Data processing system, data processing method and data processing program

Abstract

To easily extract point cloud data about a target object from point cloud data including surrounding objects and the like. [Solution] A data processing system 100 decomposes the point cloud data in the original data, which includes point cloud data obtained by a positioning device 16 that measures the position of a reflection point by irradiating a target area with irradiation light and receiving reflected light reflected at the reflection point, and image data about the target area in which each point data constituting the point cloud data is associated with a pixel, for each object present in the target area, to generate decomposed data that is point cloud data for each object. The data processing system 100 identifies the decomposed data for a specified object from the decomposed data for each object, and partial data composed of pixels associated with the decomposed data for the specified object from the image data included in the original data.

Description

[Technical field]

[0001] The present disclosure relates to a technique for handling three-dimensional point cloud data. [Background technology]

[0002] A positioning device such as a LiDAR camera is used to obtain three-dimensional point cloud data of an object. LiDAR is an abbreviation for Light Detection And Ranging. For example, Patent Document 1 describes obtaining point cloud data using a positioning device and measuring the size of an object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2023-023348 A Summary of the Invention [Problem to be solved by the invention]

[0004] When point cloud data is acquired by a positioning device, point cloud data is acquired for the entire space illuminated by light, i.e., point cloud data is acquired not only for the object for which point cloud data is to be acquired, but also for surrounding objects, floors, walls, etc. It is possible to use the point cloud data of a target object to consider the layout when the target object is placed in another location. However, in order to extract the point cloud data of the target object from the point cloud data that includes the surrounding objects, it is necessary to process and cut the data using dedicated software, which is time-consuming. An object of the present disclosure is to make it possible to easily extract point cloud data about a target object from point cloud data that also includes surrounding objects, etc. [Means for solving the problem]

[0005] The data processing system according to the present disclosure comprises: a decomposition unit that decomposes the point cloud data in original data, which includes point cloud data obtained by a positioning device that measures the position of a reflection point by irradiating a target area with irradiation light and receiving reflected light reflected from the reflection point, and image data about the target area, the point cloud data being image data in which each point data constituting the point cloud data is associated with a pixel, for each object present in the target area, to generate decomposed data which is point cloud data for each object; a corresponding data specifying unit that specifies decomposed data for a designated object among the decomposed data for each object generated by the decomposition unit, and partial data composed of pixels that are associated with the decomposed data for the designated object among image data included in the original data; Equipped with. Effect of the Invention

[0006] In the present disclosure, the original data, which is point cloud data obtained by a positioning device, is decomposed for each object present in a target area to generate decomposed data, which is point cloud data for each object. Then, partial data composed of pixels associated with the decomposed data for a specified object is identified. This allows the point cloud data for the specified object and the partial data for the specified object in the image data to be obtained. [Brief description of the drawings]

[0007] [Figure 1] 1 is a configuration diagram of a data processing system 100 according to a first embodiment. [Diagram 2] 1 is a configuration diagram of a data processing device 10 according to a first embodiment. [Diagram 3] 4 is a flowchart of a data registration process according to the first embodiment. [Figure 4] 4 is a flowchart of a data extraction process according to the first embodiment. [Diagram 5] FIG. 4 is an explanatory diagram of a decomposition process according to the first embodiment. [Figure 6] 4 is a flowchart of a data editing process according to the first embodiment. [Figure 7] FIG. 2 is an explanatory diagram of an example of use of the data processing system 100 according to the first embodiment. [Figure 8] FIG. 2 is an explanatory diagram of the data configuration of original data 51 and decomposed data according to the first embodiment. [Figure 9] FIG. 11 is a configuration diagram of a data processing system 100 according to a second embodiment. [Figure 10] FIG. 11 is a configuration diagram of a data processing device 10 according to a second embodiment. [Figure 11] FIG. 11 is a configuration diagram of an imaging device 20 according to a second embodiment. [Figure 12] FIG. 11 is a configuration diagram of an operation terminal 30 according to a second embodiment. [Figure 13] 11 is a flowchart of a data registration process according to the second embodiment. [Figure 14] 11 is a flowchart of a data extraction process according to the second embodiment. [Figure 15] 13 is a flowchart of a data editing process according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Embodiment 1 ***Configuration Description*** The configuration of a data processing system 100 according to the first embodiment will be described with reference to FIG. The data processing system 100 according to the first embodiment includes a data processing device 10. In the first embodiment, the data processing device 10 is a computer such as a smartphone or a tablet terminal.

