Image processing apparatus, control method of image processing apparatus, and image processing program

Abstract

To precisely measure a measurement target on the basis of images taken by a plurality of imaging units.SOLUTION: An image processor (10) includes: a setting unit (102) for setting a plurality of specification units for each measurement target edge in a reference image taken of a measurement target by a reference imaging unit (110) and calculating the longer direction of the measurement target on the basis of a plurality of specification points; and a selection unit (103) for selecting a reference image used for a measurement on the basis of the angle formed by the longer direction of the measurement target and the baseline direction.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an image processing apparatus, a control method for the image processing apparatus, and an image processing program.

Background Art

[0002] Based on the parallax, which is the relative displacement amount between images captured by each of a plurality of imaging units such as a multi-eye camera, and the principle of triangulation, distance information (depth information) of a measurement target, which is a three-dimensional object, is calculated to measure the measurement target. A technique is known.

[0003] Currently, a technique for applying the above-described technique to bar arrangement inspection to measure the bar diameter and bar spacing of reinforcing bars to be measured has been developed. For example, Patent Document 1 describes a measuring device that measures the positions and dimensions of a plurality of reinforcing bars in an image based on stereo image data captured by a two-eye camera.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the conventional technology as described above, when the direction in which two imaging units are arranged (positioned) is parallel to the longitudinal direction of the measurement target, the measurement accuracy may decrease.

[0006] Therefore, an aspect of the present invention aims to provide an image processing apparatus and related technologies capable of accurately measuring a measurement target based on images captured by a plurality of imaging units.

Means for Solving the Problems

[0007] In order to solve the above problems, an image processing apparatus according to an aspect of the present invention includes a setting unit that sets a plurality of designated points for each of one or more edges of a measurement target in a reference image obtained by imaging the measurement target with a reference imaging unit, and a selection unit that selects a reference image to be used for measurement from a plurality of reference images obtained by imaging the measurement target with each of a plurality of reference imaging units based on the plurality of designated points in the reference image. The setting unit calculates a longitudinal direction of the measurement target in the reference image based on the plurality of designated points in the reference image, and the selection unit selects the reference image to be used for measurement based on an angle formed by the longitudinal direction of the measurement target in the reference image and a baseline direction that is a direction in which the reference imaging unit and each of the plurality of reference imaging units are arranged.

[0008] A control method for an image processing apparatus according to an aspect of the present invention includes the image processing apparatus setting a plurality of designated points for each of one or more edges of a measurement target in a reference image obtained by imaging the measurement target with a reference imaging unit, and calculating a longitudinal direction of the measurement target in the reference image based on the plurality of designated points. The image processing apparatus selects a reference image to be used for measurement from a plurality of reference images obtained by imaging the measurement target with each of a plurality of reference imaging units based on the plurality of designated points in the reference image. Selecting the reference image to be used for measurement is based on an angle formed by the longitudinal direction of the measurement target in the reference image and a baseline direction that is a direction in which the reference imaging unit and each of the plurality of reference imaging units are arranged.

Advantages of the Invention

[0009] According to an aspect of the present invention, it is possible to provide an image processing apparatus and related technologies capable of accurately measuring a measurement target based on images captured by a plurality of imaging units.

Brief Description of the Drawings

[0010]

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Mode for Carrying Out the Invention

[0011] <Embodiment 1> Hereinafter, Embodiment 1 of the present invention will be described with reference to FIGS. 1 to 9.

[0012] 〔Measuring device 1〕 The measuring device 1 measures a measurement target. Specifically, the measuring device 1 measures the reinforcing bars of the measurement target among the reinforcing bars arranged in the vertical and horizontal directions.

[0013] FIG. 1 is a block diagram showing an example of the configuration of the measuring device 1 according to Embodiment 1. In the example shown in FIG. 1, the measuring device 1 includes an image processing device 10 and an imaging unit 11. That is, in the example shown in FIG. 1, the measuring device 1 has a configuration in which the image processing device 10 and the imaging unit 11 are integrated.

[0014] 〔Imaging unit 11〕 The imaging unit 11 images the measurement target. Specifically, the imaging unit 11 images the reinforcing bars arranged in the vertical and horizontal directions including the reinforcing bars of the measurement target.

[0015] As shown in FIG. 1, the imaging unit 11 includes a reference imaging unit 110, a first reference imaging unit 111, and a second reference imaging unit 112.

[0016] (Reference imaging unit 110, first reference imaging unit 111, and second reference imaging unit 112) Examples of the reference imaging unit 110, the first reference imaging unit 111, and the second reference imaging unit 112 include a camera including an imaging element and a lens that collects light on the imaging element. Examples of the imaging element include a CCD (Charge Coupled Device) and a CMOS (Complementary Metal Oxide Semiconductor) sensor.

[0017] The reference imaging unit 110, the first reference imaging unit 111, and the second reference imaging unit 112 are arranged in positions such that they have a common imaging range that includes the reinforcing bars to be measured, and the relative positional relationship between the imaging units is fixed and measured. The storage unit 105 of the image processing apparatus 10 holds the measurement results of the relative positional relationship between the imaging units.

[0018] The relative positional relationship between the imaging units is such that a first baseline, which is a three-dimensional straight line connecting the focal points of the reference imaging unit 110 and the first reference imaging unit 111, and a second baseline, which is a three-dimensional straight line connecting the focal points of the reference imaging unit 110 and the second reference imaging unit 112, are not on the same straight line.

[0019] In this way, as long as the relative positional relationship between the imaging units is not on the same straight line, the imaging units can be arranged in any manner, but it is preferable that the optical axis of the reference imaging unit 110, the first baseline, and the second baseline are arranged at angles that are close to being perpendicular to each other. By arranging the optical axis of the reference imaging unit 110, the first baseline, and the second baseline at angles that are close to being perpendicular to each other, the selection unit 103 can more preferably select a reference image to be used for measurement.

[0020] Note that in the above example, the reference imaging unit is composed of two units, namely the first reference imaging unit 111 and the second reference imaging unit 112, but the number of reference imaging units is not limited to two, and it is also possible to have two or more units.

[0021] 〔Image Processing Apparatus 10〕 The image processing apparatus 10 processes an image in which the measurement target is imaged. Specifically, the image processing apparatus 10 processes an image in which reinforcing bars arranged in the vertical and horizontal directions, including the reinforcing bars of the measurement target, are imaged.

[0022] As the image processing apparatus 10, for example, those integrated with a personal computer that operates as the image processing apparatus 10, such as a tablet and a notebook computer, and those that can be connected by a cable, such as a desktop personal computer and a monitor, can be applied.

[0023] Note that in the above example, the measurement device 1 has a configuration in which the imaging unit 11 and the image processing device 10 are integrated. However, in this embodiment, the measurement device 1 is not limited to the integrated configuration and can also be configured separately.

[0024] For example, the imaging unit 11 and the image processing device 10 may each be a single housing, and the image stored inside the imaging unit 11 may be transferred to the image processing device 10 in another housing via a memory card, network communication, or the like.

[0025] As shown in FIG. 1, the image processing device 10 includes an input unit 100, a display unit 101, a setting unit 102, a selection unit 103, a measurement unit 104, and a storage unit 105.

[0026] (Input Unit 100) The input unit 100 receives the input of a reference image obtained by imaging a measurement target by the reference imaging unit 110, a first reference image obtained by imaging the measurement target by the first reference imaging unit 111, and a second reference image obtained by imaging the measurement target by the second reference imaging unit 112.

[0027] Specifically, the input unit 100 receives the input of a reference image, a first reference image, and a second reference image in which the reinforcing bars arranged in the vertical and horizontal directions including the reinforcing bars of the measurement target are imaged by the reference imaging unit 110, the first reference imaging unit 111, and the second reference imaging unit 112, respectively.

[0028] In addition, the input unit 100 receives from the user an input (designation of a designated point) such as the position of a designated point in the reference image, the first reference image, or the second reference image displayed on the display unit 101.

[0029] The input unit 100 is realized by, for example, a mouse, a keyboard, or a touch panel that functions as a UI element integrated with the display unit 101.

[0030] (Display Unit 101) The display unit 101 displays the reference image input to the input unit 100, the reference image selected by the selection unit 103 from among the first reference image and the second reference image input to the input unit 100, and the measurement result obtained by measuring the reinforcing bar to be measured by the measurement unit 104, and the like.

[0031] The display unit 101 may display the reference image on which image processing has been performed by the setting unit 102, and the reference image selected by the selection unit 103 from among the first reference image and the second reference image on which image processing has been performed by the setting unit 102. The image processing by the setting unit 102 will be described later.

[0032] The display unit 101 is realized by, for example, a liquid crystal display, an organic EL (Electro luminescence) display, or a touch panel that functions as a UI element integrated with the input unit 100.

[0033] (Setting unit 102) The setting unit 102 sets a plurality of designated points for each of the two edges of the reinforcing bar to be measured in the reference image captured by the reference imaging unit 110.

[0034] For example, the setting unit 102 sets, via the input unit 100, a plurality of points designated by the user for each of the two edges of the reinforcing bar to be measured in the reference image as the designated points.

[0035] As an example, the setting unit 102 may set, as the designated points, the points designated by the user touching the two edges of the reinforcing bar to be measured in the reference image 21 displayed on the touch panel that functions as a UI element integrated with the input unit 100 and the display unit 101.

[0036] In this way, by setting a plurality of designated points for each of the two edges of the reinforcing bar to be measured, the selection unit 103 can suitably select the reference image to be used for measurement from among the first reference image and the second reference image.

[0037] Based on the camera parameters of the reference imaging unit 110 stored in the storage unit 105, the setting unit 102 may perform image processing on the reference image input to the input unit 100, and then set a plurality of designated points for each of the two edges of the reinforcing bar to be measured in the reference image on which the image processing has been performed.

[0038] Examples of the camera parameters include internal parameters and external parameters. Examples of the internal parameters include parameters related to the characteristics of each imaging unit, such as the focal length of the lens provided in each imaging unit, the distortion coefficient, and the resolution of the image captured by each imaging unit. Examples of the external parameters include parameters related to the orientation and position of each imaging unit, such as the orientation, position, field of view angle of each imaging unit, and the positional relationship between two imaging units.

[0039] For example, as the image processing, the setting unit 102 may perform stereo parallelization processing so that the first reference image captured by the first reference imaging unit 111 existing in the horizontal right direction with respect to the reference imaging unit 110 becomes an image captured from the horizontal right direction with respect to the reference image. Similarly, as the image processing, the setting unit 102 may perform stereo parallelization processing so that the second reference image captured by the second reference imaging unit 112 existing in the vertically upward direction with respect to the reference imaging unit 110 becomes an image captured from the vertically upward direction with respect to the reference image.

[0040] Thereby, even when the reference image that should be captured from the horizontal right direction or the vertically upward direction with respect to the reference image is tilted up, down, left, or right and an error occurs, theoretically, the tilt and error can be adjusted so that it becomes the reference image that should be captured. As a result, it becomes easier to search for corresponding points corresponding to the designated points in the reference image in each of the first reference image and the second reference image by stereo matching.

[0041] Further, the setting unit 102 may perform image processing to superimpose external parameters such as the positional relationship between the reference imaging unit 110 and the first reference imaging unit 111 and the positional relationship between the reference imaging unit 110 and the second reference imaging unit 112 on the reference image.

