Point cloud support system and program

Abstract

To generate segmented point cloud data which is useful in a variety of software.SOLUTION: A computer 10 is configured to execute: reading processing that reads display output data which is output data of point cloud display software 81 and includes coordinate information for each point of point cloud data and color information, and segmentation output data which is output data of point cloud segmentation software 82, includes coordinate information for each point of the point cloud data, and does not include color information; association processing that compares coordinate information of each point in the display output data and coordinate information of each point in the segmentation output data, and associates each point of the segmentation output data with any one of the point clouds in the display output data; and addition processing that adds color information to coordinate information of each point in the segmentation output data so as to conform to color information of the display output data, based on results of the association processing, and generates intermediate point cloud data including coordinate information for each point of small cluster point cloud data and color information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a point cloud support system and program for making it easier to use point cloud data. [Background technology]

[0002] 3D scanners, such as 3D laser scanners, output a set of point cloud data as a measurement result of real space. The point cloud data contains coordinate information and color information for each point. Multiple measurement results (point cloud data) are read by a computer running point cloud display software, and the software's functions automatically perform alignment processing. The point cloud display software performs a thinning process to appropriately reduce the data size according to user settings.

[0003] There is also point cloud division software that can divide (cut out) a portion of a block of point cloud data. This software allows users to, for example, precisely divide a block of point cloud data into feature shapes and create multiple small block point cloud data. This allows users to, for example, divide the point cloud data of an entire factory into feature shapes (e.g., by equipment or component) and treat them as independent data. This point cloud division software also enables data reduction through thinning processing, as disclosed in, for example, Patent No. 5948480. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5948480 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the segmented output data, which is the output data of the point cloud segmentation software, may not contain color information for each point. In this case, when the segmented output data is read into software other than the point cloud segmentation software, the lack of color information may result in black blocks being displayed, making it difficult to use (display or edit) the point cloud data. An object of the present invention is to create segmented point cloud data that is easy to use with various software. [Means for solving the problem]

[0006] The point cloud support system of the present invention includes a computer configured to execute a reading process for reading display output data and divided output data, a correspondence process, and an addition process. The display output data is output data from point cloud display software capable of aligning point cloud data read from a 3D scanner, and includes coordinate information and color information for each point of the point cloud data. The divided output data is output data from point cloud division software capable of dividing a block of point cloud data represented by the display output data into small block point cloud data, which is a part of the block of point cloud data. The data has the same data format as the display output data and includes coordinate information for each point of the small block point cloud data but does not include color information. The correspondence process is a process of comparing the coordinate information of each point in the display output data with the coordinate information of each point in the divided output data, and associating each point of the divided output data with one of the points in the point cloud in the display output data. The adding process is a process of adding color information to each point in the divided output data so as to match the color information of the display output data based on the result of the corresponding process, and creating intermediate point cloud data including coordinate information and color information for each point of the small block point cloud data. Also, the program of the present invention is a program that causes a computer to execute the reading process, the corresponding process, and the adding process. [Effects of the Invention]

[0007] According to the present invention, points with corresponding coordinate information between the data before and after division are associated with each other, and intermediate point cloud data is created in which corresponding color information is added to each point of the divided output data that does not have color information. Because this intermediate point cloud data includes color information even after division, it can be displayed appropriately in various software. According to the present invention, it is possible to create divided point cloud data that is easy to use in various software. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a configuration diagram of a point cloud support system according to an embodiment of the present invention. [Figure 2] FIG. 10 is a diagram showing display output data (as well as intermediate point cloud data) displayed on the display means of the present embodiment. [Figure 3] FIG. 1 is a conceptual diagram showing a block of point cloud data and small block of point cloud data. [Figure 4] FIG. 10 is a diagram showing divided output data displayed on a display unit of the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, as a mode for carrying out the present invention, a point cloud support system 1 which is one embodiment of the present invention will be described in detail with reference to the drawings. In addition to the following examples, the present invention can be carried out in various forms with various modifications and improvements based on the knowledge of those skilled in the art.

[0010] As shown in Fig. 1, the point cloud support system 1 of this embodiment includes a computer 10 having one or more processors 10a and one or more memories 10b, a display unit 11 such as a display, and an input unit 12 such as a mouse or keyboard. The memory 10b is a storage unit, and may be an internal memory or an external memory. The computer 10 is configured to execute a reading process, a corresponding process, and an adding process.