[0009] The configuration of the data processing device 10 according to the first embodiment will be described with reference to FIG. The data processing device 10 is a computer. The data processing device 10 includes the following hardware components: a processor 11, a memory 12, a storage 13, a communication interface 14, a camera 15, a positioning device 16, and a display device 17. The processor 11 is connected to other hardware components via signal lines and controls the other hardware components.

[0010] The processor 11 is an IC that performs processing. IC is an abbreviation for Integrated Circuit. Specific examples of the processor 11 include a CPU, a DSP, and a GPU. CPU is an abbreviation for Central Processing Unit. DSP is an abbreviation for Digital Signal Processor. GPU is an abbreviation for Graphics Processing Unit.

[0011] The memory 12 is a storage device that temporarily stores data. Specific examples of the memory 12 include SRAM and DRAM. SRAM is an abbreviation for Static Random Access Memory. DRAM is an abbreviation for Dynamic Random Access Memory.

[0012] The storage 13 is a storage device that stores data. A specific example of the storage 13 is an SSD. SSD is an abbreviation for Solid State Drive. The storage 13 may also be a portable recording medium such as an SD (registered trademark) memory card, CompactFlash (registered trademark), NAND flash, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, or a DVD. SD is an abbreviation for Secure Digital. DVD is an abbreviation for Digital Versatile Disk.

[0013] The communication interface 14 is an interface for communicating with an external device. Specific examples of the communication interface 14 include Ethernet (registered trademark), USB, and HDMI (registered trademark) ports. USB is an abbreviation for Universal Serial Bus. HDMI is an abbreviation for High-Definition Multimedia Interface.

[0014] The camera 15 is a photographing device such as an optical camera for acquiring image data.

[0015] The positioning device 16 is a device that measures the position of a reflection point by irradiating a target area with irradiation light and receiving the light reflected from the reflection point.

[0016] The display device 17 is a device for displaying information, such as an LCD. LCD is an abbreviation for Liquid Crystal Display.

[0017] Data processing device 10 includes, as functional components, an imaging unit 111, a measurement unit 112, a decomposition unit 113, a display unit 114, a designation receiving unit 115, a corresponding data identification unit 116, a data extraction unit 117, and an editing unit 118. The functions of the functional components of data processing device 10 are realized by software. The storage 13 stores programs that realize the functions of each functional component of the data processing device 10. These programs are loaded into the memory 12 by the processor 11 and executed by the processor 11. In this way, the functions of each functional component of the data processing device 10 are realized.

[0018] 2 shows only one processor 11. However, there may be a plurality of processors 11, and the plurality of processors 11 may cooperate to execute programs that realize the respective functions.

[0019] ***Explanation of Operation*** The operation of the data processing system 100 according to the first embodiment will be described with reference to FIGS. The operation procedure of data processing system 100 according to the first embodiment corresponds to the data processing method according to the first embodiment. Moreover, the program for realizing the operation of data processing system 100 according to the first embodiment corresponds to the data processing program according to the first embodiment.

[0020] The operations of the data processing system 100 include a data registration process, a data extraction process, and a data editing process. The data registration process is a process of acquiring image data and point cloud data of a target area and registering them as original data 51. The data extraction process is a process of identifying image data and point cloud data for a specified object from the original data 51 and extracting them as editing data 52. The data editing process is a process of editing using the editing data 52.

[0021] The data registration process according to the first embodiment will be described with reference to FIG. (Step S11: Shooting process) The photographing unit 111 photographs a target area using the camera 15, and acquires image data of the target area. At this time, the user may acquire multiple image data of the target area by photographing a moving image of the target area while moving the data processing device 10.

[0022] (Step S12: Measurement process) At the same time as capturing the image in step S11, the measuring unit 112 measures the positions of the reflection points by irradiating the target area with irradiation light and receiving the reflected light from the reflection points using the positioning device 16. In this way, the measuring unit 112 obtains point cloud data indicating the positions of multiple reflection points in the target area.

[0023] (Step S13: Registration process) The measurement unit 112 associates each pixel of the one or more pieces of image data acquired in step S11 with each point data of the point cloud data acquired in step S12. Then, the measurement unit 112 writes the associated point cloud data and image data as original data 51 to the storage 13. Corresponding each pixel of the image data with each point data of the point cloud data means that pixels and point data for the same position are associated with each other. By simultaneously acquiring image data and point cloud data, it is possible to associate pixels and point data for the same position with each other.