[0042] As an example, the setting unit 102 may superimpose the first baseline direction (baseline direction), which is the direction in which the reference imaging unit 110 and the first reference imaging unit 111 are arranged side by side, and the second baseline direction (baseline direction), which is the direction in which the reference imaging unit 110 and the second reference imaging unit 112 are arranged side by side, on the reference image.

[0043] If a designated point is set at the edge of the reinforcing bar to be measured in the reference image on which image processing has been performed based on the camera parameters, the user can more preferably specify a point on the edge of the reinforcing bar to be measured while viewing an image on which the first baseline direction and the second baseline direction are superimposed. As a result, the setting unit 102 can set a more suitable point designated by the user as the designated point.

[0044] Further, the setting unit 102 may calculate the longitudinal direction (reinforcing bar direction) of the reinforcing bar to be measured, which is the direction in which the reinforcing bar to be measured is arranged in the reference image, based on a plurality of designated points in the reference image.

[0045] For example, the setting unit 102 calculates, as the reinforcing bar direction, the direction along two approximate straight lines that are approximate straight lines of a plurality of designated points set on each of the two edges of the reinforcing bar to be measured in the reference image. Note that the approximate straight line of the plurality of designated points described above refers to an approximate straight line obtained by fitting the two-dimensional coordinates of the plurality of designated points on the image, and the approximate straight lines of other points below are also approximate straight lines obtained in the same manner.

[0046] In this way, by calculating the approximate straight lines of a plurality of designated points set for each edge of the reinforcing bar to be measured in the reference image as the reinforcing bar direction, it is possible to suitably calculate the straight line along the edge of the reinforcing bar to be measured as the reinforcing bar direction. Thereby, the selection unit 103 can more suitably select the reference image to be used for measurement from among the first reference image and the second reference image.

[0047] Each time the setting of the designated points is completed for one edge of the reinforcing bar to be measured in the reference image, the setting unit 102 may calculate the approximate straight line of a plurality of designated points along one edge of the reinforcing bar to be measured. The setting unit 102 may calculate the approximate straight lines of the plurality of designated points along each of the two edges after the setting of all the designated points is completed regardless of the edges of the reinforcing bar to be measured in the reference image.

[0048] In this way, by calculating the approximate straight lines of the designated points in the reference image, it is possible to calculate two approximate straight lines along each of the two edges of the reinforcing bar to be measured. Thereby, the measuring unit 104 can suitably calculate the diameter of the reinforcing bar to be measured based on the two approximate straight lines of the reinforcing bar to be measured in the reference image.

[0049] The setting unit 102 may cause the display unit 101 to display the designated points on one (one side) edge of the reinforcing bar to be measured in the reference image and the designated points on the other edge with at least one of the shape and color being different. Thereby, even if the designated points are alternately set for each of one edge and the other edge of the reinforcing bar to be measured, or the designated points are displayed for each of the two edges of the reinforcing bar, it is possible to easily identify the designated points on one edge of the reinforcing bar and the designated points on the other edge.

[0050] In addition, when the user traces the edge of the reinforcing bar to be measured in the reference image with a finger or tracks it with a mouse on the touch panel, the setting unit 102 may set a plurality of designated points on the edge of the reinforcing bar to be measured according to one such user operation. In this case, for example, the setting unit 102 may set the start position and the end position of the edge of the reinforcing bar to be measured that the user has traced or tracked as the designated points respectively. Thereby, the designated points can be set more efficiently and suitably.

[0051] (Example of setting designated points in the reference image) Hereinafter, with reference to FIGS. 2 and 3, a specific example of setting designated points in the reference image by the setting unit 102 will be described. FIG. 2 is a diagram showing an example of the reference image. Specifically, FIG. 2 is a diagram showing a reference image 21 captured by the reference imaging unit 110, in which reinforcing bars arranged in the vertical and horizontal directions, including a reinforcing bar 22 to be measured whose longitudinal direction is a direction substantially parallel to the second reference line direction 252. FIG. 3 is a diagram showing an example of an enlarged area in the reference image. Specifically, FIG. 3 is a diagram showing an enlarged area 261 in the reference image 21.

[0052] In FIG. 2, the setting unit 102 performs image processing to superimpose the first reference line direction 251 and the second reference line direction 252 on the reference image 21 in which the reinforcing bar 22 to be measured is imaged by the reference imaging unit 110 based on the camera parameters of the reference imaging unit 110.

[0053] In FIG. 2, the reference imaging unit 110, the first reference imaging unit 111, and the second reference imaging unit 112 are in a state where the lenses of the respective imaging units are directed toward the reinforcing bar, and the direction in which the reference imaging unit 110 and the first reference imaging unit 111 are arranged (the direction in which the first reference imaging unit 111 exists with respect to the reference imaging unit 110) is the right direction. Also, the direction in which the reference imaging unit 110 and the second reference imaging unit 112 are arranged (the direction in which the second reference imaging unit 112 exists with respect to the reference imaging unit 110) is the upward direction.

[0054] Therefore, the setting unit 102 superimposes the first baseline direction 251 on the reference image 21 as an arrow indicating the right direction in which the reference imaging unit 110 and the first reference imaging unit 111 are arranged. Further, the setting unit 102 superimposes the second baseline direction 252 on the reference image 21 as an arrow indicating the upward direction in which the reference imaging unit 110 and the second reference imaging unit 112 are arranged.

[0055] The setting unit 102 sets, as designated points, the points designated by the user touching two edges of the reinforcing bar 22 to be measured in the reference image 21 displayed on the touch panel in which the input unit 100 and the display unit 101 are integrated.

[0056] In this case, the setting unit 102 may cause the display unit 101 to enlarge and display a region including one or more edges of the reinforcing bar 22 to be measured in the reference image 21. For example, the setting unit 102 may cause the display unit 101 to enlarge and display a region 261 within a predetermined range from the center of the reinforcing bar 22 to be measured, which includes two edges of the reinforcing bar 22 to be measured, as shown in FIG. 3.

[0057] As shown in FIG. 3, by enlarging and displaying the region 261 including one or more edges of the reinforcing bar 22 to be measured in the reference image 21, information serving as a guide for the designated points set for the edges of the reinforcing bar 22 to be measured on the reference image 21 can be shown to the user more clearly. Thereby, it becomes easy for the user to designate the designated points 231, 232, 233, and 234 for the edges of the reinforcing bar 22 to be measured in the reference image 21.

[0058] Further, even if position information indicating a rough position of the reinforcing bar 22 to be measured is not calculated based on the plane information indicating the plane in which the reinforcing bar 22 to be measured exists in the reference image 21, information serving as a guide for the designated points set for the edges of the reinforcing bar 22 to be measured on the reference image 21 can be shown to the user. The above-mentioned plane information and position information will be described in detail in Embodiment 3 below.

[0059] Based on the user's designation for two edges of the reinforcing bar 22 to be measured imaged as vertical reinforcing bars, the setting unit 102 sets the designated points 231 and 232 on one edge of the reinforcing bar 22 to be measured, and sets the designated points 233 and 234 on the other edge.

[0060] Based on the designated points 231 and 232 and the designated points 233 and 234 in the reference image 21, the setting unit 102 calculates the longitudinal direction (reinforcing bar direction) of the reinforcing bar 22 to be measured.

[0061] Specifically, the setting unit 102 calculates the reinforcing bar direction of the reinforcing bar 22 to be measured based on the straight line 241 connecting the designated points 231 and 232 and the straight line 242 connecting the designated points 233 and 234. In the example shown in FIG. 2, the reinforcing bar direction is a direction substantially parallel to the second reference line direction 252.

[0062] In the above example, the setting unit 102 sets two designated points for one edge of the reinforcing bar to be measured in the reference image. However, in this embodiment, a plurality of designated points may be set for one edge of the reinforcing bar to be measured. For example, three or more points may be set.

[0063] In this case, when the setting of a plurality of designated points for one edge of the reinforcing bar to be measured in the reference image is completed, the setting unit 102 may calculate an approximate straight line of the designated points along the edge based on the selected designated points. Further, when three or more designated points are set, the setting unit 102 may calculate an approximate straight line along the edge of the reinforcing bar to be measured by using, for example, the least squares straight line.

[0064] (Selection unit 103) Based on a plurality of designated points in the reference image, the selection unit 103 selects a reference image to be used for measurement from the first reference image and the second reference image in which the reinforcing bar to be measured is imaged by the first reference imaging unit 111 and the second reference imaging unit 112, respectively. The selection unit 103 outputs the selected reference image to the display unit 101.

[0065] Here, when the setting unit 102 calculates the rebar direction based on a plurality of designated points in the reference image, the selection unit 103 may select a reference image to be used for measurement based on the angle formed between the rebar direction in the reference image and the baseline direction.

[0066] In this case, the selection unit 103 may select, as the reference image to be used for measurement, the reference image captured by the reference imaging unit with the angle formed between the rebar direction and the baseline direction corresponding to each reference image being closest to a right angle, from among the first reference image and the second reference image.

[0067] Thereby, the selection unit 103 performs stereo matching to obtain the correspondence relationship between the pixels of the reference image and the pixels of the selected reference image, so that highly reliable corresponding points corresponding to a plurality of designated points in the reference image can be detected.

[0068] As a result, the measurement unit 104 calculates the difference between a plurality of designated points in the reference image and a plurality of corresponding points in the selected reference image as the parallax, calculates the three-dimensional coordinates of the rebar to be measured based on the parallax, and can measure the rebar to be measured with high precision based on the three-dimensional coordinates.

[0069] In particular, when measuring a measurement object whose arranged direction is not constant, such as a rebar in which vertical rebars and horizontal rebars are arranged at substantially the same position in the same layer, the selection unit 103 can measure the measurement object with high precision by selecting it as the reference image to be used for measurement.

[0070] (Example 1 of Selection of Reference Image) Hereinafter, with reference to FIGS. 2 to 5, Example 1 of the selection of the reference image to be used for measurement from among the first reference image and the second reference image by the selection unit 103 will be described.

[0071] FIG. 4 is a diagram showing an example of a first reference image. Specifically, FIG. 4 is a diagram showing a first reference image 211 captured by a first reference imaging unit 111 corresponding to the reference image 21 shown in FIG. 2. FIG. 5 is a diagram showing an example of a second reference image. Specifically, FIG. 5 is a diagram showing a second reference image 212 captured by a second reference imaging unit 112 corresponding to the reference image 21 shown in FIG. 2.

[0072] In FIG. 4, the setting unit 102 performs a stereo parallelization process so that the first reference image 211 captured by the first reference imaging unit 111 existing in the horizontal right direction with respect to the reference imaging unit 110 is an image captured from the horizontal right direction with respect to the reference image 21. Similarly, in FIG. 5, the setting unit 102 performs a stereo parallelization process so that the second reference image 212 captured by the second reference imaging unit 112 existing in the vertically upward direction with respect to the reference imaging unit 110 is an image captured from the vertically upward direction with respect to the reference image 21.

[0073] The selection unit 103 searches for pixels corresponding to the target pixels of each designated point in the reference image 21 that have a high similarity to the target pixels of each designated point in the reference image 21 in each of the first reference image 211 and the second reference image 212 by stereo matching.