[0011] Point cloud assistance software 9 that executes these processes is installed in the computer 10. In other words, a program 9a (hereinafter also referred to as a point cloud assistance program) that causes the computer 10 to execute these processes is stored in the memory 10b, and the processor executes this program 9a.

[0012] The read process is a process in which the computer 10 reads the display output data and the divided output data. The display output data is output data of the point cloud display software 81. The point cloud display software 81 is computer software that can align the point cloud data read from a 3D scanner. The alignment is a process in which, for example, when multiple measurement results (point cloud data) for one measurement object are read into a computer, the positions of those point clouds are adjusted so that they can be displayed in a single coordinate system, and a single piece of point cloud data is created.

[0013] Such functions are realized by a computer (here, computer 10) on which point cloud display software 81 is installed. An example of the point cloud display software 81 is InfiPoints (registered trademark). The display output data is text data including coordinate information and color information for each point of the point cloud data. As an example, as shown in FIG. 2, the display output data has point information written on each line, and each line contains, from left to right, coordinate information (X), coordinate information (Y), coordinate information (Z), color information (R), color information (G), and color information (B).

[0014] The divided output data is output data of the point cloud division software 82. The point cloud division software 82 is computer software that can divide (cut out) one or more small chunks of point cloud data that are part of a block of point cloud data displayed by reading the display output data. This function is performed by a computer (here, computer 10) on which the point cloud division software 82 is installed.

[0015] According to the point cloud segmentation software 82, a single piece of point cloud data can be divided into a plurality of small piece point cloud data. Examples of the point cloud segmentation software 82 include XVL (registered trademark), etc. As shown in FIG. 3, for example, according to the point cloud segmentation software 82, a single piece of point cloud data obtained by scanning the entire factory can be divided into a single characteristic part (for example, a device or a member) in the factory and other parts. After division, the user can edit or output the small piece point cloud data independently (as separate data) from other point clouds. However, the output data (division output data) of the small piece point cloud data does not include the color information of each point. Note that it is also possible to divide a plurality of characteristic parts from a single piece of point cloud data. The division output data has the same data format as the display output data, that is, text data.

[0016] As shown in FIG. 4, the division output data is information of the small piece point cloud data selected as the output target, including coordinate information for each point of the small piece point cloud data and not including color information. The display output data includes information of M points (for example, M = 100 million), and the division output data includes information of N points less than M (N < M, for example, N = 30 million). The number of point clouds is smaller for the division output data (small piece point cloud data) than for the display output data (single piece of point cloud data).

[0017] The correspondence processing is a process in which the computer 10 compares the coordinate information of each point in the display output data with the coordinate information of each point in the division output data, and associates each point of the division output data with any one point in the point cloud in the display output data. In the correspondence processing, the computer 10 compares the coordinate information between the display output data and the division output data according to the set number of digits after the decimal point, and associates the points with matching coordinate information.

[0018] As a function of the point cloud assistance software 9, the computer 10 can display on the display means 11 a setting screen on which the number of digits to be compared can be input. The user can input the number of digits to be compared on the setting screen using the input means 12. For example, if the number of digits to be compared is set to three decimal places, the computer 10 finds points from the display output data whose coordinate information matches any point in the divided output data down to three decimal places, and stores these points as corresponding points. By setting the number of digits to a small number (e.g., three digits or less), it is possible to perform the corresponding processing quickly and with low load, even if the point cloud is composed of a large number of points (e.g., more than 10 million points).

[0019] Because the small point cloud data is part of the point cloud data, the coordinate information of each point in the divided output data will match the coordinate information of any point in the display output data unless the user changes the position of the point cloud using the point cloud division software. Therefore, unless the position of the point cloud data is changed, the display output data contains coordinate information corresponding to each point in the divided output data (small point cloud data). In this way, the correspondence process associates the coordinate information of the divided output data with the coordinate information of the display output data. In the correspondence process, a portion of the display output data that corresponds to the divided output data is found.

[0020] The addition process is a process in which the computer 10 adds color information to the coordinate information of each point in the divided output data based on the results of the correspondence process so as to match the color information of the display output data, thereby creating intermediate point cloud data including coordinate information and color information for each point of the small block point cloud data. In the addition process, color information is added to each point of the small block point cloud data so that corresponding points have the same color. As shown in FIG. 2, the intermediate point cloud data is displayed as text data similar to a portion of the display output data (the portion corresponding to the small block point cloud data). In other words, even if the intermediate point cloud data is read by software other than the point cloud division software 82 (for example, point cloud display software 81), the divided point cloud data (small block point cloud data) in which the color of each point is expressed is displayed on the display means.