[0024] The data extraction process according to the first embodiment will be described with reference to FIG. (Step S21: Processing request acceptance process) The decomposition unit 113 accepts a processing request for the original data 51. When a plurality of pieces of original data 51 are stored in the storage 13, the processing request including the designation of the original data 51 to be processed is accepted. At this time, the plurality of pieces of original data 51 may be displayed to accept a selection from the user.

[0025] (Step S22: Decomposition process) The decomposition unit 113 sets the original data 51 specified in step S21 as the original data 51 to be processed. The decomposition unit 113 decomposes the point cloud data in the original data 51 to be processed for each object present in the target region to generate decomposed data which is point cloud data for each object. The decomposition unit 113 registers the decomposed data in the storage 13 in association with the original data 51. For example, suppose that an object A, an object B, and an object C exist in the target area as shown in Fig. 5. In this case, the decomposition unit 113 detects each of the objects A, B, and C existing in the target area, and decomposes the point cloud data into each of the objects A, B, C, and others (floors, walls, etc.). As a result, decomposed data that is the point cloud data of the object A, decomposed data that is the point cloud data of the object B, and decomposed data that is the point cloud data of the object C are generated.

[0026] Specifically, the decomposition unit 113 removes point data of floors and walls from the point cloud data. Using an existing technology for estimating a surface, the decomposition unit 113 can identify floor and wall portions. The decomposition unit 113 clusters the remaining point data on a rule basis based on the distance between objects. The decomposition unit 113 can cluster the remaining point data by using the X-means method or the like. The decomposition unit 113 logically decomposes each point cloud data separated by clustering into decomposed data. Alternatively, the decomposition unit 113 recognizes an object using a learning model generated by deep learning, and logically decomposes each point group into decomposed data. The decomposition unit 113 also logically decomposes the removed floor and wall parts into decomposed data. Here, logical decomposition refers to a state in which a label that enables identification of decomposed data, which is point cloud data for each object, is assigned to each point data. The decomposition unit 113 then generates a physically decomposed OBJ file from the logically decomposed data. The OBJ file will be described later.

[0027] (Step S23: Display process) The display unit 114 displays the original data 51 specified in step S21 on the display device 17. Specifically, the display unit 114 pastes the image data included in the original data 51 in accordance with the positions of each point data of the point cloud data included in the original data 51. In this way, the image data is combined with the point cloud data to generate a 3D model of the target area. Then, the display unit 114 displays the 3D model of the target area.

[0028] (Step S24: Designation acceptance process) The designation receiving unit 115 receives designation of an object to be processed among one or more objects included in the 3D model displayed in step S23. For example, the object to be processed is designated by a method such as touching the object to be processed. At this time, the designation receiving unit 115 also receives designation as to whether the request is a cut request for cutting and extracting the data of the designated object, or a delete request for deleting the data of the designated object and extracting the remaining data.

[0029] (Step S25: Corresponding data identification process) The corresponding data identification unit 116 identifies the decomposed data for the specified object specified in step S24 from the decomposed data generated in step S22. The corresponding data identification unit 116 can identify the decomposed data for the specified object by identifying the decomposed data including the point data of the touched position. Furthermore, the corresponding data specifying unit 116 specifies partial data made up of pixels that are associated with the decomposed data for the specified object from the image data included in the original data to be processed.

[0030] (Step S26: Extraction process) The data extraction unit 117 extracts the editing data 52 from the decomposed data and the partial data for the designated object identified in step S25. The data extraction unit 117 determines whether a cut request or a delete request has been specified in step S24. When a cut request has been specified, the data extraction unit 117 extracts the decomposed data and partial data for the specified object as the editing data 52. When a delete request has been specified, the data extraction unit 117 extracts the decomposed data and partial data for the specified object, which are removed from the original data 51, as the editing data 52. Here, when the decomposed data is removed from the point cloud data included in the original data 51, point data of the portion where the decomposed data was present is missing. The data extraction unit 117 may complement the portion where the point data is missing using point data of the walls and floor. Specifically, the data extraction unit 117 may complement the portion where the point data is missing by extending the walls and floor assuming that the walls and floor are flat. Similarly, the data extraction unit 117 may complement the missing portion of the image data using image data of the walls and floor.

