Three-dimensional shape generation apparatus, three-dimensional shape generation system, three-dimensional shape generation method and program

Abstract

To appropriately generate three-dimensional shape information corresponding to a three-dimensional point cloud.SOLUTION: A management server 5, which is an example of three-dimensional shape generation apparatus, is configured to generate three-dimensional shape information representing a three-dimensional shape corresponding to a three-dimensional point cloud using model shape information representing a three-dimensional model shape, the server including a processing unit 53, which is an example of three-dimensional information generation means for generating three-dimensional shape information using multiple pieces of model shape information set by model setting operation, on the basis of point cloud information indicating a three-dimensional point cloud and the model setting operation with respect to a model information setting screen 1230, which is an example of a reception screen that receives model setting operation to set multiple pieces of model shape information to be used for generating three-dimensional shape information from the multiple pieces of model shape information.SELECTED DRAWING: Figure 6

Description

Technical Field

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[0001] The present invention relates to a three-dimensional shape generation device, a three-dimensional shape generation system, a three-dimensional shape generation method, and a program.

Background Art

[0002] Patent Document 1 describes a three-dimensional model generation device that generates a three-dimensional model having at least the outer shape of an object based on the three-dimensional point cloud data of the object, the abstraction three-dimensional model acquisition means for acquiring an abstraction three-dimensional model having a variable dimension corresponding to each outer shape of the object, and the three-dimensional model determination means for determining the abstraction three-dimensional model having a high degree of consistency as a three-dimensional model while changing the dimension of the abstraction three-dimensional model and determining the consistency with the three-dimensional point cloud data.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] An object of the present invention is to appropriately generate three-dimensional shape information corresponding to a three-dimensional point cloud.

Means for Solving the Problems

[0005] The present invention provides a three-dimensional shape generation apparatus that generates three-dimensional shape information representing a three-dimensional shape corresponding to a three-dimensional point cloud using model shape information representing a three-dimensional model shape, and comprises a three-dimensional information generation means that generates three-dimensional shape information using the multiple model shape information set by the operation, based on an operation on a reception screen that accepts an operation to set multiple model shape information used to generate three-dimensional shape information from multiple model shape information, and point cloud information representing a three-dimensional point cloud. The model shape information includes model candidates having multiple three-dimensional model shapes that are different from each other, and the three-dimensional information generation means generates the three-dimensional shape information corresponding to the predetermined point cloud using each of the multiple three-dimensional model shapes that the set model candidate has when a model candidate is set for a predetermined point cloud in the three-dimensional point cloud by a model setting operation. . [Effects of the Invention]

[0006] According to the present invention, it is possible to appropriately generate three-dimensional shape information corresponding to a three-dimensional point cloud. [Brief explanation of the drawing]

[0007] [Figure 1] This is an overall configuration diagram of a three-dimensional shape generation system according to an embodiment of the present invention. [Figure 2] This is a hardware configuration diagram of the terminal device and management server according to this embodiment. [Figure 3] This is a functional block diagram of the three-dimensional shape generation system according to this embodiment. [Figure 4] This is a conceptual diagram showing an example of a configuration information management table according to this embodiment. [Figure 5] This is a sequence diagram showing an example of the three-dimensional shape generation process according to this embodiment. [Figure 6] This is an explanatory diagram of the settings screen according to this embodiment. [Figure 7] This flowchart shows an example of the three-dimensional shape generation process according to this embodiment. [Figure 8] This is an explanatory diagram of the registration process according to this embodiment. [Figure 9] This is an explanatory diagram of the noise reduction process according to this embodiment. [Figure 10] This is an explanatory diagram of the segmentation process according to this embodiment. [Figure 11]This is an explanatory diagram of the model matching and replacement process according to this embodiment. [Figure 12] This is an explanatory diagram of the operation screen according to this embodiment. [Modes for carrying out the invention]

[0008] In industries such as civil engineering and construction, BIM / CIM adoption is progressing with the aim of addressing issues such as the declining birthrate and aging population, and improving labor productivity.

[0009] BIM stands for Building Information Modeling, and it is a solution for utilizing information in all stages of a building project, from design and construction to maintenance and management, by adding attribute data such as cost, finishes, and management information to a three-dimensional digital model of a building (hereinafter referred to as a 3D model) created on a computer.

[0010] CIM stands for Construction Information Modeling and is a solution for the civil engineering sector (including infrastructure in general, such as roads, power, gas, and water) that was proposed following the example of BIM, which was being developed in the architectural field. Similar to BIM, it aims to improve the efficiency and sophistication of the entire construction production system by sharing information among stakeholders, primarily using 3D models.

[0011] A key aspect of promoting BIM / CIM implementation is how to easily create 3D models of buildings and public facilities.

[0012] When constructing a new building, it is relatively easy to implement BIM / CIM because the finished product can be modeled from scratch using 3D CAD software. On the other hand, with existing buildings, the original design drawings may not exist, or the building may differ from the original design due to renovations, which raises the hurdles to BIM / CIM implementation. BIM implementation of such existing buildings is called As-Build BIM, and it is an important issue for promoting future BIM / CIM implementation.

[0013] As one means of realizing As-Build BIM, there is a workflow of measuring a space using a laser scanner (hereinafter referred to as LS) and creating a CAD model from the measured point cloud. Conventionally, since measurement and sketching were performed using photos and measures to restore the space, a great deal of work cost was incurred. However, by introducing LS, the efficiency of this work has been significantly improved.

[0014] In As-Build using LS, while it facilitates modeling, a new task of point cloud processing that did not exist in the conventional work emerges. In general point cloud processing, multi-point measurement using LS, alignment of each point cloud to form an integrated point cloud, removal of unnecessary point clouds such as noise, and finally conversion from the point cloud to a CAD model are carried out.

[0015] These processes are carried out using the automatic model creation function of commercially available point cloud processing software. However, when different category objects such as pipes, desks, and people exist in the same space, that is, in the same point cloud, if an attempt is made to generate the three-dimensional shapes of these different category objects collectively, there is a risk that the accuracy may not be sufficient or the processing time may become long.

[0016] On the other hand, when generating the three-dimensional shape of a single category object, the labor of repeating the generation for each necessary category occurs.

[0017] In view of the above problems, the purpose of this embodiment is to appropriately generate a three-dimensional shape with the accuracy required by the user without spending more processing time and labor than necessary.

[0018] FIG. 1 is an overall configuration diagram of a three-dimensional shape generation system according to an embodiment of the present invention. The three-dimensional shape generation system 1 of this embodiment is constructed by a terminal device 3, which is an example of a communication terminal, and a management server 5.

[0019] Management Server 5 is an example of a three-dimensional shape generation device that generates three-dimensional shape information corresponding to a three-dimensional point cloud using model shape information that shows the shape of a three-dimensional model.

