JP2020052978A - Three-dimensional shape creation device, three-dimensional shape creation method and three-dimensional shape creation program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate the creation of a three-dimensional shape. A three-dimensional shape creating device creates a three-dimensional shape of an object from data of a group of coordinate points indicating the three-dimensional shape, and has a coordinate value acquisition unit, a plane calculation unit, an intersection line calculation unit, and an intersection calculation unit. To be equipped. The coordinate value acquisition unit acquires the coordinate values of three or more coordinate points included in one plane forming the surface of the object from the coordinate point group. The plane calculation unit calculates a plane equation, which is an equation of a plane including three or more coordinate points, based on the acquired coordinate values. The line of intersection calculation unit calculates the line of intersection equation, which is the equation of the line of intersection at which the plurality of planes for which the plane equation has been calculated intersect, based on the calculated plurality of plane equations. The intersection calculation unit calculates the coordinate values of the intersections at which the plurality of intersections for which the line-of-line equations have been calculated intersect, based on the calculated line-of-line equations. [Selection diagram] Fig. 1

Description

  The present disclosure relates to a three-dimensional shape creation device, method, and program for creating a three-dimensional shape from data of a set of coordinate points indicating the three-dimensional shape of the surface of an object.

  In recent years, maintenance and updating of three-dimensional map data have been promoted for the purpose of “realizing a safe, secure, and comfortable society utilizing three-dimensional geospatial information”. As a national strategy, three-dimensional geospatial information is positioned as the most important base, and the government is taking the initiative in improving the efficiency and speed of its development. The three-dimensional map data thus prepared is indispensable for the development of a highly accurate positioning society and the development of services.

  Also, in the BIM in the construction field and the CIM in the civil engineering field, the sharing and sharing of data centering on three-dimensional models has improved and improved the work efficiency. BIM is an abbreviation for Building Information Modeling. CIM is an abbreviation for Construction Information Modeling.

  Even in situations where it is difficult to share the image among the stakeholders for survey, construction, and maintenance using only two-dimensional data, if the model is a three-dimensional model, the shape will be close to the completed drawing. It will be easier. In addition, since what was not seen becomes more visible, it leads to the improvement of business efficiency such as prevention of troubles and active discussion.

  Against this background, demand for three-dimensional map data is increasing. Patent Literature 1 describes a technique for acquiring coordinate point group data of an object using a laser scanner. However, at present, the creation of a three-dimensional map is expensive in terms of time and human resources, and maintenance has not progressed well.

  As a conventional method of creating a three-dimensional model of an indoor or outdoor building shape, a method of measuring information necessary for creating a two-dimensional drawing with a surveying instrument, and creating a three-dimensional model using the measurement data; There is a method of obtaining a large amount of three-dimensional space information with a laser scanner or the like, extracting necessary information from the three-dimensional space information, and creating a three-dimensional model. Regardless of whether a surveying instrument or a laser scanner is used, the information required to create a three-dimensional model is the vertices of the building shape, and the vertices are connected to create a three-dimensional model.

Japanese Patent No. 4344869

  However, it is difficult to acquire the position information of the vertex of the building shape. The method of collimating the vertex using a surveying instrument or the like and acquiring coordinate values is difficult because it is difficult to install a prism used for measurement at the vertex, and if you are not an expert, you can apply a laser pointer to the vertex There are several problems, such as difficulty in measuring a precise position. On the other hand, when point cloud data in a three-dimensional space is created using a laser scanner, position data of a vertex may not be obtained depending on the point density. In addition, when both the surveying instrument and the laser scanner have an obstacle and hide the vertex, position data of the vertex cannot be obtained.

  An object of the present disclosure is to facilitate creation of a three-dimensional shape.

  One embodiment of the present disclosure creates a three-dimensional shape of at least one object from data of a set of coordinate points indicating a three-dimensional shape of a surface of at least one object by a set of coordinate points represented by three-dimensional coordinates. This is a three-dimensional shape creation device.