[0074] For example, the selection unit 103 scans the longitudinal direction of the reinforcing bar parallel to the first baseline direction 251 corresponding to the first reference image 211 in the first reference image 211 to search for corresponding pixels that have a high similarity to the target pixels of the designated point 231 and the designated point 232 in the reference image 21. Similarly, the selection unit 103 scans the longitudinal direction of the reinforcing bar parallel to the second baseline direction 252 corresponding to the second reference image 212 in the second reference image 212 to search for corresponding pixels that have a high similarity to the target pixels of the designated point 231 and the designated point 232 in the reference image 21.

[0075] Here, in FIG. 4, with respect to the first baseline direction 251, the edge of the reinforcing bar 22 to be measured in the first reference image 211 is substantially perpendicular. Therefore, there are few pixels with a high similarity to the target pixels of the designated point 231 and the designated point 232 in the reference image 21 in the search area of the first reference image 211. Therefore, in the first reference image 211 of FIG. 4, it is easy to search for the corresponding points of the designated point 231 and the designated point 232 in the reference image 21, and corresponding points with high reliability can be detected.

[0076] On the other hand, in FIG. 5, with respect to the second baseline direction 252, the edge of the reinforcing bar 22 to be measured in the second reference image 212 is substantially parallel. Therefore, there are many pixels with a high similarity to the target pixels of the designated point 231 and the designated point 232 in the reference image 21 in the search area of the second reference image 212. Therefore, in the second reference image 212 of FIG. 5, it is difficult to search for the corresponding points of the designated point 231 and the designated point 232 in the reference image 21, and corresponding points with high reliability cannot be detected.

[0077] Therefore, the selection unit 103 selects the first reference image 211 in which it is easy to search for the corresponding points of the designated point 231 and the designated point 232 in the reference image 21 and corresponding points with high reliability can be detected, as the reference image to be used for measurement.

[0078] Thereby, the measurement unit 104 calculates the three-dimensional coordinates of the reinforcing bar 22 to be measured based on the parallax between a plurality of designated points in the reference image 21 and a plurality of corresponding points in the first reference image 211, and based on the three-dimensional coordinates, the reinforcing bar 22 to be measured can be measured with high precision.

[0079] In this way, by searching for the corresponding points of the designated point 231 and the designated point 232 in the reference image 21 in the first reference image 211 where the angle formed by the reinforcing bar direction of the reinforcing bar 22 to be measured and the baseline direction is closer to a right angle, the reliability of the corresponding points is improved, and high-precision measurement becomes possible.

[0080] (Example of selection of reference image 2) Hereinafter, with reference to FIGS. 6 to 8, a second selection example of the reference image to be used for measurement out of the first reference image and the second reference image by the selection unit 103 will be described.

[0081] FIG. 6 is a diagram showing an example of a reference image. Specifically, FIG. 6 is a diagram showing a reference image 21a captured by the reference imaging unit 110, in which reinforcing bars arranged in the vertical and horizontal directions, including a reinforcing bar 22a to be measured whose longitudinal direction is a direction substantially parallel to the first baseline direction 251. FIG. 7 is a diagram showing an example of a first reference image. Specifically, FIG. 7 is a diagram showing a first reference image 211a captured by the first reference imaging unit 111 corresponding to the reference image 21a shown in FIG. 6. FIG. 8 is a diagram showing an example of a second reference image. Specifically, FIG. 8 is a diagram showing a second reference image 212a captured by the second reference imaging unit 112 corresponding to the reference image 21a shown in FIG. 6.

[0082] The selection unit 103 searches for corresponding pixels in each of the first reference image 211a and the second reference image 212a that have a high similarity to the target pixels of each designated point in the reference image 21a by stereo matching.

[0083] The selection unit 103 scans the longitudinal direction of the reinforcing bar parallel to the first baseline direction 251 corresponding to the first reference image 211a in the first reference image 211a, and searches for corresponding pixels that have a high similarity to the target pixels of the designated point 231a and the designated point 232a in the reference image 21a. Similarly, the selection unit 103 scans the longitudinal direction of the reinforcing bar parallel to the second baseline direction 252 corresponding to the second reference image 212a in the second reference image 212a, and searches for corresponding pixels that have a high similarity to the target pixels of the designated point 231a and the designated point 232a in the reference image 21.

[0084] Here, in FIG. 7, since the edges of the reinforcing bar 22a to be measured in the first reference image 211a are substantially parallel to the first baseline direction 251, there are many pixels with a high similarity to the target pixels of the designated points 231a and 232a in the reference image 21a in the search area. Therefore, in the first reference image 211a of FIG. 7, it is difficult to search for the corresponding points of the designated points 231a and 232a in the reference image 21a, and corresponding points with high reliability cannot be detected.

[0085] On the other hand, in FIG. 8, since the edges of the reinforcing bar 22a to be measured in the second reference image 212a are substantially perpendicular to the second baseline direction 252, there are few pixels with a high similarity to the target pixels of the designated points 231a and 232a in the reference image 21a in the search area. Therefore, in the second reference image 212a of FIG. 8, it is easy to search for the corresponding points of the designated points 231a and 232a in the reference image 21a, and corresponding points with high reliability can be detected.

[0086] Therefore, the selection unit 103 selects the second reference image 212a in which it is easy to search for the corresponding points of the designated points 231a and 232a in the reference image 21a and corresponding points with high reliability can be detected, as the reference image to be used for measurement.

[0087] Thereby, the measurement unit 104 calculates the three-dimensional coordinates of the reinforcing bar 22a to be measured based on the parallax between a plurality of designated points in the reference image 21a and a plurality of corresponding points in the second reference image 212a, and based on the three-dimensional coordinates, the reinforcing bar 22a to be measured can be measured with high precision.

[0088] By searching for the corresponding points of the designated points 231a and 232a in the reference image 21a in the second reference image 212a where the angle formed by the longitudinal direction of the reinforcing bar 22a to be measured and the baseline direction is closer to a right angle, the reliability of the corresponding points is improved, and high-precision measurement becomes possible.

[0089] (Measurement unit 104) The measurement unit 104 measures the diameter and spacing of the reinforcing bars to be measured, etc., based on the reference image and the reference image selected by the selection unit 103 from among the first reference image and the second reference image. The measurement unit 104 outputs the measured diameter and spacing of the reinforcing bars, etc., as measurement results to at least one of the display unit 101 and the storage unit 105.

[0090] The measurement unit 104 may measure the reinforcing bars to be measured based on the reference image subjected to image processing by the setting unit 102 and the reference image selected by the selection unit 103 from among the first reference image and the second reference image subjected to image processing by the setting unit 102.

[0091] The measurement unit 104 is realized by operating a program on a personal computer or by processing with devices such as an FPGA (Field Programmable Gate Array) and an ASIC (Application Specific Integrated Circuit).

[0092] (Measurement Example 1 of Reinforcing Bar Diameter by Measurement Unit 104) Hereinafter, Measurement Example 1 of the reinforcing bar diameter by the measurement unit 104 will be described. The measurement unit 104 measures the diameter of the reinforcing bar to be measured based on a plurality of designated points set for every two edges of the reinforcing bar to be measured in the reference image and the reference image selected by the selection unit 103.

[0093] Specifically, the measurement unit 104 measures the diameter of the reinforcing bar based on the parallax between a plurality of designated points set for every two edges of the reinforcing bar to be measured in the reference image and a plurality of corresponding points corresponding to the plurality of designated points of the reference image in the reference image selected by the selection unit 103.

[0094] More specifically, the measurement unit 104 calculates the three-dimensional coordinates of the reinforcing bar to be measured based on the parallax between a plurality of designated points of the reference image and a plurality of corresponding points of the reference image selected by the selection unit 103 and the principle of triangulation, and measures the diameter of the reinforcing bar based on the three-dimensional coordinates of the reinforcing bar to be measured.

[0095] More specifically, the measurement unit 104 calculates the imaging distance from the reference imaging unit 110 to the reinforcing bar to be measured based on the parallax between the reference image and the selected reference image, calculates the three-dimensional coordinates of the reinforcing bar to be measured based on the imaging distance, and measures the diameter of the reinforcing bar based on the three-dimensional coordinates.

[0096] In this case, the measurement unit 104 substitutes the parallax D, the focal length f of the reference imaging unit 110, and the baseline length B indicating the distance between the reference imaging unit 110 and the reference imaging unit corresponding to the selected reference image into the formula D = f × B / Z to obtain the imaging distance Z from the reference imaging unit 110 to the reinforcing bar to be measured.

[0097] Subsequently, the measurement unit 104 calculates the three-dimensional coordinates of two points facing each other on two approximate straight lines, which are the approximate straight lines of a plurality of designated points set for each of the two edges of the reinforcing bar to be measured in the reference image, and calculates the distance between these two points as the diameter of the reinforcing bar.

[0098] In this case, the measurement unit 104 calculates the three-dimensional coordinates of the two points based on the relational expressions X = x × Z / f and Y = y × Z / f between the on-image coordinates (x, y) of the points on the approximate straight line along the two edges of the reinforcing bar to be measured in the reference image and the three-dimensional coordinates (X, Y, Z).

[0099] In this way, when calculating the three-dimensional coordinates of the reinforcing bar to be measured based on the parallax between the reference image and the reference image and measuring the reinforcing bar to be measured based on the three-dimensional coordinates, as described above, by using the reference image selected by the selection unit 103, the reinforcing bar can be measured with high accuracy.

[0100] (Example 2 of measuring the diameter of the reinforcing bar by the measurement unit 104) In Measurement Example 1 of the bar diameter, the measurement unit 104 calculates the bar diameter of the bar to be measured based on the parallax between the designated point in the reference image and the corresponding point in the reference image selected by the selection unit 103. However, in the present embodiment, as long as the measurement unit 104 calculates the bar diameter of the bar to be measured based on the parallax between the reference image and the reference image, the bar diameter of the bar to be measured may be calculated based on the parallax calculated by any method.

[0101] For example, the measurement unit 104 may calculate the bar diameter of the bar to be measured based on the parallax between the approximate straight line of a plurality of designated points set for each edge of the bar to be measured in the reference image and the approximate straight line of a plurality of corresponding points in the selected reference image.

[0102] (Measurement Example 3 of Bar Diameter by Measurement Unit 104) In the above Measurement Example 1 of the bar diameter, the measurement unit 104 calculates the three-dimensional coordinates of two opposite points on two approximate straight lines along the two edges of the bar to be measured in the reference image, and calculates the distance between these two points as the bar diameter as it is. However, the method for measuring the bar diameter by the measurement unit 104 in the present embodiment is not limited to the method shown in Measurement Example 1 of the bar diameter described above.

[0103] In the method for measuring the bar diameter by the measurement unit 104 in the present embodiment, for example, the measurement unit 104 may calculate the average value of the distances between a plurality of opposite points on two approximate straight lines along the two edges of the bar to be measured in the reference image as the bar diameter.

[0104] (Measurement Example of Bar Spacing by Measurement Unit 104) The measurement unit 104 may measure the bar spacing of the bar to be measured based on two approximate straight lines along the two edges of the first measurement object in the reference image and two approximate straight lines along the two edges of the second measurement object obtained by the same method as in Measurement Examples 1 to 3 of the bar diameter described above.

[0105] Specifically, the measurement unit 104 may calculate the distance between these two points as the reinforcement interval based on the three-dimensional coordinates of the points on the central axis of the two approximate straight lines of the first measurement target and the three-dimensional coordinates of the points on the central axis of the two approximate straight lines of the second measurement target facing the said point.