[0020] Here, a three-dimensional point cloud is a collection of coordinate points in a virtual three-dimensional space that can be handled by a computer or similar device. A three-dimensional point cloud is sometimes also called a point cloud. A three-dimensional point cloud is a collection of coordinate points corresponding to measurement points on the surface of an object when the space in which the object is located is measured using a laser scanner LS or similar device. In addition, color information may be attached to each coordinate point, and the RGB values ​​of each coordinate point may be attached as color information.

[0021] While an example of measuring a three-dimensional point cloud using a laser scanner (LS) was shown, other optical or mechanical measurement methods may also be used. Optical measurement methods include using a stereo camera or Visual SLAM.

[0022] Furthermore, three-dimensional shape information is information that indicates the three-dimensional shape of an object that can be handled by a computer or other means. This information is information that can geometrically identify the three-dimensional shape; for example, in the case of a sphere, the coordinates of the center and the radius correspond to the information that indicates the three-dimensional shape. When the three-dimensional shape of an object is represented by a polyhedron (polygon), the coordinate points of each vertex of the polyhedron are an example of information that indicates the three-dimensional shape. In addition, any information that can uniquely define the shape of the object can be used as information that occupies the three-dimensional shape.

[0023] In addition to information indicating the three-dimensional shape of an object, three-dimensional shape information may also include information related to the object's color and material.

[0024] A three-dimensional model shape is a model, such as a template, used to generate three-dimensional shape information from a three-dimensional point cloud. Model shape information is information that describes the three-dimensional model shape, and one model shape information corresponds to one three-dimensional model shape.

[0025] Model shape information may include not only the three-dimensional model shape but also information related to the color and material of the three-dimensional model. Specifically, a three-dimensional model shape representing a plane may be given information such as texture, including the color and pattern of a wall, as well as information on its material.

[0026] By incorporating texture information, it becomes easy to represent CAD models with colors and patterns. Furthermore, by incorporating material information, it is possible to directly transfer this information to CAD models that support material information, thus reducing the effort required for user configuration.

[0027] Here, "texture" originally refers to the feel or texture of an object's surface, and in the context of three-dimensional shape information, it refers to patterns or images applied to the surface of a three-dimensional object to represent its surface texture.

[0028] Furthermore, while CAD models generally have three methods for creation—surface, solid, and polygon—solids are the closest representation of real objects because they contain not only external appearance information but also internal information such as material properties, allowing for calculations of mass and volume, as well as representation of cross-sectional shapes.

[0029] Furthermore, the process of setting colors, materials, brightness, backgrounds, etc., for a CAD model is called "rendering," and rendering allows you to create beautiful, photographic images.

[0030] Terminal device 3 and management server 5 can communicate via communication network 100. Communication network 100 is constructed using the Internet, mobile communication networks, LAN (Local Area Network), etc. Communication network 100 may include not only wired communication but also wireless communication networks such as 3G (3rd Generation), WiMAX (Worldwide Interoperability for Microwave Access), and LTE (Long Term Evolution). In addition, terminal device 3 can communicate using short-range communication technologies such as NFC (Near Field Communication) (registered trademark).

[0031] <Hardware Configuration> Figure 2 is a hardware configuration diagram of the terminal device and management server according to this embodiment. Each hardware component of the terminal device 3 is indicated by a 300-series code. Each hardware component of the management server 5 is indicated by a 500-series code in parentheses.

[0032] Terminal device 3 includes a CPU (Central Processing Unit) 301, ROM (Read Only Memory) 302, RAM (Random Access Memory) 303, HD (Hard Disk) 304, HDD (Hard Disk Drive) 305, recording media 306, media I / F 307, display 308, network I / F 309, keyboard 311, mouse 312, CD-RW (Compact Disc-ReWritable) drive 314, and bus line 310.

[0033] Of these, the CPU 301 controls the operation of the entire terminal device 3. The ROM 302 stores the program used to drive the CPU 301. The RAM 303 is used as the work area for the CPU 301. The HD 304 stores various data such as programs. The HDD 305 controls the reading or writing of various data to the HD 304 according to the control of the CPU 301. The media I / F 307 controls the reading or writing (storage) of data to the recording media 306, such as flash memory. The display 308 displays various information such as cursors, menus, windows, characters, or images. The network I / F 309 is an interface for data communication using the communication network 100. The keyboard 311 is a type of input means equipped with multiple keys for inputting characters, numbers, and various instructions. The mouse 312 is a type of input means for selecting and executing various instructions, selecting processing targets, moving the cursor, etc. The CD-RW drive 314 controls the reading or writing of various data to the CD-RW 513, which is an example of a removable recording medium.

[0034] Furthermore, the management server 5 is equipped with a CPU 501, ROM 502, RAM 503, HD 504, HDD 505, recording media 506, media I / F 507, display 508, network I / F 509, keyboard 511, mouse 512, CD-RW drive 514, and bus line 510. Since these have the same configuration as described above (CPU 301, ROM 302, RAM 303, HD 304, HDD 305, recording media 306, media I / F 307, display 308, network I / F 309, keyboard 311, mouse 312, CD-RW drive 314, and bus line 310), their descriptions will be omitted.

[0035] Note that a CD-R drive or the like may be used instead of the CD-RW drive 314 (514). Also, the terminal device 3 and the management server 5 may each be constructed using a single computer, or they may be constructed using multiple computers, each arbitrarily assigned to a different part (function, means, or storage unit).

[0036] Figure 3 is a functional block diagram of the three-dimensional shape generation system according to this embodiment.

[0037] As shown in Figure 3, the terminal device 3 includes a transmitting / receiving unit 31, a receiving unit 32, a display control unit 34, and a storage / reading unit 39. Each of these units is a function or means of functioning, realized by any of the components shown in Figure 2 operating according to instructions from the CPU 301 following a program deployed from the HD 304 onto the RAM 303. The terminal device 3 also has a storage unit 3000 constructed from the RAM 303 and HD 304 shown in Figure 2.

[0038] (Functional configuration of each terminal device) Next, we will describe each component of the terminal device 3.

[0039] The transmitting / receiving unit 31 is an example of a transmission means and is implemented by commands from the CPU 301 shown in Figure 2 and the network I / F 309, and transmits and receives various data (or information) with other terminals, devices, or systems via the communication network 100.

[0040] The reception unit 32 is an example of a reception mechanism and is mainly implemented by commands from the CPU 301 shown in Figure 2, as well as the keyboard 311 and mouse 312, to receive various inputs from the user.

[0041] The display control unit 34 is an example of a display control means, and is implemented by instructions from the CPU 301 shown in Figure 2, and causes various images and screens to be displayed on the display 308, which is an example of a display unit.

[0042] The storage / reading unit 39 is an example of a storage control means and is executed by instructions from the CPU 301 shown in Figure 2, as well as by the HDD 305, media I / F 307, and CD-RW drive 314. It performs processes such as storing various data in the storage unit 3000, recording media 306, and CD-RW 313, and reading various data from the storage unit 3000, recording media 306, and CD-RW 313.