[0021] For example, a user can read the intermediate point cloud data into a computer 10 on which the point cloud display software 81 is installed, select a save format in the point cloud display software 81, and save (output) the intermediate point cloud data in a data format (file format) other than text format. This allows the user to create intermediate point cloud data in a desired data format, such as ptx, pts, or E57. In this way, by creating intermediate point cloud data having coordinate information and corresponding color information as divided (cut) point cloud data, the user can use the divided point cloud data in various software.

[0022] According to this embodiment, points with corresponding coordinate information between the data before and after division are associated with each other, and intermediate point cloud data is created in which corresponding color information is added to each point of the divided output data that does not have color information. Because this intermediate point cloud data contains color information even after division, it can be displayed appropriately in various software. According to this embodiment, by simply reading two pieces of data, it is possible to create post-division point cloud data (intermediate point cloud data) that is easy to use in various software. Intermediate point cloud data can also be considered an intermediate file or intermediate point cloud format specialized for point cloud processing.

[0023] Each of the software programs 81, 82, and 9 in this embodiment primarily processes large volumes of point cloud data (point clouds of tens of millions of points or more). In other words, the display output data in this embodiment includes point cloud information of 10 million points or more. As an example, the point cloud data read by the point cloud support system 1 in this embodiment is the result of measuring a factory in which multiple devices are installed using a 3D scanner. Furthermore, the small block point cloud data is a portion of the point cloud data that corresponds to at least a portion of the devices or components installed in the factory (e.g., a characteristic portion). Because each output data is text data, the computer 10 can perform various processes with the minimum amount of information required.

[0024] (correction function) The computer 10 may have a correction function. In the corresponding process, the computer 10 corrects the coordinate information of each point of the divided output data according to the set coordinate correction amount. For example, before dividing a block of point cloud data using the point cloud division software 82, the user may move the block of point cloud data to a position where it is easier to work with (e.g., near the origin of the coordinate system). Alternatively, the user may move the small blocks of point cloud data after division to positions where it is easier to work with using the point cloud division software 82. In these cases, the coordinate information of at least some of the point cloud data will change from the position of the aligned display output data. Therefore, if the user wants to return the point cloud data to the same position as the display output data, the user needs to make a note or memorize the amount of movement of the point cloud data and return the point cloud data to its original position based on the amount of movement.

[0025] The computer 10 (point cloud support software 9) with the added correction function can display a setting screen on the display unit 11 that allows the user to input the amount of movement, i.e., the amount of coordinate correction. The user can input the amount of movement (coordinate correction) that they have noted down, etc., on the setting screen. When the amount of coordinate correction is set via the setting screen, the computer 10 compares the display output data with the divided output data (in the correspondence process) and moves all coordinates of the divided output data by the set amount of coordinate correction. That is, in the correspondence process, the computer 10 compares the coordinate information of the corrected divided output data with the coordinate information of the display output data. This allows the user to easily create intermediate point cloud data by moving the point cloud data before or after division using the point cloud division software 82 and outputting it without returning it to its original position, by inputting the amount of movement into the point cloud support software 9. The user inputs the amount of coordinate correction on the setting screen as a plus or minus and a numerical value for each axis, for example, (X, Y, Z) = (-a, +b, +c).

[0026] Furthermore, another setting screen may display an input field for the coordinates of an arbitrary point (selected point) in the small blob point cloud data before movement and an input field for the coordinates of the same selected point after movement. The computer 10 can calculate the amount of coordinate correction by inputting the coordinates of the same point before and after movement. The computer 10 may be configured to calculate the amount of coordinate correction based on information for an arbitrary point in the small blob point cloud data, that is, coordinate information before movement and coordinate information after movement, input by the user. This allows the user to simply save (e.g., in a memo) the coordinate information of the one point before movement and the coordinate information of the same point after movement and input them into the point cloud assistance software 9.