[0106] Alternatively, the measurement unit 104 may calculate the average value of the distances between a plurality of points facing each other on the central axes of the two approximate straight lines of the first measurement target and on the central axes of the two approximate straight lines of the second measurement target as the reinforcement interval.

[0107] (Memory unit 105) The memory unit 105 stores the image of the reinforcement to be measured and the measurement results.

[0108] The memory unit 105 is realized by including a non-volatile memory such as a hard disk and a flash memory, for example.

[0109] [Control method of the measuring device 1] Next, with reference to FIG. 9, the control method of the measuring device 1 according to Embodiment 1 will be described. FIG. 9 is a flowchart showing an example of the control method of the measuring device according to Embodiment 1.

[0110] (Step S101) The input unit 100 of the image processing device 10 in the measuring device 1 receives the input of the reference image, the first reference image, and the second reference image.

[0111] The input unit 100 of the image processing device 10 may cause the display unit 101 to display the received reference image.

[0112] (Step S102) The setting unit 102 in the image processing device 10 sets a plurality of designated points for each of the two edges of the reinforcement target in the reference image captured by the reference imaging unit 110 of the measurement target.

[0113] For example, first, the setting unit 102 sets a plurality of designated points on one edge of the reinforcing bar to be measured in the reference image displayed on the display unit 101. Next, the setting unit 102 sets a plurality of designated points on the other edge of the reinforcing bar to be measured in the reference image. The setting unit 102 calculates the reinforcing bar direction of the reinforcing bar to be measured based on the approximate straight line of the plurality of designated points set on one edge of the reinforcing bar to be measured in the reference image and the approximate straight line of the plurality of designated points set on the other edge.

[0114] (Step S103) The selection unit 103 in the image processing apparatus 10 selects a reference image to be used for measurement from among the first reference image and the second reference image based on the plurality of designated points in the reference image.

[0115] For example, the selection unit 103 selects a reference image to be used for measurement from among the first reference image and the second reference image based on the reinforcing bar direction of the reinforcing bar to be measured in the reference image. Also, the reference image to be used for measurement may be selected based on the angle formed between the reinforcing bar direction of the reinforcing bar to be measured in the reference image and the baseline direction, which is the direction in which the reference imaging unit and each of the plurality of reference imaging units are arranged.

[0116] (Step S104) The measurement unit 104 in the image processing apparatus 10 measures the reinforcing bar to be measured based on the reference image and the reference image selected by the selection unit 103 from among the first reference image and the second reference image.

[0117] <Modification Example of Embodiment 1> In the above example, the measurement unit 104 of the image processing apparatus 10 in the measurement apparatus 1 measures the reinforcing bar as the measurement target. However, in this embodiment, the measurement apparatus 1 may measure a measurement target other than the reinforcing bar.

[0118] The object to be measured is not particularly limited as long as it can be measured based on the parallax between the reference image and the reference image, and it may be an object with an arbitrary three-dimensional shape. However, in the case of an object such as a columnar shape, a conical shape, a prismatic shape, a pyramidal shape, and a plate shape (for example, a thin plate) whose longitudinal direction can be calculated, it can be measured with high accuracy by the measuring device 1.

[0119] Also, in the above example, the setting unit 102 of the image processing device 10 in the measuring device 1 sets a plurality of designated points for each of the two edges of the reinforcing bar as the object to be measured in the reference image. However, in the present embodiment, the setting unit 102 may set a plurality of designated points on one edge of the object to be measured in the reference image.

[0120] Thus, even when a plurality of designated points are set only on one edge of the object to be measured in the reference image, the measuring unit 104 can measure the object to be measured. For example, the measuring unit 104 can preferably measure the distortion of the object to be measured, which is a columnar, conical, prismatic, pyramidal, or plate-shaped object, based on the three-dimensional coordinates of the approximate straight line of the plurality of designated points along the edge.

[0121] 〔Control method of the measuring device 1〕 Next, with reference to FIG. 10, a control method of the measuring device 1 according to a modification of Embodiment 1 will be described. FIG. 10 is a flowchart showing an example of the control method of the measuring device 1 according to a modification of Embodiment 1. Since steps S111, S113, and S114 in FIG. 10 are the same as steps S101, S103, and S104 in FIG. 9, the description thereof will be omitted here.

[0122] (Step S112) The setting unit 102 of the image processing device 10 in the measuring device 1 sets a plurality of designated points on one edge of the reinforcing bar target in the reference image obtained by imaging the object to be measured by the reference imaging unit 110.

[0123] <Embodiment 2> In the measuring device 1 according to Embodiment 1, no designated points are set at the edges of the reinforcing bars to be measured in the reference image selected by the selection unit 103. However, in the measuring device according to the present invention, like the measuring device 1X according to Embodiment 2, a plurality of designated points may be set for each edge of the reinforcing bars to be measured in the reference image selected by the selection unit 103X.

[0124] Hereinafter, the measuring device 1X according to Embodiment 2 will be described with reference to FIGS. 11 to 14. For convenience of explanation, members having the same functions as those described in the above embodiments are denoted by the same reference numerals, and their descriptions are omitted.

[0125] [Measuring device 1X] FIG. 11 is a block diagram showing an example of the configuration of the measuring device 1X according to Embodiment 2. As shown in FIG. 11, the measuring device 1X includes an image processing device 10X instead of the image processing device 10 according to Embodiment 1. Except for this point, the measuring device 1X according to Embodiment 2 has the same configuration as the measuring device 1 according to Embodiment 1.

[0126] [Image processing device 10X] The image processing device 10X according to Embodiment 2 includes a setting unit 102X, a selection unit 103X, and a measurement unit 104X instead of the setting unit 102, the selection unit 103, and the measurement unit 104 in Embodiment 1. Except for this point, the image processing device 10X according to Embodiment 2 has the same configuration as the image processing device 10 according to Embodiment 1.

[0127] (Setting unit 102X) The setting unit 102X sets a plurality of designated points for each of the two edges of the reinforcing bars to be measured in the reference image selected by the selection unit 103X, among the first reference image and the second reference image.

[0128] The setting unit 102X can set a plurality of designated points for each of the two edges of the reinforcing bars to be measured in the reference image selected by the selection unit 103X, in the same manner as the method of setting a plurality of designated points for each of the two edges of the reinforcing bars to be measured in the reference image.

[0129] For example, the setting unit 102X sets, as designated points, a plurality of points designated by the user for each of two edges of the reinforcing bar in the reference image selected by the selection unit 103X via the input unit 100.

[0130] As an example, when the selected reference image is displayed on the touch panel, the setting unit 102X may set, as designated points, the points designated by the user by touching two edges of the reinforcing bar to be measured in the reference image. At this time, the setting unit 102X may cause the display unit 101 to display corresponding points corresponding to the designated points in the reference image on the selected reference image.

[0131] Thereby, even if the corresponding points in the selected reference image are located at positions deviated from the edges of the reinforcing bar to be measured corresponding to the reinforcing bar to be measured in the reference image, the setting unit 102X can set the designated points at positions desired by the user, such as positions on the edges of the reinforcing bar to be measured. That is, the setting unit 102X can preferably adjust the deviation between the position of the designated point in the reference image and the position of the corresponding point in the selected reference image. In addition, the reinforcing bar to be measured in the reference image corresponding to the reinforcing bar to be measured in the reference image can be detected more preferably.

[0132] The setting unit 102X may perform image processing on the selected reference image based on the camera parameters of the reference imaging unit that captured the selected reference image and stored in the storage unit 105, and set a plurality of designated points for each of two edges of the reinforcing bar to be measured in the reference image on which the image processing has been performed.

[0133] In this case, the setting unit 102X may perform the same image processing on the selected reference image as the image processing on the above-mentioned reference image. For example, the setting unit 102X may perform image processing for superimposing the first baseline direction, which is the direction in which the reference imaging unit 110 and the first reference imaging unit 111 are arranged, and the second baseline direction, which is the direction in which the reference imaging unit 110 and the second reference imaging unit 112 are arranged, on the selected reference image.

[0134] If a specified point is set at the edge of the reinforcing bar to be measured in the reference image where image processing has been performed based on camera parameters, the user can more preferably select a point on the edge of the reinforcing bar to be measured while viewing an image in which the first baseline direction and the second baseline direction are superimposed. As a result, the setting unit 102X can set a more suitable point selected by the user as the specified point.

[0135] Similar to the calculation of the longitudinal direction of the measurement target in the reference image, the setting unit 102X may calculate the direction along two approximate straight lines, which are the approximate straight lines of a plurality of specified points set on each of the two edges of the reinforcing bar to be measured in the reference image, as the reinforcing bar direction.

[0136] In this way, by calculating the approximate straight line along the edge of the reinforcing bar to be measured in the reference image as the reinforcing bar direction, the straight line along the edge of the reinforcing bar to be measured can be preferably calculated as the reinforcing bar direction. As a result, the measurement unit 104 calculates the three-dimensional coordinates of the reinforcing bar to be measured based on the parallax between the approximate straight line of the edge of the measurement target in the reference image and the approximate straight line of the edge of the measurement target in the reference image, and can measure the reinforcing bar to be measured with higher accuracy based on the three-dimensional coordinates.

[0137] Similar to the calculation of the approximate straight line along the edge of the reinforcing bar to be measured in the reference image, the setting unit 102X may calculate the approximate straight line along one edge of the reinforcing bar to be measured each time the setting of the specified point is completed on one edge of the reinforcing bar to be measured in the selected reference image. The setting unit 102X may calculate the approximate straight lines of the specified points along each of the two edges after the setting of all the specified points is completed regardless of the edges of the reinforcing bar to be measured in the selected reference image.

[0138] Similar to the specified points of the edge of the reinforcing bar to be measured in the reference image, the setting unit 102X may cause the display unit 101 to display the specified points of one edge and the specified points of the other edge of the reinforcing bar to be measured in the reference image with at least one of the shape and color being different.

[0139] In addition, when the user traces the edge of the reinforcing bar to be measured in the reference image with a finger or tracks it with a mouse on the touch panel, the setting unit 102X may set a plurality of designated points on the edge of the reinforcing bar to be measured according to one such user operation.

[0140] (Example of setting designated points in the reference image) Hereinafter, with reference to FIGS. 2, 12, and 13, a specific example of setting designated points in the reference image by the setting unit 102X will be described. FIG. 12 is a diagram showing an example of a reference image. Specifically, FIG. 12 is a diagram showing a first reference image 211b captured by the first reference imaging unit 111, in which reinforcing bars arranged in the vertical and horizontal directions and including a reinforcing bar 22 to be measured whose longitudinal direction is a direction substantially parallel to the second baseline direction 252. FIG. 13 is a diagram showing an example of an enlarged area in the first reference image. Specifically, FIG. 13 is a diagram showing an enlarged area 2611 in the first reference image 211b.

[0141] First, the setting unit 102X calculates a straight line 241 connecting the designated points 231 and 232 on the two edges of the reinforcing bar 22 to be measured in the reference image 21 shown in FIG. 2, and a straight line 242 connecting the designated points 233 and 234. Then, based on the straight lines 241 and 242 in the reference image 21, the selection unit 103X calculates the reinforcing bar direction of the reinforcing bar 22 to be measured, and based on the reinforcing bar direction of the reinforcing bar 22 to be measured, selects the first reference image 211b shown in FIG. 12 as the reference image to be used for measurement.