[0043] <Management Server Functional Configuration> The management server 5 includes a transmitting / receiving unit 51, a processing unit 53, a determination unit 55, a setting unit 57, and a storage / reading unit 59. Each of these units is a function or means of functioning, realized by the operation of any of the components shown in Figure 2 by instructions from the CPU 501 according to a program deployed from the HD 504 onto the RAM 503. The management server 5 also has a storage unit 5000 constructed from the HD 504 shown in Figure 2. The storage unit 5000 is an example of a storage means.

[0044] (Configuration of each function of the management server) Next, we will describe the components of the management server 5. The management server 5 may be configured to distribute its functions across multiple computers. Furthermore, although we will describe the management server 5 as a server computer located in a cloud environment, it may also be a server located in an on-premises environment.

[0045] The transmitting / receiving unit 51 is an example of a transmission means and is implemented by commands from the CPU 501 shown in Figure 2 and the network I / F 509, and transmits and receives various data (or information) with other terminals, devices, or systems via the communication network 100.

[0046] The processing unit 53 is implemented by instructions from the CPU 501 shown in Figure 2 and performs various processes described later. The processing unit 53 is an example of a three-dimensional information generation means that generates three-dimensional shape information.

[0047] The decision unit 55 is implemented by instructions from the CPU 501 shown in Figure 2 and performs various decisions as described later.

[0048] The setting unit 57 is implemented by instructions from the CPU 501 shown in Figure 2, and performs various settings and decisions as described later.

[0049] The storage / reading unit 59 is an example of a storage control means and is executed by instructions from the CPU 501 shown in Figure 2, as well as by the HDD 505, media I / F 507, and CD-RW drive 514. It performs processing such as storing various data in the storage unit 5000, recording media 506, and CD-RW 513, and reading various data from the storage unit 5000, recording media 506, and CD-RW 513. The storage unit 5000, recording media 506, and CD-RW 513 are examples of storage means.

[0050] The memory unit 5000 contains a configuration information management DB 5001, a memory processing management DB 5002, a point cloud management DB 5003, and a three-dimensional shape management DB 5004, all of which are composed of configuration information management tables.

[0051] The configuration information management DB5001 stores and manages various types of information; the memory processing management DB5002 stores and manages various processing programs for generating three-dimensional shapes; the point cloud management DB5003 stores and manages three-dimensional point cloud information for generating three-dimensional shapes; and the three-dimensional shape management DB5004 stores and manages three-dimensional shape information.

[0052] Figure 4 is a conceptual diagram showing an example of a configuration information management table according to this embodiment.

[0053] The configuration information management table is a table for managing the three-dimensional point cloud data used to generate three-dimensional shapes, and the history of the processes that generated those three-dimensional shapes. The storage unit 5000 has a configuration information management DB 5001 constructed, which consists of the configuration information management table shown in Figure 4. In this configuration information management table, the file name of the three-dimensional point cloud data and the history of the processes that generated the three-dimensional shapes are associated and managed for each user ID.

[0054] Figure 5 is a sequence diagram showing an example of the three-dimensional shape generation process according to this embodiment.

[0055] The receiving unit 32 of the communication terminal 3 receives input operations related to the user's user information on the input / output screen displayed on the display 308 (step S1). The transmitting / receiving unit 31 sends a request for a settings screen, including the user information received in step S1, to the management server 5 of the communication terminal 3, and the transmitting / receiving unit 51 of the management server 5 receives the request sent from the communication terminal 3 (step S2).

[0056] Next, the storage / reading unit 59 of the management server 5 searches the configuration information management DB 5001 using the user information contained in the request received in step S2 as a search key, and reads the file name of the three-dimensional point cloud data associated with the user information contained in the request, as well as the history of the process that generated the three-dimensional shape. Based on the file name and history read by the storage / reading unit 59, the configuration unit 57 of the management server 5 generates a configuration screen (step S3).

[0057] This settings screen includes a model information settings screen that accepts model setting operations for setting multiple model shape information used to generate three-dimensional shape information from multiple model shape information, a point cloud settings screen that accepts point cloud setting operations for setting three-dimensional point clouds used to generate three-dimensional shape information, and a processing settings screen that accepts processing setting operations for setting a processing program for generating three-dimensional shape information.

[0058] The processing settings screen includes a display that is initially set based on the history read by the storage / reading unit 59.

[0059] The transmitting / receiving unit 51 transmits the setting screen information related to the setting screen generated in step S3 to the communication terminal 3, and the transmitting / receiving unit 31 of the communication terminal 3 receives the setting screen information transmitted from the management server 5 (step S4). Step S4 is an example of a transmission step in which model information setting screen information related to the model information setting screen is transmitted, and the transmitting / receiving unit 31 is an example of a transmission means.

[0060] Next, the display control unit 34 of the communication terminal 3 displays the setting screen received in step S4 on the display 308 (step S5). The receiving unit 32 of the communication terminal 3 receives a predetermined input operation from the user for the displayed setting screen. This input operation includes a model setting operation, a point cloud setting operation, and a processing setting operation, which set multiple model shape information used to generate three-dimensional shape information from multiple model shape information. Step S5 is an example of a receiving step that receives a model setting operation, which sets multiple model shape information used to generate three-dimensional shape information from multiple model shape information.

[0061] The transmitting / receiving unit 31 transmits input information related to the input operation received by the receiving unit 32 to the management server 5, and the transmitting / receiving unit 51 of the management server 5 receives the input information transmitted from the communication terminal 3 (step S6). This input information includes model setting information, point cloud setting information, and processing setting information, which set multiple model shape information used to generate three-dimensional shape information from multiple model shape information.

[0062] The storage and reading unit 59 of the management server 5 updates the history of the process that generated the three-dimensional shape, which is stored in the setting information management DB 5001 associated with user information, based on the processing setting information and model setting information contained in the input information received in step S6 (step S7).

[0063] Next, the storage / reading unit 59 of the management server 5 searches the point cloud management DB 5003 using the point cloud setting information contained in the input information received in step S6 as a search key, and reads the three-dimensional point cloud data associated with the point cloud setting information. The storage / reading unit 59 also searches the storage processing management DB 5002 using the processing setting information contained in the input information received in step S6 as a search key, and reads the processing program associated with the processing setting information. The processing unit 53 of the management server 5 generates three-dimensional shape information based on the three-dimensional point cloud data read from the storage / reading unit 59, the processing program, and the model setting information contained in the input information received in step S6 (step S8).

[0064] Step S8 is an example of a three-dimensional information generation step that generates three-dimensional shape information using multiple model shape information set by the model setting operation, based on the model setting operation on the model information setting screen 1230 and point cloud information representing the three-dimensional point cloud.

[0065] The configuration unit 57 of the management server 5 generates an operation screen that accepts operation inputs for generating three-dimensional shape information, and the transmission / reception unit 51 transmits operation screen information related to the operation screen to the communication terminal 3 (step S9).