The three-dimensional shape creation device according to the present disclosure includes a coordinate value acquisition unit, a plane calculation unit, an intersection line calculation unit, and an intersection calculation unit.
The coordinate value acquiring unit is configured to acquire, from the coordinate point group, coordinate values of three or more coordinate points included in one plane forming the surface of at least one object.

The plane calculation unit is configured to calculate a plane equation that is an equation of a plane including three or more coordinate points based on the coordinate values acquired by the coordinate value acquisition unit.
The intersection calculation unit calculates an intersection equation, which is an equation of an intersection of the plurality of planes whose plane equations are calculated by the plane calculation unit, based on the plurality of plane equations calculated by the plane calculation unit. Be composed.

  The intersection calculation unit is configured to calculate, based on the plurality of intersection equations calculated by the intersection calculation unit, coordinate values of intersections where the plurality of intersections whose intersection equations are calculated by the intersection calculation unit intersect. Is done.

  The three-dimensional shape creation device according to the present disclosure configured as described above can create a plurality of planes that form the surface of an object by specifying the coordinate values of three or more coordinate points for one plane. it can. In addition, the three-dimensional shape creation device according to the present disclosure can create an intersection line where a plurality of created planes intersect. Accordingly, the three-dimensional shape creation device according to the present disclosure can specify an intersection point where the created plurality of intersection lines intersect.

  For this reason, the three-dimensional shape creation device of the present disclosure can specify the position of the vertex of the object without actually measuring the vertex of the object, thereby facilitating the creation of the three-dimensional shape of the object. be able to.

According to one aspect of the present disclosure, a closed region creating unit, a divided region creating unit, an effective setting unit, and a boundary setting unit may be provided.
The closed region creation unit is configured to create, for each of the plurality of planes for which the plane equation has been calculated by the plane calculation unit, a maximum region surrounded by a plurality of intersection lines existing on the plane as a closed region. The divided region creating unit is configured to divide the closed region created by the closed region creating unit by a plurality of intersection lines existing on a plane to create a plurality of divided regions.

  The effective setting unit is configured to set, as an effective divided region, a divided region including a coordinate point corresponding to the coordinate value acquired by the coordinate value acquiring unit, out of the plurality of divided regions created by the divided region creating unit. You. The boundary setting unit is configured to set a line surrounding one or a plurality of effective divided areas set by the valid setting unit as an effective boundary.

  The three-dimensional shape creating apparatus according to the present disclosure configured as described above includes, among the regions (i.e., the divided regions) surrounded by the plurality of intersection lines existing on the plane, a region that is not a plane that forms the surface of the target object. In addition, it is possible to suppress the occurrence of a situation where the plane is specified as a plane forming the surface of the target object.

  According to an embodiment of the present disclosure, an invalid setting configured to invalidate a part that is not set as an effective boundary by the boundary setting unit among a plurality of intersections for which the intersection equation is calculated by the intersection calculating unit. A unit may be provided.

  The three-dimensional shape creating apparatus according to the present disclosure configured as described above can exclude a part that does not actually exist on the surface of the target object in the intersection obtained by calculating the intersection equation by the intersection calculation unit. it can. Thereby, the three-dimensional shape creation device of the present disclosure, when performing the setting of the effective boundary in a plane where the setting of the effective boundary is not performed, among the plurality of intersections existing on the plane, has already been invalidated. A plurality of divided regions can be created by excluding portions. That is, the three-dimensional shape creation device according to the present disclosure can reduce the frequency of creating a divided region using a line that does not actually exist on the surface of the target object. For this reason, the three-dimensional shape creation device according to the present disclosure is configured such that, out of the area surrounded by the plurality of intersection lines existing on the plane (that is, the divided area), the area that is not the plane forming the surface of the object is Can be further suppressed from being specified as a plane that forms the surface of (1).