[0142] The setting unit 102X performs image processing to superimpose corresponding points 2311, corresponding point 2321, corresponding point 2331, and corresponding point 2341 corresponding to the designated points 231 to 234 in the reference image 21 shown in FIG. 2 on the first reference image 211b in which the reinforcing bar 22 to be measured is imaged by the first reference imaging unit 111.

[0143] Further, the setting unit 102X performs image processing to superimpose the first baseline direction 251 and the second baseline direction 252 on a first reference image 211b in which the reinforcing bar 22 to be measured is imaged by the first reference imaging unit 111, based on the camera parameters of the first reference imaging unit 111.

[0144] In FIG. 12, the reference imaging unit 110, the first reference imaging unit 111, and the second reference imaging unit 112 are arranged such that the lenses of the respective imaging units face the reinforcing bars and have a positional relationship shown by the first baseline direction 251 and the second baseline direction 252.

[0145] The setting unit 102X sets, as designated points, points specified by the user touching two edges of the reinforcing bar 22 to be measured in the first reference image 211b displayed on the touch panel in which the input unit 100 and the display unit 101 are integrated.

[0146] In this case, the setting unit 102X may cause the display unit 101 to magnify and display a region including one or more edges of the reinforcing bar 22 to be measured in the first reference image 211b. For example, the setting unit 102X may magnify and display a region 2611 within a predetermined range from the center of the reinforcing bar 22 to be measured, which includes two edges of the reinforcing bar 22 to be measured in FIG. 12, as shown in FIG. 13.

[0147] By magnifying and displaying the region 2611 including one or more edges of the reinforcing bar 22 to be measured in the first reference image 211b as shown in FIG. 13, information serving as a guide for the designated points set for the edges of the reinforcing bar 22 to be measured on the first reference image 211b can be shown to the user more clearly. Thereby, it becomes easier for the user to specify the designated points 531, 532, 533, and 534 for the edges of the reinforcing bar 22 to be measured in the first reference image 211b.

[0148] Further, without calculating position information indicating a rough position of the reinforcing bar 22 to be measured based on plane information indicating a plane including the reinforcing bar 22 to be measured on the first reference image 211b, information serving as a guide for the designated points set for the edges of the reinforcing bar 22 to be measured on the first reference image 211b can be shown to the user.

[0149] Based on the user's designation for two edges of the reinforcing bar 22 to be measured imaged as vertical reinforcing bars, the setting unit 102X sets the designated points 531 and 532 on one edge of the reinforcing bar 22 to be measured, and sets the designated points 533 and 534 on the other edge.

[0150] Next, the setting unit 102X calculates the reinforcing bar direction of the reinforcing bar 22 to be measured based on the designated points 531 and 532 and the designated points 533 and 534 in the reference image 21.

[0151] Specifically, the setting unit 102X calculates the reinforcing bar direction of the reinforcing bar 22 to be measured as a direction substantially parallel to the upward direction indicated by the second baseline direction 252 based on the straight line 541 connecting the designated points 531 and 532 and the straight line 542 connecting the designated points 533 and 534.

[0152] In FIG. 12, the corresponding points 2311, 2321, 2331, and 2341 are outside the edges of the reinforcing bar 22 to be measured, but by setting the designated points 531, 532, 533, and 534 on the edges of the reinforcing bar 22 to be measured, the deviation can be preferably adjusted.

[0153] Note that in the above example, the setting unit 102X sets two designated points for one edge of the reinforcing bar to be measured in the reference image. However, in this embodiment, a plurality of designated points may be set for one edge of the reinforcing bar to be measured. For example, three or more points may be designated.

[0154] In this case, when the setting of a plurality of designated points for one edge of the reinforcing bar to be measured in the reference image is completed, similar to the calculation of the approximate straight line along the edge of the reinforcing bar to be measured in the reference image, the setting unit 102X may calculate the approximate straight line of the designated points along the edge based on the designated points. Further, when three or more designated points are set, the setting unit 102X may calculate the approximate straight line along the edge of the reinforcing bar to be measured by using the least squares straight line or the like.

[0155] (Selection unit 103X) After the selection unit 103X selects a reference image to be used for measurement, it causes the display unit 101 to display the selected reference image. As a result, the setting unit 102X can suitably set a plurality of designated points for each of the two edges of the reinforcing bar to be measured in the reference image selected by the selection unit 103X.

[0156] (Measurement unit 104X) The measurement unit 104X measures the reinforcing bar to be measured based on the parallax between the plurality of designated points set for each of the two edges of the reinforcing bar to be measured in the reference image and the plurality of designated points set for each of the two edges of the reinforcing bar to be measured in the reference image selected by the selection unit 103X.

[0157] The measurement unit 104X may measure the reinforcing bar to be measured based on the parallax between the approximate straight lines of the plurality of designated points set for each edge of the reinforcing bar to be measured in the reference image and the approximate straight lines of the plurality of designated points set for each edge of the reinforcing bar to be measured in the selected reference image.

[0158] The measurement unit 104X calculates the three-dimensional coordinates of the reinforcing bar to be measured based on the parallax between the designated points in the reference image and the designated points in the reference image, or based on the parallax between the approximate straight lines of the designated points in the reference image and the approximate straight lines of the designated points in the reference image. The measurement unit 104X measures the diameter of the reinforcing bar to be measured, the distance between the reinforcing bars, etc. based on the three-dimensional coordinates.

[0159] In this way, by measuring the reinforcing bar to be measured based on the above-described parallax, the reinforcing bar to be measured can be measured with higher accuracy than when measuring the reinforcing bar to be measured based on the parallax between the designated points in the reference image and the corresponding points in the reference image.

[0160] (Example of measuring the diameter of a reinforcing bar by the measurement unit 104X) Hereinafter, with reference to FIGS. 2 and 12, an example of measuring the diameter of a reinforcing bar by the measurement unit 104X will be described.

[0161] The measurement unit 104X measures the diameter of the reinforcing bar to be measured based on the parallax between the approximate straight line of a plurality of designated points set on two edges of the reinforcing bar to be measured in the reference image and the approximate straight line of a plurality of designated points set on two edges of the reinforcing bar to be measured in the selected reference image.

[0162] Hereinafter, as shown in FIG. 2, a case will be described where the setting unit 102X sets designated points 231 and 232 on one edge of the reinforcing bar 22 to be measured in the reference image 21, and sets a straight line 242 connecting the designated points 233 and 234 on the other edge.

[0163] In this case, since the reinforcing bar direction of the reinforcing bar 22 to be measured is the second baseline direction 252, the selection unit 103X selects, as the reference image to be used for measurement, the first reference image 211b shown in FIG. 12 in which the baseline direction corresponding to the reference image is the first baseline direction 251 perpendicular to the second baseline direction 252.

[0164] Subsequently, as shown in FIG. 12, the selection unit 103X sets designated points 531 and designated point 532 on one edge of the reinforcing bar 22 to be measured in the first reference image 211b, and sets designated points 533 and designated point 534 on the other edge.

[0165] The measurement unit 104X measures the diameter of the reinforcing bar 22 to be measured based on the parallax between the straight line 241 connecting the designated points 231 and 232 in the reference image 21 and the straight line 541 connecting the designated points 531 and designated point 532 in the first reference image 211b corresponding to the straight line 241.

[0166] The measurement unit 104X may also measure the diameter of the reinforcing bar 22 to be measured based on the parallax between the straight line 242 connecting the designated points 233 and 234 in the reference image and the straight line 542 connecting the designated points 533 and designated point 534 in the first reference image 211b corresponding to the straight line 242. Further, the measurement unit 104X may measure the diameter of the reinforcing bar 22 to be measured based on the average value of the above two parallaxes.

[0167] Based on the calculated parallax, the measurement unit 104X calculates the three-dimensional coordinates of the points on the straight lines 241 and 242 of the reinforcing bar 22 to be measured in the reference image 21 in the same manner as described above, and measures the diameter of the reinforcing bar 22 to be measured based on the three-dimensional coordinates of the points on the straight lines 241 and 242.

[0168] Here, when the setting unit 102X sets a plurality of designated points for each edge of the reinforcing bar 22 to be measured in the second reference image 212 shown in FIG. 6 and calculates an approximate straight line of the plurality of designated points, the direction of the approximate straight line and the second baseline direction 252 become substantially parallel, and the reliability of the calculated parallax decreases.

[0169] On the contrary, when the setting unit 102X sets designated points in the first reference image 211b in which the angle formed by the direction of the reinforcing bar 22 to be measured and the baseline direction is closer to a right angle, the measurement unit 104X can measure the reinforcing bar 22 to be measured with high accuracy.

[0170] Note that after obtaining the parallax, the measurement unit 104X can measure the distance between the reinforcing bars by the same method as in the first embodiment.

[0171] 〔Control method of the measuring device 1X〕 Next, with reference to FIG. 14, a control method of the measuring device 1X according to the second embodiment will be described. FIG. 14 is a flowchart showing an example of the control method of the measuring device 1X according to the second embodiment. Since steps S201 and S202 in FIG. 14 are the same as steps S101 and S102 in FIG. 9, the description thereof will be omitted here.

[0172] (Step S203) The setting unit 102X of the image processing device 10X in the measuring device 1X selects a reference image to be used for measurement in the same manner as the setting unit 102 in the first embodiment, and then causes the display unit 101 to display the selected reference image.

[0173] (Step S204) The setting unit 102X of the image processing device 10X in the measurement device 1X sets a plurality of designated points for each of the two edges of the reinforcing bar to be measured in the reference image selected by the selection unit 103X.

[0174] For example, the setting unit 102X first sets a plurality of designated points on one edge of the reinforcing bar to be measured in the selected reference image displayed on the display unit 101. Next, the setting unit 102X sets a plurality of designated points on the other edge of the reinforcing bar to be measured in the selected reference image. The setting unit 102X calculates the direction of the reinforcing bar to be measured based on the approximate straight lines of the plurality of designated points set on one edge of the reinforcing bar to be measured in the reference image and the approximate straight lines of the plurality of designated points set on the other edge.

[0175] (Step S205) The measurement unit 104X of the image processing device 10X measures the reinforcing bar to be measured based on the parallax between the plurality of designated points set for each of the two edges of the reinforcing bar to be measured in the reference image and the plurality of designated points set for each of the two edges of the reinforcing bar to be measured in the selected reference image.

[0176] For example, the measurement unit 104X measures the reinforcing bar to be measured based on the parallax between the approximate straight lines of the plurality of designated points set for each edge of the reinforcing bar to be measured in the reference image and the approximate straight lines of the plurality of designated points set for each edge of the reinforcing bar to be measured in the selected reference image.

[0177] <Modification Example of Embodiment 2> In the above example, the setting unit 102X sets a plurality of designated points for each of the two edges of the reinforcing bar to be measured in the reference image, and calculates the direction of the reinforcing bar based on two approximate straight lines that are the approximate straight lines of the plurality of designated points set for each of the two edges. Further, after the setting unit 102X sets designated points for each of the two edges of the measurement target in the reference image, the selection unit 103X selects a reference image to be used for measurement based on the direction of the reinforcing bar calculated by the setting unit 102X. That is, in the above example, after the setting unit 102X calculates the direction of the reinforcing bar based on the approximate straight lines along the edges on both sides of the measurement target in the reference image, the selection unit 103X selects a reference image to be used for measurement based on the direction of the reinforcing bar.

[0178] In this way, in the above example, after the setting unit 102X sets a plurality of designated points on both edges along the longitudinal direction of the reinforcing bar to be measured in the reference image, the setting unit 102X sets a plurality of designated points on both edges along the longitudinal direction of the reinforcing bar to be measured in the selected reference image.