[0066] The transmitting / receiving unit 31 of the communication terminal 3 receives operation screen information transmitted from the management server 5, the display control unit 34 of the communication terminal 3 displays the received operation screen on the display 308, and the receiving unit 32 of the communication terminal 3 accepts a predetermined input operation from the user on the displayed operation screen (step S10).

[0067] This input operation includes a shape setting operation that sets one three-dimensional shape from multiple three-dimensional shape information.

[0068] The transmitting / receiving unit 31 transmits input information related to the input operation received by the receiving unit 32 to the management server 5, and the transmitting / receiving unit 51 of the management server 5 receives the input information transmitted from the communication terminal 3 (step S11).

[0069] This input information includes shape setting information obtained through shape setting operations, and the processing unit 53 of the management server 5 determines the three-dimensional shape information based on the shape setting information contained in the input information received in step S11.

[0070] The communication terminal 3 and the management server 5 repeat steps S8 to S11 as needed.

[0071] The processing unit 53 converts the generated three-dimensional shape information into a CAD format or the like, and the storage / reading unit 59 stores the converted three-dimensional shape information in the three-dimensional shape management DB 5004, the recording medium 506, or the CD-RW 513 (step S12). The CAD format is three-dimensional shape information that can be handled by 3D CAD. When handling the three-dimensional shape information with commercially available 3D CAD, the three-dimensional shape information is converted into a 3D CAD format.

[0072] The memory / reading unit 59 updates the history of the process that generated the three-dimensional shape, which is stored in the setting information management DB 5001 associated with user information, based on the model shape information corresponding to the determined three-dimensional shape information (step S13).

[0073] The transmitting / receiving unit 51 transmits the determined three-dimensional shape information to the communication terminal 3 (step S14).

[0074] The transmitting / receiving unit 31 of the communication terminal 3 receives three-dimensional shape information transmitted from the management server 5, and the display control unit 34 of the communication terminal 3 displays the received three-dimensional shape on the display 308. (Step S15).

[0075] Figure 6 is an explanatory diagram of the display screen according to this embodiment.

[0076] Figure 6 shows the display screen 1000 that is displayed on the display 308 of the terminal device 3 in step S5 of the sequence diagram shown in Figure 5.

[0077] The display control unit 34 of the communication terminal 3 displays a user information display screen 1100, a settings screen 1200, and a confirmation button 1300, which is an example of an instruction reception screen, on the display screen 1000.

[0078] The settings screen 1200 includes the point cloud settings screen 1210, the processing settings screen 1220, and the model information settings screen (an example of a reception screen) 1230.

[0079] The point cloud setting screen 1210 is a screen that accepts point cloud setting operations to set point cloud information that represents a three-dimensional point cloud used to generate three-dimensional shape information. The display control unit 34 displays point cloud setting boxes 1212 and 1214, corresponding to the respective file names of the multiple point cloud data read by the storage / reading unit 59. Multiple point cloud setting boxes 1212 and 1214 can be set.

[0080] The processing settings screen 1220 is a screen that accepts processing setting operations for setting a processing program to generate three-dimensional shape information, and the display control unit 34 displays processing setting boxes 1222, 1224, and 1226, corresponding to the names of each of the multiple processes.

[0081] In Figure 6, processing setting box 1222 is for setting the processing program related to registration, processing setting box 1224 is for setting the processing program related to noise reduction, and processing setting box 1226 is for setting the processing program related to segmentation. Details of these processing programs will be described later. Here, processing box 1222 related to registration may be set automatically if multiple point clouds are set on the point cloud setting screen 1210. Also, since the processing related to segmentation is always performed, the processing setting box 1226 related to segmentation may be omitted.

[0082] The display control unit 34 initializes and displays the settings of the processing setting boxes 1222, 1224, and 1226 based on the history read by the storage / reading unit 59. If there is no history, a predetermined setting is displayed as the initial setting.

[0083] The model information setting screen 1230 is an example of a reception screen that accepts model setting operations for setting multiple model shape information used to generate three-dimensional shape information from multiple model shape information.

[0084] The model information setting screen 1230 includes model information setting boxes 1231, 1234, and 1235, model candidate setting boxes 1232 and 1233, and the model display screen 1240.

[0085] The display control unit 34 displays model information setting boxes 1231, 1234, and 1235, corresponding to the names of each of the multiple model information items, and displays model candidate setting boxes 1232 and 1233, corresponding to the names of each of the multiple model shapes. Here, model information refers to a group of model shape information that includes one or more model shape information items.

[0086] In Figure 6, model information setting box 1231 is used to set model information showing the three-dimensional model shape of the piping, model information setting box 1234 is used to set model information showing the three-dimensional model shape of the desk, and model information setting box 1235 is used to set model information showing the three-dimensional model shape of the person.

[0087] Furthermore, the model candidate setting box 1232 is used to set model shape information that shows the three-dimensional model shape of pipe model A, and the model shape setting box 1233 is used to set model shape information that shows the three-dimensional model shape of pipe model B.

[0088] The display control unit 34 displays model candidates 1242, 1243, or model shape 1244 on the model display screen 1240, corresponding to the respective names of the set model information or model candidates. If the model shape information includes color, it may be displayed in color. Here, each of the multiple model candidates includes a three-dimensional model shape with a different shape from each other, and is used to generate multiple three-dimensional shape information from the same region of the three-dimensional point cloud. The generated multiple three-dimensional shape information is then determined into a single three-dimensional shape information in a later process.

[0089] Model candidate 1242 shows multiple three-dimensional model shapes of piping model A, model candidate 1243 shows multiple three-dimensional model shapes of piping model B, and model shape 1244 shows a three-dimensional model shape of a desk.

[0090] When a setting box is pointed to by a pointing device such as a mouse 312, the reception unit 32 of the communication terminal 3 displays a checkmark in the setting box, and the reception unit 32 accepts the setting operation. When the confirmation button 1300 is pressed, the setting operation is confirmed.

[0091] Then, as explained in step S6 of Figure 5, the transmitting / receiving unit 31 transmits input information to the management server 5, which includes various setting information obtained from various setting operations received by the receiving unit 32.

[0092] Figure 7 is a flowchart showing an example of the three-dimensional shape generation process according to this embodiment, and shows the process corresponding to step S8 in Figure 5.

[0093] The processing unit 53 of the management server 5 acquires the three-dimensional point cloud data read from the storage / reading unit 59 (step S21). If multiple three-dimensional point cloud data sets are acquired and the processing program read from the storage / reading unit 59 includes a processing program related to registration, the processing unit 53 executes the registration process (step S22). The registration process is the process of converting multiple three-dimensional point clouds into a single integrated three-dimensional point cloud.

[0094] If the processing program read from the storage / reading unit 59 includes a processing program related to noise reduction, the processing unit 53 executes noise reduction processing (step S23). Noise reduction processing is the process of removing unnecessary point clouds from the three-dimensional point cloud.