[0031] The data editing process according to the first embodiment will be described with reference to FIG. (Step S31: Data reading process) The editing unit 118 reads the editing data 52 extracted in step S26. The display unit 114 then displays the read editing data 52. At this time, the display unit 114 displays a three-dimensional model synthesized by pasting the image data included in the editing data 52 in accordance with the positions of each point data of the point cloud data included in the editing data 52.

[0032] There are cases where the data extraction process is executed multiple times and multiple pieces of editing data 52 are extracted. In this case, the editing unit 118 reads the multiple pieces of editing data 52. Then, the display unit 114 displays the multiple pieces of editing data 52 that have been read on one screen. In other words, a three-dimensional model obtained by combining image data with point cloud data for each piece of editing data 52 is displayed on one screen. At this time, the display unit 114 displays the multiple pieces of editing data 52 with the same scale. That is, the display unit 114 displays each piece of editing data 52 with the same scale as the reference scale. In the data registration process shown in FIG. 3, the scale of the point cloud data acquired by the same data processing device 10 is the same, so there is no need to match the scale. However, the scale of point cloud data acquired by different data processing devices 10 may be different, making it necessary to match the scale.

[0033] Furthermore, the editing unit 118 may read a three-dimensional model created by CAD or the like in addition to the editing data 52. CAD is an abbreviation for Computer-Aided Design. In this case, the display unit 114 displays the three-dimensional model created by CAD or the like together with the read editing data 52 on one screen. That is, a three-dimensional model obtained by combining image data with point cloud data for the editing data 52 and a three-dimensional model created by CAD or the like are displayed on one screen. At this time, the display unit 114 displays the scale of the editing data 52 together with the scale of the three-dimensional model created by CAD or the like.

[0034] (Step S32: Editing process) The editing unit 118 accepts editing of the editing data 52 etc. displayed in step S31. When a plurality of 3D models of the editing data 52 are displayed, or when a 3D model of the editing data 52 and a 3D model created by CAD or the like are displayed, the editing unit 118 accepts editing of combination data in which a plurality of 3D models are combined.

[0035] An example of use of the data processing system 100 according to the first embodiment will be described with reference to FIG. First, in the data registration process, data on rooms A and B is acquired and registered as original data 51. In the data extraction process, object X is designated as a designated object in original data 51 for room A, and a cut request is specified. As a result, point cloud data and image data for object X are extracted as editing data 52. Also, all objects are designated as designated objects in original data 51 for room B, and a delete request is specified. As a result, the point cloud data of all objects is removed from room B, and the remaining point cloud data and image data corresponding to the remaining point cloud data are extracted as editing data 52. In other words, the point cloud data and image data of room B in an empty state after all objects have been removed are extracted as editing data 52. In the data editing process, editing data 52 for object X and editing data 52 for room B are displayed on one screen. That is, a 3D model for object X and a 3D model for empty room B are displayed on one screen. Then, the 3D model for object X is moved and superimposed on the 3D model for room B. This makes it possible to check what state the object X will be in when placed in room B. It is also possible to duplicate the 3D model of object X and check what state the object will be in when multiple objects X are placed in room B.

[0036] Here, the 3D model of the object X and the 3D model of the empty room B are both generated from the original data 51 registered in the data registration process. However, either the 3D model of the object X or the 3D model of the empty room B may be a 3D model created by CAD or the like. In other words, it is possible to combine and edit a 3D model obtained by extracting point cloud data and image data of some objects, or a 3D model obtained by removing point cloud data of some objects, with a 3D model created using CAD or the like.

[0037] The data configurations of the original data 51 and the decomposed data according to the first embodiment will be described with reference to FIG. The original data 51 includes an OBJ file, an MTL file, a texture file, an image file, and a thumbnail file. The OBJ file is a three-dimensional data file indicating the coordinate data of a three-dimensional point group, and has information on which position in the three-dimensional data image data is pasted as a texture based on the texture coordinates. The MTL file is a file in which information required for texture mapping is described. The texture file is image data of the texture to be pasted on the three-dimensional point group indicated by the OBJ file according to the MTL file. The image file is image data obtained in step S11, and is configured, for example, in JPG format. The thumbnail file is data obtained by reducing the image data indicated by the image file. The decomposition data is set for each object as an OBJ file in the original data 51. Since the decomposition data is set for each object as an OBJ file, when a designated object is identified, the OBJ file of the designated object is identified, and partial data that is image data of the designated object corresponding to the three-dimensional data of the OBJ file is identified based on information held in the OBJ file.