  Another aspect of the present disclosure provides a method of converting a three-dimensional shape of at least one object from data of a set of coordinate points indicating a three-dimensional shape of a surface of at least one object by a set of coordinate points represented by three-dimensional coordinates. This is a three-dimensional shape creation method to be created.

The three-dimensional shape creation method according to the present disclosure includes a coordinate value acquisition procedure, a plane calculation procedure, an intersection calculation procedure, and an intersection calculation procedure.
In the coordinate value acquisition procedure, coordinate values of three or more coordinate points included in one plane forming the surface of at least one object are acquired from the coordinate point group.

The plane calculation procedure calculates a plane equation, which is an equation of a plane including three or more coordinate points, based on the coordinate values acquired by the coordinate value acquisition procedure.
The intersection calculation procedure calculates an intersection equation, which is an equation of an intersection of the plurality of planes whose plane equations are calculated by the plane calculation procedure, based on the plurality of plane equations calculated by the plane calculation procedure.

The intersection calculation procedure calculates, based on the plurality of intersection equations calculated by the intersection calculation procedure, coordinate values of intersections where the plurality of intersections whose intersection equations are calculated by the intersection calculation procedure intersect.
The three-dimensional shape creation method according to the present disclosure is a method executed by the three-dimensional shape creation device according to the present disclosure, and by performing the method, the same effect as the three-dimensional shape creation device according to the present disclosure can be obtained. Can be.

Still another embodiment of the present disclosure is a three-dimensional shape creation program for causing a computer to function as a coordinate value acquisition unit, a plane calculation unit, an intersection calculation unit, and an intersection calculation unit.
The computer controlled by the three-dimensional shape creation program of the present disclosure can constitute a part of the three-dimensional shape creation device of the present disclosure, and can obtain the same effect as the three-dimensional shape creation device of the present disclosure. .

It is a block diagram showing composition of a three-dimensional shape creation device. It is a flowchart which shows a three-dimensional shape creation process. It is a flow chart which shows plane creation processing. It is a figure which shows the normal vector of a plane, and the vector on a plane. It is a figure showing a viewpoint coordinate value. It is a flowchart which shows an intersection line / intersection calculation process. It is a figure showing the intersection of a creation plane and a selection plane. It is a figure which shows the intersection of an intersection line. It is a figure showing the nearest point. It is a flowchart which shows a boundary setting process. It is a figure explaining a closing area. It is a figure showing a divided area. It is a figure showing the 1st example of an effective boundary. It is a figure showing the 2nd example of an effective boundary. It is a top view of a building and a figure which shows the intersection line on a 1st plane. It is a figure which shows the intersection line on a 2nd plane after the intersection line on a 1st plane is invalidated. FIG. 3 is a diagram illustrating a three-dimensional shape created based on intersection lines and intersection points. It is a figure showing the intersection on the 2nd plane before the intersection on the 1st plane is set invalid. FIG. 4 is a diagram for explaining setting of an effective boundary.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.
As shown in FIG. 1, the three-dimensional shape creation device 1 of the present embodiment includes a display unit 11, an operation input unit 12, a data storage unit 13, a data input / output unit 14, and a control unit 15.

The display unit 11 includes a display device (not shown) and displays various images on a display screen of the display device.
The operation input unit 12 outputs input operation information for specifying an input operation performed by a user via a keyboard and a mouse (not shown).

The data storage unit 13 is a storage device for storing various data.
The data input / output unit 14 inputs / outputs data to / from a wired or wirelessly connected external device.

  The control unit 15 mainly includes a known microcomputer including a CPU, a ROM, a RAM, and the like. Various functions of the microcomputer are realized by the CPU executing a program stored in a non-transitional substantial recording medium. In this example, the ROM corresponds to a non-transitional substantial recording medium storing a program. In addition, by executing this program, a method corresponding to the program is executed. Note that some or all of the functions executed by the CPU may be configured in hardware by one or more ICs or the like. Further, the number of microcomputers constituting the control unit 15 may be one or more.