[0179] However, in this embodiment, the setting unit 102X may calculate the direction of the reinforcing bar based on the approximate straight line of the plurality of designated points set on one edge of the reinforcing bar to be measured in the reference image. Further, after the setting unit 102X sets a plurality of designated points on one edge of the reinforcing bar to be measured in the reference image and calculates the direction of the reinforcing bar, the selection unit 103X may select a reference image to be used for measurement based on the direction of the reinforcing bar.

[0180] After the reference image is selected by the selection unit 103X, the setting unit 102X sets a plurality of designated points on one edge of the reinforcing bar to be measured in the selected reference image, which corresponds to the edge on which the designated points are set among the edges of the reinforcing bar to be measured in the reference image.

[0181] Subsequently, the setting unit 102X may set a plurality of designated points on the other edge of the reinforcing bar to be measured in the reference image, and set a plurality of designated points on the other edge of the reinforcing bar to be measured in the selected reference image, which corresponds to the other edge of the reinforcing bar to be measured in the reference image.

[0182] Thus, the setting unit 102X may alternately set a plurality of designated points for one edge of the reinforcing bar to be measured in the reference image and a plurality of designated points for one edge of the reinforcing bar to be measured in the selected reference image. That is, the setting unit 102X may vary the timing of setting the designated points for the edge of the object to be measured in the reference image and the reference image from the above example. At this time, before the setting unit 102X sets the designated points in the reference image and the selected reference image, respectively, the reference image and the selected reference image are respectively displayed on the display unit 101.

[0183] Thereby, even if the corresponding point in the reference image is at a position deviated from the edge of the reinforcing bar to be measured corresponding to the reinforcing bar to be measured in the reference image, the setting unit 102X can set the designated points at desired positions of the user, such as on the edge of the reinforcing bar to be measured in the reference image, one by one.

[0184] That is, the setting unit 102X can adjust the deviation between the position of the designated point in the reference image and the position of the corresponding point in the selected reference image one by one each time a designated point is set for one edge of the reinforcing bar to be measured in the reference image. As a result, the reinforcing bar to be measured in the reference image corresponding to the reinforcing bar to be measured in the reference image can be detected more preferably.

[0185] 〔Control Method of Measuring Device 1X〕 Next, with reference to FIG. 15, a control method of the measuring device 1X according to a modified example of Embodiment 2 will be described. FIG. 15 is a flowchart showing an example of a control method of the measuring device 1X according to a modified example of Embodiment 2. Since steps S211 and S213 in FIG. 15 are the same as steps S201 and S203 in FIG. 14, the description thereof will be omitted here.

[0186] (Step S212) The setting unit 102X of the image processing device 10X in the measuring device 1X sets a plurality of designated points on one edge of the reinforcing bar target in the reference image in which the reinforcing bar to be measured is imaged by the reference imaging unit 110.

[0187] For example, first, the setting unit 102X sets a plurality of designated points on one edge of the reinforcing bar to be measured in the reference image displayed on the display unit 101. Next, the setting unit 102X calculates the reinforcing bar direction of the reinforcing bar to be measured based on the approximate straight line of the plurality of designated points set on one edge of the reinforcing bar to be measured in the reference image.

[0188] (Step S214) The setting unit 102X of the image processing device 10X in the measuring device 1X sets a plurality of designated points on one edge of the reinforcing bar to be measured in the reference image selected by the selection unit 103X.

[0189] After setting the designated points, the setting unit 102X causes the display unit 101 to display the reference image.

[0190] (Step S215) The setting unit 102X sets a plurality of designated points on the other edge of the reinforcing bar to be measured in the reference image.

[0191] After setting the designated points, the setting unit 102X causes the display unit 101 to display the selected reference image.

[0192] (Step S216) The setting unit 102X sets a plurality of designated points on the other edge of the reinforcing bar to be measured in the selected reference image.

[0193] Thereafter, the setting unit 102X may calculate the reinforcing bar direction of the reinforcing bar to be measured based on the approximate straight line of the plurality of designated points set on one edge of the reinforcing bar to be measured in the reference image and the approximate straight line of the plurality of designated points set on the other edge.

[0194] <Embodiment 3> The measuring device according to the present invention may perform image processing of superimposing position information indicating a reference position of a measurement target in a selected reference image on the selected reference image based on plane information indicating a plane where the measurement target exists, like the measuring device 1Y according to Embodiment 3.

[0195] Hereinafter, the measuring device 1Y according to Embodiment 3 will be described with reference to FIGS. 16 to 20. For convenience of explanation, members having the same functions as those described in the above embodiments are denoted by the same reference numerals, and the description thereof will be omitted.

[0196] 〔Measuring device 1Y〕 FIG. 16 is a block diagram showing an example of the configuration of the measuring device 1Y according to Embodiment 3. As shown in FIG. 16, the measuring device 1Y includes an image processing device 10Y instead of the image processing device 10X according to Embodiment 2. Except for this point, the measuring device 1Y according to Embodiment 3 has the same configuration as the measuring device 1X according to Embodiment 2.

[0197] 〔Image processing device 10Y〕 The image processing device 10Y according to Embodiment 3 includes a setting unit 102Y instead of the setting unit 102X in the modification of Embodiment 2. Except for this point, the image processing device 10Y according to Embodiment 3 has the same configuration as the image processing device 10X according to Embodiment 2.

[0198] (Setting unit 102Y) The setting unit 102Y superimposes position information indicating a reference position of the reinforcing bar of the measurement target in the selected reference image on the selected reference image based on plane information indicating a plane where the reinforcing bar of the measurement target exists in the reference image captured by the reference imaging unit 110.

[0199] The setting unit 102Y may superimpose at least any one of a plurality of points corresponding to the plurality of designated points in the reference image, an approximate straight line of the plurality of points, and a center line of the two approximate straight lines on the selected reference image as position information based on the plurality of designated points and the plane information in the reference image.

[0200] In this case, the setting unit 102Y first projects at least one of a plurality of designated points set on the edge of the reinforcing bar to be measured in the reference image captured by the reference imaging unit 110 and the approximate straight line of the plurality of designated points onto the virtual plane indicated by the plane information (perspective projection). Next, the setting unit 102Y projects at least one of the plurality of designated points projected onto the virtual plane and the approximate straight line of the plurality of designated points onto the reference image. The setting unit 102Y superimposes at least any one of the plurality of designated points projected onto the selected reference image, the approximate straight line of the plurality of designated points, and the center line of the two approximate straight lines as position information on the selected reference image.

[0201] The setting unit 102Y causes the reference image that has been selected and onto which the position information has been superimposed to be displayed on the display unit 101, for example, a touch panel in which the input unit 100 and the display unit 101 are integrated.

[0202] As a result, the position information serving as a guide for the designated points and approximate straight lines to be set for the measurement target in the selected reference image, corresponding to the designated points and approximate straight lines of the edge of the reinforcing bar to be measured in the reference image, is superimposed on the selected reference image.

[0203] Therefore, since it is possible to show the user the position information serving as a guide for the designated points and approximate straight lines to be set for the edge of the measurement target on the reference image, it becomes easy for the user to specify the designated points for the edge of the measurement target in the reference image. For example, the user can easily specify the designated points on the edge of the measurement target in the selected reference image while referring to the position information displayed on the touch panel.

[0204] As a result, the setting unit 102Y can acquire the input information of the designated points specified by the user via the touch panel, and can more suitably set the designated points in the selected reference image based on the input information.

[0205] In particular, when a plurality of similar measurement objects such as reinforcing bars are juxtaposed, it is effective because, based on the plane information indicating the plane where the measurement object exists, superimposing the position information on the selected reference image enables easy and suitable setting of the designated point in the selected reference image.

[0206] The setting unit 102Y may calculate position information indicating a guideline for the position of the measurement object in the reference image selected by the selection unit 103X based on the plane information indicating the plane where the measurement object exists, and cause the display unit 101 to enlarge and display the region including the position information.

[0207] In this case, the setting unit 102Y may superimpose the position information on the selected reference image and cause the display unit 101 to enlarge and display the region including the position information in the reference image, or may cause the display unit 101 to enlarge and display the region including the position information without superimposing the position information on the reference image.

[0208] By enlarging and displaying the region including the position information, regardless of whether the position information is superimposed on the selected reference image, it is possible to clearly show the user the information serving as a guideline for the designated point and the approximate straight line set at the edge of the reinforcing bar of the measurement object on the selected reference image. Therefore, it becomes easier for the user to specify the designated point at the edge of the reinforcing bar of the measurement object in the selected reference image.

[0209] Further, by superimposing the position information on the selected reference image and then enlarging and displaying the region including the position information in the reference image, it is possible to more clearly show the user the position information serving as a guideline for the designated point and the approximate straight line set at the edge of the reinforcing bar of the measurement object on the selected reference image. Therefore, it becomes even easier for the user to specify the designated point at the edge of the reinforcing bar of the measurement object in the selected reference image.

[0210] (Example of acquisition of plane information by the setting unit 102Y) Next, an example of obtaining plane information by the setting unit 102Y will be described. In the following example, the setting unit 102Y obtains plane information based on a reference image captured by the reference imaging unit 110 of the measurement target rebar.

[0211] For example, when a touch panel in which the input unit 100 and the display unit 101 are integrated receives an input of three points on the rebar of the measurement target in the reference image displayed on the touch panel from the user, the setting unit 102Y obtains information on a three-dimensional plane passing through the three points as plane information.

[0212] Specifically, first, the setting unit 102Y searches for corresponding points in the selected reference image for each point in the reference image received by the input unit 100 by block matching in the selected reference image, and calculates the parallax between each point in the reference image and each point in the reference image.

[0213] Next, the setting unit 102Y calculates the three-dimensional positions of the three points in the reference image based on the parallax between each point in the reference image and each corresponding point in the selected reference image and the principle of triangulation, and calculates the three-dimensional position of the three-dimensional plane passing through the three points, thereby obtaining plane information.

[0214] Also, as another method, the setting unit 102Y may obtain plane information without the input unit 100 receiving an input of three points. In this case, the setting unit 102Y first searches for corresponding points on the selected reference image by performing block matching on all pixels of the pixels constituting the rebar of the measurement target in the reference image or a target point group composed of pixels with large features. Subsequently, the setting unit 102Y calculates the parallax between the target point group and its corresponding points. Here, the pixels with large features refer to, for example, pixels of joints and / or joints at the edges of the rebar of the measurement target, pixels of uneven parts, and the like.

[0215] In the above example, the setting unit 102Y acquires plane information based on a reference image captured by the reference imaging unit 110, which is a stereo camera, of the reinforcing bars to be measured. However, in the present embodiment, the method by which the setting unit 102Y acquires plane information is not limited to the method described in the above example.

[0216] The setting unit 102Y may acquire plane information using a function different from that of the imaging unit 11 such as the reference imaging unit 110 which is a stereo camera. For example, the setting unit 102Y may acquire plane information using a TOF (Time of Flight) sensor which is a device different from the imaging unit 11 which is a stereo camera.