[0038] ***Advantages of the First Embodiment*** As described above, the data processing system 100 according to the first embodiment decomposes the original data 51, which is point cloud data obtained by the positioning device 16, for each object present in the target area, to generate decomposed data, which is point cloud data for each object. Then, the data processing system 100 identifies the decomposed data for the designated object and partial data composed of pixels associated with the decomposed data. This allows the point cloud data for the designated object and a partial image for the designated object in the image data to be obtained. In particular, by simply specifying a specified object, it is possible to obtain point cloud data for the specified object and a partial image of the specified object from the image data, without having to enclose the specified object or the like.

[0039] Since point cloud data and partial images of the specified object are obtained, it becomes easy to edit a 3D model of the specified object in combination with other 3D models.

[0040] Furthermore, when displaying a plurality of three-dimensional models on one screen, the data processing system 100 according to the first embodiment displays the three-dimensional models after adjusting their scales. This makes it easy to perform layout adjustments, etc. For example, when the specified object is a large object such as furniture, by using the data processing system 100 to capture an image of an area including the entrance of the room and the planned installation location of the furniture as a target area, it is possible to check whether the furniture can be brought in along a route from the entrance of the room to the planned installation location, which is difficult to check visually. It is also possible to check whether the furniture can be installed in the planned installation location.

[0041] Embodiment 2 The second embodiment differs from the first embodiment in that the data processing system 100 is configured from a plurality of devices. In the second embodiment, this difference will be described, and a description of the same points will be omitted.

[0042] ***Configuration Description*** The configuration of a data processing system 100 according to the second embodiment will be described with reference to FIG. The data processing system 100 includes a data processing device 10, an imaging device 20, and an operation terminal 30. In the second embodiment, the data processing device 10 is a computer such as a server. The imaging device 20 is a computer such as a smartphone or a tablet terminal. The operation terminal 30 is a computer such as a smartphone, a tablet terminal, or a PC. PC is an abbreviation for Personal Computer. The data processing device 10 , the photographing device 20 and the operation terminal 30 are connected via a network 40 . The photographing device 20 and the operation terminal 30 may be realized by one computer. For example, both the photographing device 20 and the operation terminal 30 may be realized by one smartphone.

[0043] The configuration of a data processing device 10 according to the second embodiment will be described with reference to FIG. 2 in that the data processing device 10 does not include, as hardware, the camera 15, the positioning device 16, and the display device 17. The data processing device 10 also differs from the data processing device 10 shown in FIG. 2 in that the data processing device 10 does not include, as functional components, the imaging unit 111 and the measurement unit 112.

[0044] The configuration of an image capturing device 20 according to the second embodiment will be described with reference to FIG. The photographing device 20 includes the following hardware components: a processor 21, a memory 22, a storage 23, a communication interface 24, a camera 25, and a positioning device 26. The processor 21 is connected to other hardware components via signal lines and controls the other hardware components. The processor 21, memory 22, storage 23, communication interface 24, camera 25, and positioning device 26 are similar to the processor 11, memory 12, storage 13, communication interface 14, camera 15, and positioning device 16, respectively.

[0045] The photographing device 20 includes, as functional components, a photographing unit 211, a measuring unit 212, and a communication unit 213. The functions of the functional components of the photographing device 20 are realized by software. The storage 23 stores a program for implementing the functions of each functional component of the photographing device 20. The program is loaded into the memory 22 by the processor 21 and executed by the processor 21. In this way, the function of each functional component of the photographing device 20 is implemented.

[0046] The configuration of the operation terminal 30 according to the second embodiment will be described with reference to FIG. The operation terminal 30 includes the following hardware components: a processor 31, a memory 32, a storage 33, a communication interface 34, and a display device 35. The processor 31 is connected to other hardware components via signal lines and controls the other hardware components. The processor 31, memory 32, storage 33, communication interface 34, and display device 35 are similar to the processor 11, memory 12, storage 13, communication interface 14, and display device 17, respectively.

[0047] The operation terminal 30 includes, as functional components, an instruction unit 311 and a communication unit 312. The functions of the functional components of the operation terminal 30 are realized by software. The storage 33 stores a program that realizes the function of each functional component of the operation terminal 30. The program is loaded into the memory 32 by the processor 31 and executed by the processor 31. In this way, the function of each functional component of the operation terminal 30 is realized.