  Next, the procedure of the three-dimensional shape creation processing executed by the control unit 15 will be described. The three-dimensional shape creation processing is executed by activating a three-dimensional shape creation program 20 stored in the control unit 15 by a user's input operation to execute the three-dimensional shape creation processing. Note that the three-dimensional shape creation program 20 may be installed in the three-dimensional shape creation device 1 in advance, or may be installed via a recording medium or a network. Examples of the recording medium include an optical disk, a magnetic disk, and a semiconductor memory.

  When the three-dimensional shape creation process is executed, the control unit 15 first selects a building (hereinafter, a target building) for which a three-dimensional shape is to be created in S10, as shown in FIG. (Hereinafter, a target building selection image) is displayed on the display screen of the display unit 11.

  Thereafter, in S20, it is determined whether or not the target building specifying information for specifying the target building selected by the user has been input from the operation input unit 12. Here, when the target building information has not been input, the processing of S20 is repeated to wait until the target building specifying information is input. Then, when the target building specifying information is input, the coordinate point group data of the target building specified by the target building specifying information is acquired from the data storage unit 13 in S30. Note that the coordinate point group data of the target building is stored in the data storage unit 13 before starting the three-dimensional shape creation processing.

  The coordinate point group data of the target building is a set of three-dimensional coordinates of a plurality of points representing the three-dimensional shape of the target building, and is acquired using a laser scanner. Hereinafter, each of the plurality of points constituting the coordinate point group represented by the coordinate point group data acquired in S30 is referred to as a coordinate point. Note that the coordinate point group data of the target building indicates a shape outside the target building or a shape inside the target building.

  Then, in S40, the positions of a plurality of coordinate points constituting the coordinate point group data acquired in S30 are three-dimensionally displayed on the display screen of the display unit 11. Note that the control unit 15 can enlarge or reduce an image in which the positions of a plurality of coordinate points are displayed three-dimensionally by an input operation performed by a user via a keyboard and a mouse. Similarly, the control unit 15 can move or rotate the viewpoint when the positions of the plurality of coordinate points are displayed three-dimensionally by an input operation performed by the user via the keyboard and the mouse. it can.

  Next, in S50, a plane creation process described later is executed. Upon completion of the plane creation processing, an intersection line / intersection calculation processing described later is executed in S60. When the intersection line / intersection calculation process is completed, a boundary setting process described later is executed in S70. When the boundary setting process is completed, data indicating the boundary set in S70 is stored in the data storage unit 13 in S80.

  Then, in S90, the unregistered plane confirmation image is displayed on the display screen of the display unit 11. The unregistered plane confirmation image is an image for selecting whether or not a wall, a ceiling, a floor, and the like that form the target building remain as planes in the plane creation processing.

Thereafter, in S100, it is determined whether or not unregistered plane confirmation information indicating the selection result selected by the user has been input from operation input unit 12.
Here, if the unregistered plane confirmation information has not been input, the process of S100 is repeated to wait until the unregistered plane confirmation information is input. Then, when the unregistered plane confirmation information is input, it is determined in S110 whether or not an unregistered plane remains based on the unregistered plane confirmation information. Specifically, when the unregistered plane confirmation information indicates that there is a plane that has not been registered as a plane in the plane creation processing, it is determined that an unregistered plane remains. On the other hand, when the unregistered plane confirmation information indicates that there is no plane that has not been registered as a plane in the plane creation processing, it is determined that there is no unregistered plane.

Here, if an unregistered plane remains, the process proceeds to S50. On the other hand, if no unregistered plane remains, the three-dimensional shape creation processing ends.
Next, the procedure of the plane creation processing executed in S50 will be described.