[0095] The configuration unit 57 of the management server 5 sets the model information based on the model configuration information included in the input information received in step S6 of Figure 5 (step S24). For example, as shown in Figure 6, if the model configuration information includes model information showing the three-dimensional model shape of the piping and model information showing the three-dimensional model shape of the desk, the configuration unit 57 first sets the model information showing the three-dimensional model shape of the piping.

[0096] The setting unit 57 sets one or more model shape information based on the model setting information included in the input information received in step S6 of Figure 5 (step S25). For example, as shown in Figure 6, if the model setting information includes multiple model candidates, such as model shape information showing the three-dimensional model shape of pipe model A and model shape information showing the three-dimensional model shape of pipe model B, the setting unit 57 first sets the model shape information showing the three-dimensional model shape of pipe model A.

[0097] If the processing program read from the storage / reading unit 59 includes a processing program related to segmentation, the processing unit 53 executes the segmentation process (step S26). The segmentation process is a process that labels specific point clouds in a three-dimensional point cloud so that they can be distinguished from other point clouds. Multiple specific point clouds may be made mutually distinguishable by assigning different labels to each of them. The segmentation process may also be executed in conjunction with a clustering process that groups point clouds that are close in distance from each other among the labeled point clouds.

[0098] The processing unit 53 compares the point cloud labeled in step S26 with each of the multiple three-dimensional model shapes included in the model shape information set in step S25, and replaces the specific region using the three-dimensional model shape that is closest in shape (step S27). If there is no optimal model shape, the processing unit 53 may adjust the dimensions and shape of the model shape. If there is a possibility that the texture information may differ for the same shape, the processing unit 53 may also include models with the same shape but different textures in the comparison. Alternatively, the processing unit 53 may omit the segmentation process in step S26 and execute step S27 after step S25.

[0099] The decision unit 55 of the management server 5 determines whether there are any unprocessed point clouds (step S28). If there are unprocessed point clouds, the process returns to step 27, and the processing unit 53 performs a process to replace specific regions in the unprocessed point clouds using the three-dimensional model shape. The decision unit 55 may also determine that there are no unprocessed point clouds, i.e., that the processing of the point clouds is complete, when the ratio of unprocessed point clouds to all point clouds falls below a predetermined value.

[0100] On the other hand, if there are no unprocessed point clouds, the determination unit 55 determines whether there are any unprocessed model candidates (step S29). If there are unprocessed model candidates, the process returns to step 25, and the setting unit 57 sets the model shape information included in the unprocessed model candidates. For example, the setting unit 57 sets multiple model candidates, starting with model shape information showing the three-dimensional model shape of pipe model A, followed by model shape information showing the three-dimensional model shape of pipe model B.

[0101] If there are no unprocessed model candidates, the processing unit 53 determines three-dimensional shape information based on the shape setting information included in the input information received in step S11 of Figure 5 (step S30). For example, the setting unit 57 determines one of the following three-dimensional shape information as a model candidate: the three-dimensional shape information generated based on the model shape information of pipe model A, and the three-dimensional shape information generated based on the model shape information of pipe model B.

[0102] The determination unit 55 determines whether there is any unprocessed model information (step S31), and if there is no unprocessed model information, it terminates the process.

[0103] If there is any unprocessed model information, the process returns to step 24, and the setting unit 57 sets the unprocessed model information. For example, the setting unit 57 sets the model information for the desk following the model information for the piping.

[0104] Figure 8 is an explanatory diagram of the registration process according to this embodiment.

[0105] Figure 8(a) shows the first three-dimensional point cloud 1410, and Figure 8(b) shows the second three-dimensional point cloud 1420.

[0106] As an example, the processing unit 53 aligns the feature points 1410a included in the first three-dimensional point cloud 1410 with the feature points 1420a included in the second three-dimensional point cloud 1420, thereby converting the first three-dimensional point cloud 1410 and the second three-dimensional point cloud 1420 into a single unified three-dimensional point cloud.

[0107] Figure 9 is an explanatory diagram of the noise reduction process according to this embodiment. The processing unit 53 removes unnecessary point clouds 1440 from the three-dimensional point cloud 1430.

[0108] Figure 10 is an explanatory diagram of the segmentation process according to this embodiment.

[0109] The processing unit 53 labels a specific point cloud in the three-dimensional point cloud 1430 to form a labeled point cloud 1450 (black circle) so that it can be distinguished from other point clouds.

[0110] Figure 11 is an explanatory diagram of the model matching and replacement process according to this embodiment.

[0111] Figure 11(a) shows the three-dimensional point cloud 1430, Figure 11(b) shows the candidate model 1460 for pipe A, and Figure 11(c) shows the candidate model 1470 for pipe B.

[0112] Model candidate 1460 for piping A includes multiple model shapes 1461, 1462, and 1463, each with a different shape, and model candidate 1470 for piping B includes multiple model shapes 1471, 1472, and 1473, each with a different shape.

[0113] The processing unit 53 compares the labeled point cloud 1450 (point cloud of black circles) with each of the multiple model shapes 1461, 1462, and 1463 of pipe A, and replaces a specific region using the model shape that is closest in shape. If there is no optimal model shape among the multiple model shapes 1461, 1462, and 1463, the processing unit 53 may adjust the dimensions and shape of the model shape. Here, the model shape that is closest in shape is, for example, the model shape whose total distance from the model shape to each point in the point cloud is small.

[0114] If objects have the same shape but different textures or materials, the comparison may include multiple textures and materials. For example, the point cloud color (RGB) can be compared with the texture color included in the model shape information, and the closest color can be set. Specifically, this can be determined by comparing the RGB values ​​of the texture information (RGB) for the model at the nearest point in the point cloud with the RGB values ​​of the point cloud, and then summing the absolute values; however, the comparison method is not restricted.

[0115] Furthermore, the processing unit 53 compares the labeled point cloud 1450 (point cloud of black circles) with each of the multiple model shapes 1471, 1472, and 1473 of pipe B, and replaces a specific region using the model shape that is closest in shape. If there is no optimal model shape, the processing unit 53 may adjust the dimensions and shape of the model shape. If there is no optimal model shape among the multiple model shapes 1471, 1472, and 1473, the processing unit 53 may adjust the dimensions and shape of the model shape.

[0116] Figure 12 is an explanatory diagram of the operation screen according to this embodiment.

[0117] Figure 12 shows the display screen 1000 that is displayed on the display 308 of the terminal device 3 in step S10 of the sequence diagram shown in Figure 5.

[0118] The display control unit 34 of the communication terminal 3 displays the generated shape setting screen 1500, the generated shape display screen 1600, and the confirmation button 1300 on the display screen 1000.

[0119] The generated shape setting screen 1500 is an example of a second reception screen that accepts shape setting operations to set one three-dimensional shape from multiple three-dimensional shape information, and includes generated shape setting boxes 1510 and 1520.