[0048] ***Explanation of Operation*** The operation of the data processing system 100 according to the second embodiment will be described with reference to FIGS.

[0049] The data registration process according to the second embodiment will be described with reference to FIG. (Step S11A: Shooting process) The photographing section 211 of the photographing device 20 photographs the target area using the camera 25, similarly to step S11 in FIG. 3, and obtains image data of the target area.

[0050] (Step S12A: Measurement process) The measurement unit 212 of the image capturing device 20 acquires point cloud data indicating the positions of a plurality of reflection points in the target area using the positioning device 26, similar to step S12 in FIG.

[0051] (Step S13A: Registration process) The communication unit 213 of the photographing device 20 associates each pixel of the one or more image data acquired in step S11A with each point data of the point cloud data acquired in step S12A, and transmits the resulting data to the data processing device 10 as original data 51. As a result, the original data 51 is written to the storage 13 of the data processing device 10.

[0052] The data extraction process according to the second embodiment will be described with reference to FIG. (Step S21A: Processing request acceptance process) 4, the instruction unit 311 of the operation terminal 30 accepts a processing request for the original data 51. Then, the communication unit 312 of the operation terminal 30 transmits the processing request to the data processing device 10.

[0053] (Step S22A: Decomposition process) As in step S22 of Figure 4, the decomposition unit 113 of the data processing device 10 generates decomposed data, which is point cloud data for each object, using the original data 51 specified in step S21A as the original data 51 to be processed, and registers it in the storage 13.

[0054] (Step S23A: Display process) The display unit 114 of the data processing device 10 transmits the original data 51 designated in step S21A to the operation terminal 30 and displays it on the display device 35, similarly to step S23 in FIG.

[0055] (Step S24A: Designation acceptance process) 4, instruction unit 311 of operation terminal 30 accepts designation of an object to be processed among one or more objects included in the 3D model displayed in step S23A. At this time, instruction unit 311 also accepts designation of whether the request is a cut request or a delete request. Then, communication unit 312 of operation terminal 30 transmits information indicating the object to be processed and information indicating whether the request is a cut request or a delete request to data processing device 10.

[0056] (Step S25A: Corresponding data identification process) 4, the corresponding data identification unit 116 of the data processing device 10 identifies the decomposed data for the specified object specified in step S24A from the decomposed data generated in step S22A. Furthermore, the corresponding data identification unit 116 identifies partial data composed of pixels associated with the decomposed data for the specified object.

[0057] (Step S26A: Extraction process) The data extraction unit 117 of the data processing device 10 extracts the editing data 52 from the decomposed data and partial data for the designated object identified in step S25A, similarly to step S26 in FIG. The data extraction unit 117 may transmit the editing data 52 to the operation terminal 30 in response to a request from the operation terminal 30 .

[0058] The data editing process according to the second embodiment will be described with reference to FIG. (Step S31: Data reading process) The editing unit 118 of the data processing device 10 reads the editing data 52 extracted in step S26, similar to step S31 in Fig. 6. The display unit 114 then transmits the read editing data 52 to the operation terminal 30 and displays it on the display device 35.

[0059] (Step S32: Editing process) The editing unit 118 of the data processing device 10 accepts editing of the edit data 52 etc. displayed in step S31, similarly to step S32 in Fig. 6. Here, the editing unit 118 accepts editing from the operation terminal 30.

[0060] ***Effects of the second embodiment*** As described above, the data processing system 100 according to the second embodiment is realized by the data processing device 10, the photographing device 20, and the operation terminal 30. Even in this case, it is possible to achieve the same effects as those of the data processing system 100 according to the first embodiment.

[0061] 14, by transmitting the editing data 52 to the operation terminal 30, it is also possible to perform editing using the editing data 52 on the operation terminal 30 side. For example, it is also possible to read the editing data 52 into CAD software and perform editing.

[0062] ***Other configurations*** <Variation 1> In the first embodiment, each functional component is realized by software. However, as a first modification, each functional component may be realized by hardware. The following describes the first modification in terms of differences from the first embodiment.

[0063] When each functional component is realized by hardware, the data processing device 10 includes an electronic circuit instead of the processor 11, the memory 12, and the storage 13. The electronic circuit is a dedicated circuit for realizing the functions of each functional component, the memory 12, and the storage 13.

[0064] Similarly, when each functional component is realized by hardware, the imaging device 20 includes an electronic circuit instead of the processor 21, the memory 22, and the storage 23. The electronic circuit is a dedicated circuit for realizing the functions of each functional component, the memory 22, and the storage 23.