  When the plane creation processing is executed, the control unit 15 first determines whether or not coordinate values of three points have been input in S210 as shown in FIG. The input of the coordinate value is performed by the user operating a mouse to specify a desired coordinate point on the display screen of the display unit 11 with a cursor. The user specifies with the cursor three coordinate points that the user considers to be on the same plane. When three coordinate points are specified, it is desirable that the area surrounded by the three coordinate points is as large as possible and that the area surrounded by the three coordinate points has the same aspect ratio.

  If the three coordinate values have not been input, the process of S210 is repeated to wait until the three coordinate values have been input. When the coordinate values of the three points are input, it is determined in S220 whether the input three coordinate points are on the same straight line. Here, if the three coordinate points are on the same straight line, the process proceeds to S210.

On the other hand, if the three coordinate points do not exist on the same straight line, an equation of a plane including the three input coordinate points is calculated in S230.
The plane equation is represented by equation (1).

The three points input in S210 are point P1, point P2, and point P3, as shown in FIG. Then, the coordinate values of the points P1, P2, and P3 are represented by equations (2), (3), and (4), respectively.

_{P1 = (x 1, y 1} , z 1) ··· (2)
P2 = (x ₂ , y ₂ , z ₂ ) (3)
P3 = (x ₃ , y ₃ , z ₃ ) (4)
A normal vector of a plane including the points P1, P2, and P3 is defined as n. The point P1 is a starting point, the vector that points P2 and end point and _{V 12.} The point P1 is a starting point, the vector that points P3 and the end points and _{V 13.}

The normal vector n are the perpendicular to the vector _{V 12} and the vector _{V 13,} as shown in Equation (5) can be calculated by the outer product of the vector _{V 12} and the vector _{V 13.}

Then, based on the normal vector n and the coordinate value of the point P1, the parameters a, b, c, and d of the plane equation are calculated by equations (6), (7), (8), and (9), respectively. You.

When the process of S230 is completed, as shown in FIG. 3, a viewpoint coordinate value is input in S240. The viewpoint coordinate values are coordinate values at which the three coordinate points used when creating the plane can be directly viewed. The viewpoint coordinate value is set so as not to be blocked by an obstacle such as a wall. For example, as shown in FIG. 5, three coordinate points Pu1, Pu2, and Pu3 used when creating the plane of the wall WL1 can be directly visually observed from a point Pa surrounded by the walls WL1, WL2, and WL3. . Therefore, the coordinate value of the point Pa can be used as the viewpoint coordinate value. On the other hand, between the point Pb located outside the region surrounded by the walls WL1, WL2, and WL3 and the coordinate points Pu1, Pu2, and Pu3 is blocked by the wall WL2. Pu2 and Pu3 cannot be directly observed. Therefore, the coordinate value of the point Pb cannot be used as the viewpoint coordinate value.

  In S240, the camera position of the display software that displays the coordinate point group data on the display screen of the display unit 11 is acquired from the display software, and this camera position is input as a viewpoint coordinate value. The viewpoint coordinate value can be treated as information on where the plane can be collimated in the subsequent processing.

  When the process of S240 is completed, as shown in FIG. 3, in S250, the equation of the plane calculated in S230 is registered as a plane whose calculation has already been completed (hereinafter, an existing plane), and the plane creation processing ends. . Specifically, the equation of the plane calculated in S230 and the viewpoint coordinate value input in S240 are stored in the data storage unit 13 in a state where they are associated with each other.

Next, the procedure of the intersection / intersection calculation processing executed in S60 will be described.
When the intersection / intersection calculation processing is executed, as shown in FIG. 6, first, in S310, the control unit 15 selects, from among the existing planes registered, the existing plane whose equation has been calculated most recently (hereinafter, referred to as an existing plane). It is determined whether or not the created plane (plane) intersects with one existing plane (selected plane) selected from existing planes for which intersection determination has not yet been performed. Hereinafter, a method of determining the intersection between the creation plane and the selected plane will be described.

