036] selection module 102 [0037] repair module 103 [0038] adjustment module 104 [0039] output module 105 099102792 form number A0101 page 10 / total 23 page 0992005371-0