[0065] Similarly, when each functional component is realized by hardware, the operation terminal 30 includes an electronic circuit instead of the processor 31, the memory 32, and the storage 33. The electronic circuit is a dedicated circuit for realizing the functions of each functional component, the memory 32, and the storage 33.

[0066] The electronic circuits include single circuits, composite circuits, programmed processors, parallel programmed processors, logic ICs, GAs, ASICs, and FPGAs. GA stands for Gate Array. ASIC stands for Application Specific Integrated Circuit. FPGA stands for Field-Programmable Gate Array. Each functional component may be realized by one electronic circuit, or each functional component may be realized by distributing it among a plurality of electronic circuits.

[0067] <Variation 2> As a second modification, some of the functional components may be realized by hardware, and other functional components may be realized by software.

[0068] The processors 11, 21, and 31, the memories 12, 22, and 32, the storages 13, 23, and 33, and the electronic circuits are collectively referred to as a processing circuit. In other words, the functions of the functional components are realized by the processing circuit.

[0069] Furthermore, the term "part" in the above description may be read as a "circuit," "step," "procedure," "processing," or "processing circuit."

[0070] Various aspects of the present disclosure are summarized below as appendices. (Appendix 1) a decomposition unit that decomposes the point cloud data in original data, which includes point cloud data obtained by a positioning device that measures the position of a reflection point by irradiating a target area with irradiation light and receiving reflected light reflected from the reflection point, and image data about the target area, the point cloud data being image data in which each point data constituting the point cloud data is associated with a pixel, for each object present in the target area, to generate decomposed data which is point cloud data for each object; a corresponding data specifying unit that specifies decomposed data for a designated object among the decomposed data for each object generated by the decomposition unit, and partial data composed of pixels that are associated with the decomposed data for the designated object among image data included in the original data; A data processing system comprising: (Appendix 2) The data processing system further comprises: a data extraction unit that extracts the decomposed data and the partial data for the specified object identified by the corresponding data identification unit as editing data; 2. The data processing system of claim 1, comprising: (Appendix 3) The data processing system further comprises: a data extraction unit that extracts, as editing data, data obtained by excluding the decomposed data and the partial data for the designated object identified by the corresponding data identification unit from the original data; 2. The data processing system of claim 1, comprising: (Appendix 4) The data processing system further comprises: a display unit that displays a three-dimensional model obtained by combining the image data with the point cloud data included in the original data; a designation receiving unit that receives designation of the designated object from the three-dimensional model displayed by the display unit; 4. The data processing system according to claim 2 or 3, comprising: (Appendix 5) The data processing system further comprises: a display unit that simultaneously displays the editing data extracted by the data extraction unit and other point cloud data different from the point cloud data; an editing unit that accepts editing of combination data obtained by combining the editing data displayed by the display unit with the other point cloud data; 4. The data processing system according to claim 2 or 3, comprising: (Appendix 6) The display unit displays the editing data and the other point cloud data in a state where a scale of the editing data matches a scale of the other point cloud data. 6. The data processing system of claim 5. (Appendix 7) The decomposition unit generates decomposed data for each object by removing floor point data from the point cloud data and clustering the remaining point data. 7. A data processing system according to any one of claims 1 to 6. (Appendix 8) The decomposition unit generates the decomposition data for each of the objects as a separate file. 8. A data processing system according to any one of claims 1 to 7. (Appendix 9) a computer decomposes the point cloud data in original data, which includes point cloud data obtained by a positioning device that measures the position of a reflection point by irradiating a target area with irradiation light and receiving reflected light reflected from the reflection point, and image data about the target area, in which each point data constituting the point cloud data is associated with a pixel, for each object present in the target area, to generate decomposed data which is point cloud data for each object; A data processing method in which a computer identifies decomposition data for a specified object from the decomposition data for each object, and partial data composed of pixels corresponding to the decomposition data for the specified object from the image data included in the original data. (Appendix 10) a decomposition process for decomposing the point cloud data in original data, which includes point cloud data obtained by a positioning device that measures the position of a reflection point by irradiating a target area with irradiation light and receiving reflected light reflected from the reflection point, and image data for the target area, the point cloud data being image data in which each point data constituting the point cloud data is associated with a pixel, for each object present in the target area, to generate decomposed data which is point cloud data for each object; a corresponding data specification process for specifying decomposition data for a designated object among the decomposition data for each object generated by the decomposition process, and partial data composed of pixels corresponding to the decomposition data for the designated object among the image data included in the original data; A data processing program that causes a computer to execute the following:

[0071] The above describes the embodiments and modifications of the present disclosure. Some of these embodiments and modifications may be combined and implemented. Also, one or some of them may be partially implemented. Note that the present disclosure is not limited to the above embodiments and modifications, and various modifications are possible as necessary. [Explanation of symbols]

[0072] 100 data processing system, 10 data processing device, 11 processor, 12 memory, 13 storage, 14 communication interface, 15 camera, 16 positioning device, 17 display device, 111 shooting unit, 112 measurement unit, 113 resolution unit, 114 display unit, 115 designation reception unit, 116 corresponding data identification unit, 117 data extraction unit, 118 editing unit, 20 shooting device, 21 processor, 22 memory, 23 storage, 24 communication interface, 25 camera, 26 positioning device, 211 shooting unit, 212 measurement unit, 213 communication unit, 30 operation terminal, 31 processor, 32 memory, 33 storage, 34 communication interface, 35 display device, 311 instruction unit, 312 communication unit, 51 original data, 52 editing data.

Claims

1. a decomposition unit that decomposes the point cloud data in original data, which includes point cloud data obtained by a positioning device that measures the position of a reflection point by irradiating a target area with irradiation light and receiving reflected light reflected from the reflection point, and image data about the target area, the point cloud data being image data in which each point data constituting the point cloud data is associated with a pixel, for each object present in the target area, to generate decomposed data which is point cloud data for each object; a corresponding data specifying unit that specifies decomposed data for a designated object among the decomposed data for each object generated by the decomposition unit, and partial data composed of pixels that are associated with the decomposed data for the designated object among the image data included in the original data; A data processing system comprising:

2. The data processing system further comprises: a data extraction unit that extracts the decomposed data and the partial data for the specified object identified by the corresponding data identification unit as editing data; 2. The data processing system of claim 1, comprising:

3. The data processing system further comprises: a data extraction unit that extracts, as editing data, data obtained by excluding the decomposed data and the partial data for the designated object identified by the corresponding data identification unit from the original data; 2. The data processing system of claim 1, comprising:

4. The data processing system further comprises: a display unit that displays a three-dimensional model obtained by combining the image data with the point cloud data included in the original data; a designation receiving unit that receives designation of the designated object from the three-dimensional model displayed by the display unit; 4. The data processing system according to claim 2, further comprising:

5. The data processing system further comprises: a display unit that simultaneously displays the editing data extracted by the data extraction unit and other point cloud data different from the point cloud data; an editing unit that accepts editing of combination data obtained by combining the editing data displayed by the display unit with the other point cloud data; 4. The data processing system according to claim 2, further comprising:

6. The display unit displays the editing data and the other point cloud data in a state where a scale of the editing data matches a scale of the other point cloud data.

6. The data processing system of claim 5.

7. The decomposition unit generates decomposed data for each object by removing floor point data from the point cloud data and clustering the remaining point data.

2. The data processing system of claim 1.

8. The decomposition unit generates the decomposition data for each of the objects as a separate file.

2. The data processing system of claim 1.

9. a computer decomposes the point cloud data in original data, which includes point cloud data obtained by a positioning device that measures the position of a reflection point by irradiating a target area with irradiation light and receiving reflected light reflected from the reflection point, and image data about the target area, in which each point data constituting the point cloud data is associated with a pixel, for each object present in the target area, to generate decomposed data which is point cloud data for each object; A data processing method in which a computer identifies decomposition data for a specified object from the decomposition data for each object, and partial data composed of pixels corresponding to the decomposition data for the specified object from the image data included in the original data.

10. a decomposition process for decomposing the point cloud data in original data, which includes point cloud data obtained by a positioning device that measures the position of a reflection point by irradiating a target area with irradiation light and receiving reflected light reflected from the reflection point, and image data for the target area, the point cloud data being image data in which each point data constituting the point cloud data is associated with a pixel, for each object present in the target area, to generate decomposed data which is point cloud data for each object; a corresponding data specifying process for specifying decomposition data for a designated object among the decomposition data for each object generated by the decomposition process, and partial data composed of pixels corresponding to the decomposition data for the designated object among the image data included in the original data; A data processing program that causes a computer to execute the following:

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