  Since two planes parallel to each other do not intersect, it is not possible to find an intersection line at which the two planes intersect. Assuming that normal vectors of two planes parallel to each other are n1 and n2, Expression (10) is established.

  However, equation (10) rarely holds. For this reason, when Expression (11) is satisfied using the parallel determination value α preset to be less than 1 and substantially equal to 1, it is determined that the two planes are parallel to each other.

Then, in S320, it is determined whether or not the creation plane and the selected plane intersect based on the determination result in S310. Here, if the creation plane does not intersect with the selected plane, the process proceeds to S380. On the other hand, when the creation plane intersects with the selection plane, an equation of an intersecting line between the creation plane and the selection plane is calculated in S330.

  For example, as shown in FIG. 7, the equation of the intersection line Li between the creation plane Sp and the selection plane Ss is represented by equation (12). The vector A in the equation (12) is a vector whose origin is the origin in the three-dimensional orthogonal coordinate system and whose end is the position of a point on the intersection line Li. That is, the vector A indicates the position of the point on the intersection line Li by the position of the end point. The vector e in the equation (12) is the direction vector of the intersection line Li. T in the equation (12) is a parameter. Further, the equation of the creation plane Sp is expressed by equation (13), and the equation of the selection plane Ss is expressed by equation (14).

The direction vector e is perpendicular to the normal vector of the creation plane Sp and the normal vector of the selection plane Ss. Therefore, the direction vector e can be calculated by Expression (15) using the cross product of the two normal vectors. The vector _np in Expression (15) is a normal vector of the creation plane Sp. Vector _{n s} in equation (15) is a normal vector of the selected plane Ss.

Next, a method of calculating the vector A indicating the position of a point on the intersection line Li will be described.

  A point on the intersection line Li is a set of x, y, and z that satisfies the equations (13) and (14). However, in order to calculate a set of x, y, and z, it is necessary to use a simultaneous ternary linear equation. Therefore, first, x and y are calculated as simultaneous binary linear equations by setting z = 0 in Equations (13) and (14).

Expressions (16) and (17) are obtained by setting z = 0 in Expressions (13) and (14). Thus, x and y are calculated as shown in Expressions (18) and (19). The denominator on the right side in Expressions (18) and (19) is the z component of the direction vector e. When the z component of the direction vector e is denoted as _{e z,} equation (18), (19), respectively, equation (20) is represented by (21). Therefore, when the z component of the direction vector e is not 0, the end point of the vector A (that is, the point on the intersection line Li) is calculated as (x, y, 0).

On the other hand, when the z component of the direction vector e is 0, by setting y = 0 in the equations (13) and (14), as shown in the equations (22) and (23), Then, x and z are calculated. _{E y} in the formula (22), (23) is a y component of the direction vector e. Therefore, when the y component of the direction vector e is not 0, the end point of the vector A (that is, the point on the intersection line Li) is calculated as (x, 0, z).

When the x component of the direction vector e is 0, by setting x = 0 in the equations (13) and (14), as shown in the equations (24) and (25), Then, y and z are calculated. _{E x} in the formula (24), (25) is a x component of the direction vector e. Therefore, when the x component of the direction vector e is not 0, the end point of the vector A (that is, the point on the intersection line Li) is calculated as (0, y, z).

When all the components of the direction vector e are 0, the creation plane Sp and the selection plane Ss are parallel to each other, and an intersection cannot be obtained.

  Then, when the process of S330 ends, in S340, the equation of the intersection calculated in S330 is registered as an intersection already calculated (hereinafter, existing intersection). Specifically, the equation of the line of intersection calculated in S330 is stored in the data storage unit 13.