[0217] In this case, the setting unit 102Y itself may have a function of acquiring plane information such as a TOF sensor, and acquire plane information by means of this function. The setting unit 102Y may acquire plane information from a TOF sensor which is an external device of the imaging unit 11 such as the reference imaging unit 110 and the image processing apparatus 10Y different from the setting unit 102Y. Further, when the imaging unit 11 such as the reference imaging unit 110 has the function of a TOF sensor, the setting unit 102Y may acquire plane information via the reference imaging unit 110 etc. of the imaging unit 11 which has acquired plane information by means of this function.

[0218] Next, the setting unit 102Y calculates the three-dimensional position of the target point group based on the calculated parallax and the principle of triangulation. Finally, the setting unit 102Y calculates the three-dimensional position of the plane by performing plane fitting such as the least squares method on the target point group, and acquires the three-dimensional position of the plane as plane information.

[0219] (Projection example of designated points by the setting unit 102Y) Hereinafter, with reference to FIG. 17, an example in which the setting unit 102Y projects the designated points 231 to 234 set on the edge of the reinforcing bar 22 to be measured in the reference image 21 shown in FIG. 2 onto the selected first reference image 211c will be described. Details of the first reference image 211c will be described later with reference to FIGS. 18 and 19.

[0220] FIG. 17 is a diagram for explaining an example of projection of position information on a selected reference image by the setting unit. Specifically, FIG. 17 is a diagram for explaining the projection of position information on the selected first reference image 211c by the setting unit 102Y.

[0221] As shown in FIG. 17, the setting unit 102Y acquires plane information indicating the three-dimensional position where the reinforcing bar 22 to be measured exists in the reference image 21 shown in FIG. 2, and arranges a virtual plane 900 corresponding to the plane information in the virtual space.

[0222] The setting unit 102Y calculates the three-dimensional position of a straight line 901 passing through the designated point 231 on the projection plane 721 of the reference imaging unit 110 and the focal point 711 of the reference imaging unit 110. In FIG. 17, for ease of viewing, the straight line is represented as a line segment.

[0223] The setting unit 102Y obtains the three-dimensional position of a point 911 that is the intersection of the straight line 901 and the virtual plane 900 and corresponds to the designated point 231 in the reference image 21.

[0224] The setting unit 102Y calculates the three-dimensional position of a straight line 921 passing through the point 911 and the focal point 712 of the first reference imaging unit.

[0225] The setting unit 102Y projects the point 911 of the virtual plane 900 onto the projection plane 722 of the first reference imaging unit 111 as a point 931 that is the intersection of the projection plane 722 of the first reference image and the straight line 921. The setting unit 102Y calculates the position of the point 931 on the first reference image 211c.

[0226] Similarly, the setting unit 102Y calculates the three-dimensional positions of straight lines 902, 903, and 904 passing through the designated point 232, the designated point 233, and the designated point 234 on the projection plane 721 of the reference image and the focal point 711 of the reference imaging unit.

[0227] The setting unit 102Y obtains the three-dimensional positions of points 912, 913, and 914 corresponding to the designated points 232, 233, and 234 of the reference image 21, which are the intersection points of the straight lines 902, 903, and 904 and the virtual plane 900, respectively.

[0228] The setting unit 102Y projects the points 912 to 914 of the virtual plane 900 onto the projection plane 722 of the first reference imaging unit 111 as points 932, 933, and 934, which are the intersection points of the projection plane 722 and the straight lines 922, 923, and 924, respectively. The setting unit 102Y calculates the positions of the points 932 to 934 on the first reference image 211c.

[0229] The setting unit 102Y calculates a straight line 941 on the first reference image 211c passing through points 931 and 932, and a straight line 942 on the first reference image 211c passing through points 933 and 934.

[0230] The setting unit 102Y superimposes the points 931 to 934, and the straight lines 941 and 942 on the first reference image 211c.

[0231] (Example of superimposing position information by the setting unit 102Y) Hereinafter, with reference to FIGS. 18 and 19, an example of superimposing position information on the selected reference image by the setting unit 102Y will be specifically described.

[0232] FIG. 18 is a diagram showing an example of the first reference image. Specifically, FIG. 18 is a diagram showing the first reference image 211c selected by the selection unit 103X.

[0233] As shown in FIG. 18, the setting unit 102Y causes the display unit 101 to display the first reference image 211c on which the position information corresponding to the designated points 231 to 234, and the straight lines 241 and 242 set on the edge of the reinforcing bar 22 to be measured in the reference image is superimposed. Specifically, the setting unit 102Y causes the display unit 101 to display the first reference image 211c on which the points 931 to 934 and the straight lines 941 and 942, which are the position information serving as the reference for the designated points and the approximate straight lines to be set on the reinforcing bar 22 to be measured in the first reference image 211c, are superimposed.

[0234] Here, the points 931 to 934 and the straight lines 941 and 942, which are the position information superimposed on the first reference image 211c, deviate from the positions of the edges of the reinforcing bar 22 to be measured, resulting in errors.

[0235] However, the setting unit 102Y does not necessarily need to superimpose the position information on the first reference image 211c without error, and it may be superimposed with an accuracy that serves as a guideline for the user to specify designated points on the edges of the reinforcing bar 22 to be measured in the first reference image 211c.

[0236] For example, by superimposing the point 931, the point 932, and the straight line 941 near the reinforcing bar 22 to be measured in the first reference image 211c, the setting unit 102Y can show the user the position information that serves as a guideline for the designated points and the approximate straight line to be set on the edges of the reinforcing bar 22 to be measured on the first reference image 211c.

[0237] Thereby, the user can easily identify the reinforcing bar 22 to be measured in the first reference image 211c, and it becomes easy to specify designated points on the edges of the reinforcing bar 22 to be measured in the first reference image 211c.

[0238] Also, when the setting unit 102Y causes the display unit 101 to display the first reference image 211c, after superimposing the position information calculated based on the plane information on the first reference image 211c, the display unit 101 may enlarge and display the region including the position information in the first reference image 211c.

[0239] Hereinafter, with reference to FIG. 19, an example in which the setting unit 102Y enlarges and displays the region including the position information in the first reference image 211c on the display unit 101 will be described. FIG. 19 is a diagram showing an example of the enlarged region in the first reference image. Specifically, FIG. 19 is a diagram showing the enlarged region 951 in the first reference image 211c selected by the selection unit 103X.

[0240] As shown in Fig. 19, if the area 951 including the points 931 to 934, and the straight lines 941 and 942 is enlarged and displayed as position information, the position information serving as a reference for the designated points and approximate straight lines set at the edges of the reinforcing bar 22 to be measured on the first reference image 211c can be shown to the user more clearly. Therefore, it becomes easier for the user to specify the designated points at the edges of the reinforcing bar 22 to be measured in the first reference image 211c.

[0241] Note that in the above example, the setting unit 102Y projects all the designated points in the reference image 21 onto the virtual plane 900, and superimposes the position information corresponding to all the designated points in the reference image 21 on the first reference image 211c. However, in the present embodiment, the setting unit 102Y may project a part of the designated points in the reference image 21 onto the virtual plane 900, and superimpose the position information corresponding to a part of the designated points in the reference image 21 on the first reference image 211c.

[0242] For example, when the input unit 100 receives from the user an input of a designated point for the left edge of the reinforcing bar 22 to be measured in the first reference image 211c shown in Fig. 18, the setting unit 102Y may project only the points 931 and 932 onto the first reference image 211c and superimpose them. That is, the setting unit 102Y does not need to project the points 933, 934, the straight lines 941 and 942 onto the first reference image 211c or superimpose them.

[0243] Similarly, when the input unit 100 receives from the user an input of a designated point for the left edge of the reinforcing bar 22 to be measured in the first reference image 211c shown in Fig. 18, the setting unit 102Y may project only the straight line 941 onto the first reference image 211c and superimpose it. That is, the setting unit 102Y does not need to project the points 931 to 934 and the straight line 942 onto the first reference image 211c or superimpose them.

[0244] Further, when the input unit 100 receives from the user an input of a designated point with respect to the right edge of the reinforcing bar 22 to be measured in the first reference image 211c shown in FIG. 18, the setting unit 102Y may project and superimpose only the points 933 and 934 onto the first reference image 211c. That is, the setting unit 102Y does not have to project the points 931, 932, and the straight lines 941 and 942 onto the first reference image 211c and does not have to superimpose them.

[0245] Similarly, when the input unit 100 receives from the user an input of a designated point with respect to the right edge of the reinforcing bar 22 to be measured in the first reference image 211c shown in FIG. 18, the setting unit 102Y may project and superimpose only the straight line 942 onto the first reference image 211c. That is, the setting unit 102Y does not have to project the points 931 to 934 and the straight line 941 onto the first reference image 211c and does not have to superimpose them.

[0246] In this way, the setting unit 102Y may project and superimpose only the minimum position information for setting the designated point on one edge of the reinforcing bar 22 to be measured in the first reference image 211c onto the first reference image 211c. As a result, since the minimum position information serving as a guide for the designated point and the approximate straight line to be set on the edge of the measurement target on the reference image can be shown to the user, when the user sets a designated point on one edge of the measurement target in the reference image, it becomes easier to set the designated point.

[0247] Note that instead of the straight lines 941 and 942, the setting unit 102Y may superimpose on the first reference image 211c a center line passing through the center of the straight lines 941 and 942 as a straight line indicating the position of the reinforcing bar 22 to be measured. In this case, the setting unit 102Y can calculate the center line of the straight lines 941 and 942 by calculating a straight line obtained by averaging the straight lines 941 and 942.

[0248] In the above example, as shown in FIG. 19, the setting unit 102Y superimposes points 931 to 934, straight lines 941 and 942 on the first reference image 211c as position information, and then enlarges and displays the region 951 including these position information on the display unit 101. However, in the present embodiment, the setting unit 102Y may enlarge and display the region 951 including the position information on the display unit 101 without superimposing the position information such as points 931 to 934, straight lines 941 and 942 on the first reference image 211c.

[0249] By enlarging and displaying the region 951 including the position information, even if the position information is not superimposed on the first reference image 211c, it is possible to clearly show the user the information serving as a guide for the designated points and approximate straight lines set on the edge of the reinforcing bar 22 to be measured on the first reference image 211c. Therefore, it becomes easier for the user to specify the designated points on the edge of the reinforcing bar 22 to be measured in the first reference image 211c.

[0250] [Control Method of Measuring Device 1Y] Next, with reference to FIG. 20, the control method of the measuring device 1Y according to Embodiment 3 will be described. FIG. 20 is a flowchart showing an example of the control method of the measuring device 1Y according to Embodiment 3. Since steps S311 to S313, S315 and S316 in FIG. 20 are the same as steps S201 to S203, S24 and S205 in FIG. 14, the description thereof will be omitted here.

[0251] (Step S314) The setting unit 102Y in the image processing device 10Y of the measuring device 1Y superimposes position information indicating a guide for the position of the object to be measured in the selected reference image on the selected reference image based on the plane information indicating the plane where the reinforcing bar to be measured exists.

[0252] For example, the setting unit 102Y superimposes at least any one of a plurality of points corresponding to a plurality of designated points set on two edges of the reinforcing bar to be measured, an approximate straight line of the plurality of points, and a center line of the two approximate straight lines on the selected reference image as position information.

[0253] <Modification of Embodiment 3> In the above example, after the setting unit 102Y sets a plurality of designated points on both edges along the longitudinal direction of the reinforcing bar to be measured in the reference image, the setting unit 102Y sets a plurality of designated points on both edges along the longitudinal direction of the reinforcing bar to be measured in the selected reference image.