[0120] The generated shape setting box 1510 is used to set the three-dimensional shape generated based on the model shape information of pipe model A, and the generated shape setting box 1520 is used to set the three-dimensional shape generated based on the model shape information of pipe model B.

[0121] The display control unit 34 associates the generated shapes 1610 and 1620 with the names of the multiple model shape information and displays them on the generated shape display screen 1600.

[0122] Generated shape 1610 shows a three-dimensional shape generated based on the model shape information of pipe model A, and generated shape 1620 shows a three-dimensional shape generated based on the model shape information of pipe model B.

[0123] The reception unit 32 of the communication terminal 3 accepts a shape setting operation when the generated shape setting box 1510 or 1520 is pointed to by a pointing device such as a mouse 312, and confirms the shape setting operation when the confirmation button 1300 is pressed.

[0124] Then, as explained in step S11 of Figure 5, the transmitting / receiving unit 31 transmits input information, including the shape setting information obtained from the shape setting operation received by the receiving unit 32, to the management server 5. In Figure 12, either generated shape 1610 or generated shape 1620 is selected based on the user's operation, but the processing unit 53 of the management server 5 may automatically select the generated shape 1610 or generated shape 1620 that is closer to the labeled point cloud, without any user operation. Here, the closer generated shape is determined, for example, by calculating the distance between the generated shape and each point in the point cloud, and selecting the generated shape whose total distance is smaller.

[0125] ●Summary● [First aspect] As described above, the management server 5, which is an example of a three-dimensional shape generation apparatus according to one embodiment of the present invention, generates three-dimensional shape information corresponding to a three-dimensional point cloud using model shape information representing a three-dimensional model shape, and includes a processing unit 53, which is an example of a three-dimensional information generation means, that generates three-dimensional shape information using a model information setting screen 1230, which is an example of a reception screen that accepts model setting operations for setting multiple model shape information used to generate three-dimensional shape information from multiple model shape information, and point cloud information representing a three-dimensional point cloud, and generates three-dimensional shape information using the multiple model shape information set by the model setting operation.

[0126] Specifically, the processing unit 53 compares a specific region in the three-dimensional point cloud with the three-dimensional model shape indicated by the model shape information set by the model setting operation, and replaces the specific region using the three-dimensional model shape.

[0127] This makes it possible to appropriately generate three-dimensional shape information corresponding to a three-dimensional point cloud.

[0128] In other words, generating a three-dimensional shape from all the model shape information at once may result in insufficient accuracy or long processing times. On the other hand, generating a three-dimensional shape from a single model shape information requires repeating the generation process for each necessary model shape information.

[0129] Therefore, according to this embodiment, it is possible to appropriately generate a three-dimensional shape with the accuracy required by the user without spending more processing time or effort than necessary.

[0130] For example, an experienced user can narrow down the necessary model shape information from multiple model shape information sources to generate a three-dimensional shape, while an inexperienced user can generate a three-dimensional shape from multiple model shape information sources all at once. In other words, the three-dimensional shape can be appropriately generated according to the user's skill level.

[0131] [Second aspect] In the first embodiment, each of the multiple model shape information includes information indicating the three-dimensional model shape and additional information, and the processing unit 53 generates three-dimensional shape information including the additional information.

[0132] [Third aspect] In the first or second embodiment, the management server 5 includes a transmitting / receiving unit 51, which is an example of a transmitting means, for transmitting reception screen information indicating the model information setting screen 1230 to a terminal device 3, which is an example of a communication terminal that can communicate with the management server 5.

[0133] This allows the management server 5 to generate three-dimensional shape information using the model shape information set on the terminal device 3.

[0134] [Fourth aspect] In the third embodiment, the transmitting / receiving unit 51 transmits a plurality of model shape information to the terminal device 3 in order to display the three-dimensional model shape corresponding to each of the plurality of model shape information on the display 308, which is an example of a display unit provided by the terminal device 3.

[0135] This allows the terminal device 3 to appropriately set the model shape information while confirming the three-dimensional model shape displayed on the display 308.

[0136] [Fifth aspect] In a fourth embodiment, each of the multiple model shape information includes information indicating a three-dimensional model shape and additional information, and the transmitting / receiving unit 51 transmits the multiple model shape information to the terminal device 3 in order to display the three-dimensional model shape of the color or pattern included in the additional information on the display 308.

[0137] [Sixth aspect] In any of the first to fifth embodiments, the processing unit 53 generates three-dimensional shape information corresponding to a portion of the three-dimensional point cloud. Specifically, the processing unit 53 can accurately generate three-dimensional shape information corresponding to a portion of the three-dimensional point cloud by performing segmentation processing, which labels the region indicated by the portion of the three-dimensional point cloud with a specific point cloud within the three-dimensional point cloud so that it can be distinguished from other point clouds.

[0138] [Seventh aspect] In any of the first to sixth embodiments, the processing unit 53 generates three-dimensional shape information based on a plurality of point cloud information 1410 and 1420. Specifically, the processing unit 53 can obtain integrated point cloud information 1430 by performing a registration process to align the plurality of point cloud information 1410 and 1420 that represent multiple points, and generate three-dimensional shape information corresponding to a region spanning multiple points.

[0139] [8th aspect] Multiple model shape information includes multiple model shape information that represent three-dimensional model shapes with different shapes from each other, and the processing unit 53 generates three-dimensional shape information from the three-dimensional point cloud using one of the multiple model shapes 1461, 1462, or 1463. This makes it possible to generate three-dimensional shape information using a three-dimensional model shape that is close in shape to the three-dimensional point cloud.

[0140] Specifically, the processing unit 53 compares a specific region in the three-dimensional point cloud with multiple model shapes 1461, 1462, and 1463, and replaces the specific region using the three-dimensional model shape information that is closest in shape.

[0141] [Ninth aspect] In any of the first to eighth embodiments, the multiple model shape information includes multiple model candidates that represent three-dimensional model shapes with different shapes from each other, and the processing unit 53 generates multiple three-dimensional shape information from the same region of the three-dimensional point cloud using each of the multiple model candidates 1460 and 1470. Each of the multiple model candidates 1460 and 1470 includes multiple model shape information that represents three-dimensional model shapes with different shapes from each other. This makes it possible to generate multiple three-dimensional shape information with different shapes from each other as candidates for three-dimensional shape information obtained from a certain region of the three-dimensional point cloud.

[0142] [Tenth aspect] In the ninth embodiment, the model setting operation includes setting model candidates 1242 and 1243, and the processing unit 53 generates three-dimensional shape information using the model candidates set by the model setting operation. This allows the candidates for three-dimensional shape information obtained from a region of the three-dimensional point cloud to be narrowed down in advance by setting model candidates.

[0143] [Phase 11] In the ninth or tenth embodiment, the processing unit 53 determines the three-dimensional shape information set by the shape setting operation from the multiple three-dimensional shape information based on the shape setting operation on the generated shape setting screen 1500, which is an example of a second reception screen that receives a shape setting operation to set one three-dimensional shape information from a plurality of three-dimensional shape information.