  Next, in step S350, among the registered existing intersections, an existing intersection that has the equation calculated most recently (hereinafter referred to as a created intersection) and an existing intersection that has not yet been subjected to intersection determination are selected. An intersection with one existing intersection (selected intersection) is calculated. For example, as shown in FIG. 8, an intersection point Pi1 between an intersection line Li12 between the existing plane Se1 and the existing plane Se2 and an intersection line Li31 between the existing plane Se3 and the existing plane Se1 intersecting the existing planes Se1 and Se2 is calculated. You.

Hereinafter, a method of calculating the intersection between the created intersection and the selected intersection will be described.
The equation of the created intersection l is represented by equation (26), and the equation of the selected intersection m is represented by equation (27).
The vector p in the equation (26) is a vector whose origin is the origin in the three-dimensional orthogonal coordinate system and whose end is the position of a point on the created intersection l. That is, the vector p indicates the position of a point on the created intersection line 1 by the position of the end point. The vector u in the equation (26) is the direction vector of the created intersection line l. S in the equation (26) is a parameter.

  The vector q in the equation (27) is a vector whose origin is the origin in the three-dimensional orthogonal coordinate system and whose end is the position of a point on the selected intersection line m. That is, the vector q indicates the position of a point on the selected intersection line m by the position of the end point. The vector v in the equation (27) is the direction vector of the selected intersection line m. T in the equation (27) is a parameter.

First, the nearest point between the created intersection l and the selected intersection m is determined. In the three-dimensional space, there is a possibility that two nearest neighbors may be obtained. As shown in FIG. 9, the two nearest neighbors are denoted by l (σ) and m (τ).

  Since the vector connecting the nearest points is perpendicular to the direction vector of the created intersection line l and the selected intersection line m, Expressions (28) and (29) are established using the inner product.

Then, by solving the equations in which the equations (26) and (27) are substituted into the equations (28) and (29), as shown in the equations (30) and (31), the nearest point l ( σ) and the parameter τ of the nearest point m (τ) on the created intersection line m are obtained. Note that r and α in Expressions (30) and (31) are expressed by Expression (32) and Expression (33), respectively.

When α shown in Expression (33) is 1, the denominator on the right side in Expressions (30) and (31) becomes 0, and the parameters σ and τ cannot be obtained. Since α is an inner product of the direction vector of the creation intersection l and the direction vector of the selection intersection m as shown in Expression (33), α = 1 indicates that the creation intersection l and the selection intersection m are Indicates that they are parallel to each other. That is, when α = 1, it is determined that no intersection exists.

  Also, when the nearest point l (σ) does not match the nearest point m (τ), it is determined that there is no intersection. On the other hand, if the nearest point l (σ) matches the nearest point m (τ), it is determined that an intersection exists, and the coordinate values indicated by the nearest point l (σ) and the nearest point m (τ) are created. This is adopted as the coordinate value of the intersection between the intersection line l and the selected intersection line m.

  Then, when the process of S350 ends, as shown in FIG. 6, in S360, the coordinate values of the intersection calculated in S350 are registered. Specifically, the coordinate value of the intersection calculated at 350 is stored in the data storage unit 13.

  Further, in S370, it is determined whether or not an intersection has been calculated between the created intersection and all existing intersections other than the created intersection. Here, when the intersection has not been calculated for all the existing intersections, the process proceeds to S350. On the other hand, when the intersections have been calculated for all the existing intersections, the process proceeds to S380.

  Then, in S380, it is determined whether or not the intersection has been determined between the creation plane and all existing planes other than the creation plane. Here, when the intersection determination is not performed with all the existing planes, the process proceeds to S310. On the other hand, when the intersection is determined with respect to all the existing planes, the intersection / intersection calculation processing ends.

Next, the procedure of the boundary setting process executed in S70 will be described.
When the boundary setting process is performed, as shown in FIG. 10, first, in S510, the control unit 15 selects one existing plane that has not been selected in the current boundary setting process from the registered existing planes. select.