[0254] However, in the present embodiment, the setting unit 102Y may alternately perform setting of a plurality of designated points for one edge of the reinforcing bar to be measured in the reference image and setting of a plurality of designated points for one edge of the reinforcing bar to be measured in the selected reference image.

[0255] In this case, as shown in FIG. 17, after the setting unit 102Y projects and superimposes the designated points 231 and 232 in the reference image 21 onto the first reference image 211c, the setting unit 102Y sets the designated points 233 and 234 on the edge of the reinforcing bar 22 to be measured in the reference image 21. Subsequently, the setting unit 102Y projects and superimposes the designated points 233 and 234 in the reference image onto the first reference image 211c.

[0256] Thereby, since the designated points to be set on the edge of the reinforcing bar to be measured in the reference image and the position information serving as a guide for the approximate straight line can be shown to the user one by one, the user can designate the designated points on the edge of the object to be measured in the reference image while referring to the position information each time.

[0257] As a result, even if the position information is at a position deviated from the edge of the reinforcing bar to be measured corresponding to the reinforcing bar to be measured in the reference image, the setting unit 102Y can set the designated points at the desired positions of the user, such as on the edge of the reinforcing bar to be measured in the reference image, one by one.

[0258] 〔Control Method of Measuring Device 1Y〕 Next, with reference to FIG. 21, a control method for the measuring device 1Y according to a modified example of Embodiment 3 will be described. FIG. 21 is a flowchart showing an example of the control method for the measuring device 1Y according to the modified example of Embodiment 3. Steps S311 to S313, S315, S316, S318, and S319 in FIG. 21 are the same as steps S211 to S213, S214 to S217 in FIG. 15, and thus the description thereof will be omitted here.

[0259] (Step S314) The setting unit 102Y of the image processing device 10Y in the measuring device 1Y superimposes position information corresponding to a plurality of designated points set on one edge of the reinforcing bar to be measured on the reference image selected by the selection unit 103X.

[0260] For example, the setting unit 102Y superimposes at least any one of a plurality of points corresponding to a plurality of designated points set on one edge of the reinforcing bar to be measured, an approximate straight line of the plurality of points, and a center line of the two approximate straight lines on the selected reference image as position information.

[0261] (Step S317) The setting unit 102Y superimposes position information corresponding to a plurality of designated points set on the other edge of the reinforcing bar to be measured on the reference image selected by the selection unit 103X.

[0262] For example, the setting unit 102Y superimposes at least any one of a plurality of points corresponding to a plurality of designated points set on the other edge of the reinforcing bar to be measured, an approximate straight line of the plurality of points, and a center line of the two approximate straight lines on the selected reference image as position information.

[0263] [Example of Realization by Software] The functions of the image processing devices 10, 10X, and 10Y (devices) in the measuring devices 1, 1X, and 1Y can be realized by an image processing program for causing a computer to function as the device, and by an image processing program for causing a computer to function as each control block of the device.

[0264] In this case, as hardware for executing the above image processing program, the above apparatus includes a computer having at least one control device (for example, a processor) and at least one storage device (for example, a memory). By executing the above image processing program with this control device and storage device, each function described in each of the above embodiments is realized.

[0265] The above image processing program may be recorded on one or more computer-readable recording media, rather than temporarily. Also, by causing a computer system to read the image processing program recorded on this recording media, or downloading it from the Internet and executing it, the processing of each part may be performed.

[0266] The above recording media may or may not be included in the above apparatus. In the latter case, the above image processing program may be supplied to the above apparatus via any wired or wireless transmission medium. The above computer system includes hardware such as an OS and peripheral devices, and if it uses a WWW system, it also includes a homepage providing environment or a display environment.

[0267] Also, part or all of the functions of each of the above control blocks can also be realized by a logic circuit. For example, an integrated circuit in which a logic circuit functioning as each of the above control blocks is formed is also included in the scope of the present invention. In addition to this, for example, it is also possible to realize the functions of each of the above control blocks by a quantum computer.

[0268] Also, each of the processes described in each of the above embodiments may be executed by AI (Artificial Intelligence). In this case, the AI may operate in the above control device, or may operate in another device (for example, an edge computer or a cloud server, etc.).

[0269] 〔Summary〕 The image processing apparatus according to aspect 1 of the present invention includes a setting unit that sets a plurality of designated points for each of one or more edges of a measurement target in a reference image obtained by imaging the measurement target with a reference imaging unit, and a selection unit that selects, from a plurality of reference images obtained by imaging the measurement target with each of a plurality of reference imaging units, a reference image to be used for measurement based on the plurality of designated points in the reference image. The setting unit calculates a longitudinal direction of the measurement target in the reference image based on the plurality of designated points in the reference image, and the selection unit selects the reference image to be used for measurement based on an angle formed by the longitudinal direction of the measurement target in the reference image and a baseline direction that is a direction in which the reference imaging unit and each of the plurality of reference imaging units are arranged.

[0270] The image processing apparatus according to aspect 2 of the present invention, in the above aspect 1, the selection unit may select, as the reference image to be used for measurement, a reference image obtained by imaging with a reference imaging unit in which an angle formed by the longitudinal direction of the measurement target and the baseline direction is closest to a right angle.

[0271] The image processing apparatus according to aspect 3 of the present invention, in the above aspect 1 or 2, the setting unit may set a plurality of designated points for each of one or more edges of the measurement target in the reference image selected by the selection unit.

[0272] The image processing apparatus according to aspect 4 of the present invention, in the above aspect 3, the setting unit may superimpose, on the reference image selected by the selection unit, position information indicating a position reference of the measurement target in the reference image based on plane information indicating a plane on which the measurement target exists.

[0273] The image processing apparatus according to aspect 5 of the present invention, in the above aspect 4, the setting unit may superimpose, on the reference image selected by the selection unit, at least any one of a plurality of points corresponding to the plurality of designated points in the reference image, an approximate straight line of the plurality of points, and a center line of two such approximate straight lines, as the position information, based on the plurality of designated points in the reference image and the plane information.

[0274] In the image processing apparatus according to aspect 6 of the present invention, in any one of aspects 1 to 5 above, a display unit that enlarges and displays a region including one or more edges of the measurement target in the reference image or the reference image selected by the selection unit may be further provided.

[0275] In the image processing apparatus according to aspect 7 of the present invention, in any one of aspects 1 to 6 above, a measurement unit that measures the measurement target based on the reference image and the reference image selected by the selection unit may be further provided.

[0276] A control method for an image processing apparatus according to aspect 8 of the present invention includes: the image processing apparatus setting a plurality of designated points for each of one or more edges of the measurement target in a reference image obtained by imaging the measurement target by a reference imaging unit, and calculating a longitudinal direction of the measurement target in the reference image based on the plurality of designated points; and the image processing apparatus selecting a reference image to be used for measurement from a plurality of reference images obtained by imaging the measurement target by each of a plurality of reference imaging units based on the plurality of designated points in the reference image. The selecting of the reference image to be used for measurement is performed based on an angle formed by the longitudinal direction of the measurement target in the reference image and a baseline direction which is a direction in which the reference imaging unit and each of the plurality of reference imaging units are arranged.

[0277] The image processing apparatus according to each aspect of the present invention may be realized by a computer. In this case, an image processing program for realizing the image processing apparatus by operating the computer as each unit (software element) included in the image processing apparatus, and a computer-readable recording medium on which the program is recorded also fall within the scope of the present invention.

[0278] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope indicated by the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. Furthermore, by combining the technical means disclosed in each embodiment, new technical features can be formed.

Explanation of Signs

[0279] 10, 10X, 10Y Image processing apparatus 11 Imaging unit 21, 21a Reference image 22, 22a Reinforcing bar to be measured 101 Display unit 102, 102X, 102Y Setting unit 103, 103X Selection unit 104, 104X Measurement unit 110 Reference imaging unit 111 First reference imaging unit 112 Second reference imaging unit 211, 211a, 211b, 211c First reference image 212, 212a Second reference image 231, 231a, 232, 232a, 233, 234, 531, 532, 533, 534 Designated point 241, 242, 541, 542, 901, 902, 903, 904, 921, 922, 923, 924, 941, 942 Straight line 251 First baseline direction (baseline direction) 252 Second baseline direction (baseline direction) 931, 932, 933, 934 Point 261, 951, 2611 Region

Claims

1. A setting unit that sets a plurality of designated points for each of one or more edges of the measurement target in a reference image obtained by imaging the measurement target by a reference imaging unit; A selection unit that selects a reference image to be used for measurement from among a plurality of reference images obtained by imaging the measurement target by each of a plurality of reference imaging units based on the plurality of designated points in the reference image; The setting unit calculates the longitudinal direction of the measurement target in the reference image based on the plurality of designated points in the reference image; The selection unit selects a reference image to be used for measurement based on an angle formed by the longitudinal direction of the measurement target in the reference image and a baseline direction that is the direction in which the reference imaging unit and each of the plurality of reference imaging units are arranged; The setting unit sets a plurality of designated points for each of one or more edges of the measurement target in the reference image selected by the selection unit; The setting unit superimposes position information indicating a reference of the position of the measurement target in the reference image on the reference image selected by the selection unit based on plane information indicating a plane in which the measurement target exists, and is characterized by an image processing apparatus.

2. The selection unit selects, as the reference image to be used for measurement, a reference image captured by a reference imaging unit in which the angle formed by the longitudinal direction of the measurement target and the baseline direction is closest to a right angle, according to the image processing apparatus described in Claim 1.

3. The setting unit superimposes, on the reference image selected by the selection unit, at least any one of a plurality of points corresponding to the plurality of designated points in the reference image, an approximate straight line of the plurality of points, and a center line of two such approximate straight lines, as the position information, based on the plurality of designated points and the plane information in the reference image, according to the image processing apparatus described in Claim 1.

4. The image processing apparatus according to any one of claims 1 to 3, further comprising a display unit that enlarges and displays a region including one or more edges of the measurement target in the reference image or the reference image selected by the selection unit.

5. The image processing apparatus according to any one of claims 1 to 4, further comprising a measurement unit that measures the measurement target based on the reference image and the reference image selected by the selection unit.

6. The image processing apparatus sets a plurality of designated points for each of one or more edges of the measurement target in a reference image obtained by imaging the measurement target by a reference imaging unit, and calculates a longitudinal direction of the measurement target in the reference image based on the plurality of designated points, The image processing apparatus selects a reference image to be used for measurement from a plurality of reference images obtained by imaging the measurement target by each of a plurality of reference imaging units based on the plurality of designated points in the reference image, Selecting the reference image to be used for the measurement includes selecting the reference image to be used for the measurement based on an angle formed by a longitudinal direction of the measurement target in the reference image and a baseline direction that is a direction in which the reference imaging unit and each of the plurality of reference imaging units are arranged, Setting a plurality of designated points for each of one or more edges of the measurement target includes setting a plurality of designated points for each of one or more edges of the measurement target in the reference image selected by selecting the reference image to be used for the measurement. Setting a plurality of designated points for each of one or more edges of the measurement target includes superimposing position information indicating a reference of the position of the measurement target in the reference image on the reference image selected by selecting the reference image to be used for the measurement based on plane information indicating a plane in which the measurement target exists. A control method for an image processing apparatus, characterized by including the above.

7. An image processing program for causing a computer to function as the image processing apparatus according to any one of claims 1 to 5, the image processing program for causing a computer to function as the setting unit and the selection unit.

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