[0144] This allows for the determination of three-dimensional shape information obtained from a region in a three-dimensional point cloud from multiple candidates.

[0145] [12th aspect] In the eleventh embodiment, the management server 5 includes a storage / reading unit 59, which is an example of a storage control means, that stores model shape information corresponding to the determined three-dimensional shape information in the setting information management DB 5001 of the storage unit 5000, which is an example of a storage means. The processing unit 53 uses the model shape information stored in the setting information management DB 5001 to generate three-dimensional shape information from other point cloud information that represents other three-dimensional point clouds.

[0146] This allows the model shape information corresponding to the determined three-dimensional shape information to be used when generating three-dimensional shape information from other point cloud information.

[0147] [The 13th aspect] In the eleventh or twelfth embodiment, the management server 5 includes a transmitting / receiving unit 51 that transmits second reception screen information indicating the generated shape setting screen 1500 to a terminal device 3 that can communicate with the management server 5.

[0148] This allows the management server 5 to determine a single three-dimensional shape from multiple three-dimensional shape information based on the shape setting operation on the terminal device 3.

[0149] [Aspect 14] In the 13th embodiment, the transmitting / receiving unit 51 transmits a plurality of three-dimensional shape pieces to the terminal device 3 in order to display the three-dimensional shape corresponding to each of the plurality of three-dimensional shape pieces on the display 308 provided by the terminal device 3.

[0150] This allows the terminal device 3 to appropriately set the three-dimensional shape information while confirming the three-dimensional shape displayed on the display 308.

[0151] [Aspect 15] In any of the first to fourteenth embodiments, the management server 5 further comprises a storage / reading unit 59, which is an example of a storage control means for storing three-dimensional shape information in a storage means such as a three-dimensional shape management DB 5004, a recording medium 506, or a CD-RW 513.

[0152] [Phase 16] In any of the first to fifteenth embodiments, the transmitting / receiving unit 51 transmits three-dimensional shape information to the terminal device 3. This allows the terminal device 3 to verify the three-dimensional shape information.

[0153] [Personal aspect 17] A three-dimensional shape generation system 1 according to one embodiment of the present invention comprises a management server 5 that generates three-dimensional shape information representing a three-dimensional shape corresponding to a three-dimensional point cloud using model shape information representing a three-dimensional model shape, and a terminal device 3 that can communicate with the management server 5. The management server 5 comprises a transmitting and receiving unit 51 that transmits to the terminal device 3 reception screen information relating to a model information setting screen 1230 that accepts model setting operations for setting multiple model shape information used to generate three-dimensional shape information from multiple model shape information, and a processing unit 53 that generates three-dimensional shape information using multiple model shape information set by the model setting operation, based on the model setting operation for the model information setting screen 1230 and point cloud information representing a three-dimensional point cloud. The terminal device 3 comprises a display control unit 34 that displays the model information setting screen 1230 on a display 308, and a reception unit 32 that accepts model setting operations for the model information setting screen 1230.

[0154] [Pattern 18] A three-dimensional shape generation method according to one embodiment of the present invention generates three-dimensional shape information representing a three-dimensional shape corresponding to a three-dimensional point cloud using model shape information representing a three-dimensional model shape. This method comprises a transmission step of transmitting reception screen information relating to a model information setting screen 1230 that accepts a model setting operation for setting a plurality of model shape information used to generate three-dimensional shape information from a plurality of model shape information to a terminal device 3, and a three-dimensional information generation step of generating three-dimensional shape information using a plurality of model shape information set by a model setting operation, based on a model setting operation for the model information setting screen 1230 and point cloud information representing a three-dimensional point cloud.

[0155] [Pattern 19] Another embodiment of the present invention provides a three-dimensional shape generation method for generating three-dimensional shape information that represents a three-dimensional shape corresponding to a three-dimensional point cloud, using model shape information that represents a three-dimensional model shape, comprising: a reception step for receiving a model setting operation to set a plurality of model shape information used to generate three-dimensional shape information from a plurality of model shape information; and a three-dimensional information generation step for generating three-dimensional shape information using the plurality of model shape information set by the model setting operation, based on the model setting operation and point cloud information that represents a three-dimensional point cloud.

[0156] [20th aspect] A program according to one embodiment of the present invention causes a computer to execute the three-dimensional shape generation method according to the 18th or 19th embodiment. [Explanation of Symbols]

[0157] 1. Three-dimensional shape generation system 100 Communication Networks 3. Terminal device (an example of a communication terminal) 31 Transmitting / receiving unit (an example of a transmission means) 32 Reception area (an example of reception method) 34 Display Control Unit (An example of display control means) 39. Memory / Reading Unit (An Example of Memory Control Means) 308 Display (Example of a display unit) 3000 storage section 5. Management Server (An example of a 3D shape generation device) 51 Transmitting / receiving unit (an example of a transmission means) 53 Processing Unit (An example of a three-dimensional information generation means) 55 Judgment Department 57 Settings Section 59. Memory / Reading Unit (An Example of Memory Control Means) 5000 storage section 5001 Configuration Information Management DB (An example of a configuration information management method) 5002 Memory Processing Management DB (An example of memory processing management means) 5003 Point Cloud Management Database (An example of a point cloud management method) 5004 Three-dimensional shape management database (an example of a three-dimensional shape management means) 1000 display screen 1100 User Information Display Screen 1200 Settings screen 1210 Point Cloud Settings Screen 1212, 1214 Point Cloud Setting Box 1220 Processing settings screen 1222, 1224, 1226 Processing settings box 1230 Model Information Settings Screen (Example of a reception screen) 1231, 1234, 1235 Model Information Settings Box 1232, 1233 Model Candidate Settings Box 1240 Model Display Screen Model candidates 1242 and 1243 1244 Model Shapes 1300 Confirm button (Example of instruction acceptance screen) 1410 First three-dimensional point cloud 1420 Second three-dimensional point cloud 1430 3D point cloud 1440 Unnecessary point cloud 1450 Labeled point clouds Model candidates: 1460, 1470 Model shapes 1461, 1462, 1463, 1471, 1472, 1473 1500 Generation Shape Setting Screen (Example of the second reception screen) 1510, 1520 Generating Shape Setting Box 1600 Generated shape display screen 1610, 1620 Generated shape

Claims

1. A three-dimensional shape generation device that generates three-dimensional shape information representing a three-dimensional shape corresponding to a three-dimensional point cloud using model shape information representing a three-dimensional model shape, A model setting operation on a reception screen that accepts a model setting operation for setting multiple model shape information used to generate three-dimensional shape information from multiple model shape information, Based on the point cloud information representing the three-dimensional point cloud, The system includes a three-dimensional information generation means that generates the three-dimensional shape information using a plurality of model shape information set by the aforementioned model setting operation, The aforementioned model shape information includes model candidates having multiple three-dimensional model shapes that are different from each other. The three-dimensional information generation means is a three-dimensional shape generation device that generates three-dimensional shape information corresponding to the predetermined point cloud when a model candidate is set for a predetermined point cloud in the three-dimensional point cloud by the model setting operation, using each of the plurality of three-dimensional model shapes of the set model candidate.