[0027] The technology of the present disclosure can also be described as a program (point cloud assistance program 9a). That is, the point cloud assistance program 9a causes the computer 10 to execute a reading process, a correspondence process, and an addition process. In the correspondence process, the point cloud assistance program 9a of this embodiment causes the computer 10 to execute a process of comparing coordinate information between the display output data and the divided output data according to a set number of decimal places, and matching points whose coordinate information matches. In the correspondence process, the point cloud assistance program 9a of this embodiment causes the computer 10 to execute a process of correcting coordinate information of each point in the divided output data or the display output data according to a set coordinate correction amount (for example, input by a user). The point cloud assistance program 9a of this embodiment causes the computer 10 to execute a process of calculating a coordinate correction amount based on information for an arbitrary point in the point cloud data, that is, pre-movement coordinate information and post-movement coordinate information input by the user. This also produces the same effect as described above.

[0028] The present invention is not limited to the above embodiment. For example, the display output data, divided output data, and intermediate point cloud data may be in a data format other than text data. Furthermore, each software 81, 82, and 9 may be installed on separate computers. The point cloud display software and point cloud division software may also be referred to as point cloud editing software. The correspondence process may also be referred to as a linking process that links two points with corresponding coordinates in two output data. In the addition process, intermediate point cloud data including coordinate information and color information for each point of the small point cloud data is created from the two linked output data. The intermediate point cloud data is created as a file separate from the divided output data. Note that the intermediate point cloud data may also be created by overwriting the divided output data. [Explanation of symbols]

[0029] 1...Point cloud support system, 81...Point cloud display software, 82...Point cloud division software, 9...Point cloud support software, 9a...Point cloud support program, 10...Computer.

Claims

1. output data of point cloud display software capable of aligning point cloud data read from a three-dimensional scanner, the display output data including coordinate information and color information for each point of the point cloud data; output data of point cloud division software capable of dividing small chunk point cloud data, which is a part of the block of point cloud data, from the block of point cloud data displayed by reading the display output data, the divided output data having the same data format as the display output data, including coordinate information for each point of the small chunk point cloud data but not including color information; A read process to read a correspondence process of comparing coordinate information of each point in the display output data with coordinate information of each point in the divided output data, and associating each point in the divided output data with any one point in the point group in the display output data; an addition process for adding color information to the coordinate information of each point in the divided output data so as to match the color information of the display output data based on the result of the correspondence process, and creating intermediate point cloud data including the coordinate information and color information for each point in the small block point cloud data; a computer configured to execute Point cloud support system.

2. In the correspondence processing, the computer compares coordinate information between the display output data and the divided output data in accordance with a set number of decimal places, and associates points whose coordinate information matches with each other. The point cloud support system according to claim 1 .

3. In the corresponding processing, the computer corrects coordinate information of each point of the divided output data in accordance with a set coordinate correction amount. The point cloud support system according to claim 1 or 2.

4. the computer calculates the coordinate correction amount based on information for any one point of the small block point cloud data, which is coordinate information before the movement and coordinate information after the movement input by a user; The point cloud support system according to claim 3 .

5. the display output data includes information on a point cloud of 10 million or more points, the display output data, the divided output data, and the intermediate point cloud data are each text data. The point cloud support system according to claim 1 or 2.

6. output data of point cloud display software capable of aligning point cloud data read from a three-dimensional scanner, the display output data including coordinate information and color information for each point of the point cloud data; output data of point cloud division software capable of dividing small chunk point cloud data, which is a part of the block of point cloud data, from the block of point cloud data displayed by reading the display output data, the divided output data having the same data format as the display output data, including coordinate information for each point of the small chunk point cloud data but not including color information; A read process to read a correspondence process of comparing coordinate information of each point in the display output data with coordinate information of each point in the divided output data, and associating each point in the divided output data with any one point in the point group in the display output data; an addition process for adding color information to the coordinate information of each point in the divided output data so as to match the color information of the display output data based on the result of the correspondence process, and creating intermediate point cloud data including the coordinate information and color information for each point in the small block point cloud data; to the computer, program.

7. In the correspondence processing, the computer is caused to execute a process of comparing coordinate information between the display output data and the divided output data in accordance with a set number of decimal places, and associating points whose coordinate information matches with each other. The program according to claim 6.

8. In the corresponding processing, the computer is caused to execute processing for correcting coordinate information of each point of the divided output data or the display output data in accordance with a set coordinate correction amount. The program according to claim 6 or 7.

9. causing the computer to execute a process of calculating the coordinate correction amount based on information for an arbitrary point of the point cloud data, the information being coordinate information before the movement and coordinate information after the movement input by a user; The program according to claim 8.

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