2. Each of the aforementioned plurality of model shape information includes information indicating the three-dimensional model shape and additional information, The three-dimensional shape generation apparatus according to claim 1, wherein the three-dimensional information generation means generates the three-dimensional shape information including the additional information.

3. The three-dimensional shape generating apparatus according to claim 1, further comprising a transmission means for transmitting reception screen information showing the reception screen to a communication terminal capable of communicating with the three-dimensional shape generating apparatus.

4. The three-dimensional shape generation apparatus according to claim 3, wherein the transmitting means transmits the plurality of model shape information to the communication terminal in order to display the three-dimensional model shape corresponding to each of the plurality of model shape information on a display unit provided by the communication terminal.

5. Each of the aforementioned plurality of model shape information includes information indicating the three-dimensional model shape and additional information, The three-dimensional shape generation apparatus according to claim 4, wherein the transmitting means transmits the plurality of model shape information to the communication terminal in order to display the three-dimensional model shape of the color or pattern included in the additional information on the display unit.

6. The three-dimensional shape generation apparatus according to claim 1, wherein the three-dimensional information generation means generates the three-dimensional shape information corresponding to a portion of the three-dimensional point cloud.

7. The three-dimensional shape generation apparatus according to claim 1, wherein the three-dimensional information generation means generates the three-dimensional shape information based on a plurality of point cloud information.

8. The plurality of model shape information includes a plurality of model shape information that represent three-dimensional model shapes that are different from each other, The three-dimensional shape generation apparatus according to claim 1, wherein the three-dimensional information generation means generates the three-dimensional shape information from the three-dimensional point cloud using any of the plurality of model shape information.

9. The three-dimensional shape generation apparatus according to claim 1, wherein when a plurality of model candidates are set for a predetermined point cloud by the model setting operation, the three-dimensional information generation means generates a plurality of three-dimensional shape information corresponding to the predetermined point cloud using each of the set plurality of model candidates.

10. The aforementioned model setting operation includes setting the candidate model, The three-dimensional shape generation apparatus according to claim 9, wherein the three-dimensional information generation means generates the three-dimensional shape information using the model candidate set by the model setting operation.

11. The three-dimensional information generation means is Based on the shape setting operation on a second reception screen that accepts a shape setting operation to set one three-dimensional shape information from multiple three-dimensional shape information, A three-dimensional shape generating apparatus according to claim 9 or 10, wherein the three-dimensional shape information set by the shape setting operation is determined from the plurality of three-dimensional shape information.

12. The system includes a storage control means for storing the model shape information corresponding to the determined three-dimensional shape information in a storage means, The three-dimensional shape generation apparatus according to claim 11, wherein the three-dimensional information generation means generates the three-dimensional shape information from other point cloud information representing other three-dimensional point clouds using the model shape information stored in the storage means.

13. The three-dimensional shape generating apparatus according to claim 11, further comprising a transmission means for transmitting second reception screen information, which shows the second reception screen, to a communication terminal capable of communicating with the three-dimensional shape generating apparatus.

14. The three-dimensional shape generation apparatus according to claim 13, wherein the transmitting means transmits the plurality of three-dimensional shape information to the communication terminal in order to display the three-dimensional shape corresponding to each of the plurality of three-dimensional shape information on a display unit provided by the communication terminal.

15. The three-dimensional shape generation apparatus according to claim 1, further comprising a storage control means for storing the three-dimensional shape information in a storage means.

16. The device further comprises a transmission means for transmitting the three-dimensional shape information to a communication terminal capable of communicating with the three-dimensional shape generation device. The three-dimensional shape generation apparatus according to claim 1.

17. A three-dimensional shape generation system comprising a three-dimensional shape generation device that generates three-dimensional shape information representing a three-dimensional shape corresponding to a three-dimensional point cloud using model shape information representing a three-dimensional model shape, and a communication terminal capable of communicating with the three-dimensional shape generation device, The three-dimensional shape generation apparatus is A transmission means for transmitting reception screen information relating to a reception screen that accepts a model setting operation for setting multiple model shape information used to generate three-dimensional shape information from multiple model shape information to the communication terminal, The system comprises a three-dimensional information generation means that generates three-dimensional shape information using the plurality of model shape information set by the model setting operation, based on the model setting operation on the reception screen and the point cloud information representing the three-dimensional point cloud, The aforementioned communication terminal is A display control means for displaying the aforementioned reception screen on the display unit, A reception means for receiving the model setting operation on the reception screen, Equipped with, The aforementioned model shape information includes model candidates having multiple three-dimensional model shapes that are different from each other. The three-dimensional information generation means is a three-dimensional shape generation system that generates three-dimensional shape information corresponding to the predetermined point cloud when a model candidate is set for a predetermined point cloud in the three-dimensional point cloud by the model setting operation, using each of the plurality of three-dimensional model shapes possessed by the set model candidate.

18. A three-dimensional shape generation method that generates three-dimensional shape information representing a three-dimensional point cloud using model shape information representing a three-dimensional model shape, A transmission step of transmitting reception screen information relating to a reception screen that accepts a model setting operation for a communication terminal, which sets multiple model shape information used to generate three-dimensional shape information from multiple model shape information, A three-dimensional information generation step, based on the model setting operation for the reception screen and the point cloud information representing the three-dimensional point cloud, generates the three-dimensional shape information using the plurality of model shape information set by the model setting operation. Equipped with, The aforementioned model shape information includes model candidates having multiple three-dimensional model shapes that are different from each other. The three-dimensional information generation step is a three-dimensional shape generation method that generates three-dimensional shape information corresponding to a predetermined point cloud by using each of the plurality of three-dimensional model shapes possessed by the set model candidate when a model candidate is set for a predetermined point cloud in the three-dimensional point cloud by the model setting operation.

19. A three-dimensional shape generation method that generates three-dimensional shape information representing a three-dimensional point cloud using model shape information representing a three-dimensional model shape, A reception step that accepts a model setting operation for setting multiple model shape information used to generate the three-dimensional shape information from multiple model shape information, A three-dimensional information generation step, based on the model setting operation and the point cloud information representing the three-dimensional point cloud, generates the three-dimensional shape information using the plurality of model shape information set by the model setting operation. Equipped with, The aforementioned model shape information includes model candidates having multiple three-dimensional model shapes that are different from each other. The three-dimensional information generation step is a three-dimensional shape generation method that generates three-dimensional shape information corresponding to a predetermined point cloud by using each of the plurality of three-dimensional model shapes possessed by the set model candidate when a model candidate is set for a predetermined point cloud in the three-dimensional point cloud by the model setting operation.

20. A program that causes a computer to execute the three-dimensional shape generation method described in claim 18 or 19.

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