  Then, in S520, it is determined whether or not the boundary of the existing plane (hereinafter, selected plane) selected in S510 is determined. Specifically, when the selected plane is registered as a boundary determined plane described later, it is determined that the boundary of the selected plane is determined, and when the selected plane is not registered as the boundary determined plane, It is determined that the boundary of the selected plane has not been determined. However, even if the selected plane is registered as the boundary fixed plane, if the selected intersection plane includes the intersection line calculated in the latest intersection / intersection calculation process, in S520, the selected plane Judge that the boundary has not been determined.

  Here, when the boundary of the selected plane is determined, the process proceeds to S600. On the other hand, if the boundary of the selected plane has not been determined, the boundary of the selected plane is set in S530. Hereinafter, a method of setting the boundary of the selected plane will be described.

  A plane cannot be treated as a three-dimensional surface figure. For this reason, a boundary is set based on the intersection lines and intersections existing on the plane so as to be a closed area (hereinafter, a closed area).

  For example, as shown in FIG. 11, intersection lines Lb1, Lb2, and Lb3 exist on the plane Sb1. Then, on the plane Sb1, there is an intersection Pb1 between the intersection line Lb1 and the intersection line Lb2, and an intersection Pb2 between the intersection line Lb2 and the intersection line Lb3. However, the intersection lines Lb1, Lb2, and Lb3 do not form a closed region. For this reason, a boundary cannot be set.

  The intersection lines Lb11, Lb12, Lb13, Lb14 exist on the plane Sb2. The intersection points Pb11, Pb12, Pb13, and Pb14 exist on the plane Sb2. The intersection Pb11 is an intersection between the intersection line Lb11 and the intersection line Lb12. The intersection Pb12 is an intersection between the intersection line Lb12 and the intersection line Lb13. The intersection Pb13 is an intersection between the intersection line Lb13 and the intersection line Lb14. The intersection Pb14 is an intersection between the intersection line Lb14 and the intersection line Lb11. In this case, the intersection lines Lb11, Lb12, Lb13, Lb14 form a closed region Rb1. Therefore, a boundary can be set.

  The intersection lines Lb21, Lb22, Lb23, Lb24, Lb25, Lb26 exist on the plane Sb3. The intersection points Pb21, Pb22, Pb23, Pb24, Pb25, Pb26, Pb27, Pb28, and Pb29 exist on the plane Sb3.

  The intersection Pb21 is an intersection between the intersection line Lb21 and the intersection line Lb22. The intersection Pb22 is an intersection between the intersection line Lb22 and the intersection line Lb23. The intersection Pb23 is an intersection between the intersection line Lb23 and the intersection line Lb24. The intersection Pb24 is an intersection between the intersection line Lb24 and the intersection line Lb21.

  The intersection Pb25 is an intersection between the intersection line Lb21 and the intersection line Lb25. The intersection Pb26 is an intersection between the intersection line Lb22 and the intersection line Lb26. The intersection Pb27 is an intersection between the intersection line Lb23 and the intersection line Lb25. The intersection Pb28 is an intersection between the intersection line Lb24 and the intersection line Lb26. The intersection Pb29 is an intersection between the intersection line Lb25 and the intersection line Lb26.

  In this case, the intersection lines Lb21, Lb22, Lb23, Lb24 form a closed region Rb2. Therefore, a boundary can be set. However, since the intersection lines Lb25 and Lb26 passing through the closed region Rb2 exist, the boundary cannot be determined as one.

  In order to set a boundary, first, a line segment is extracted from intersections existing on a plane based on intersections existing on the intersections. Specifically, among a plurality of intersections existing on the intersection, two intersections having the longest distance between the two intersections are selected, and a straight line connecting the selected two intersections is defined as a line segment. In addition, the boundary is set so that the closed region becomes the largest according to the joining relationship of the intersections.

  For example, on the plane Sb2, a line segment connecting the intersection Pb11 and the intersection Pb14 is extracted from the intersection Lb11. Similarly, a line segment connecting the intersection Pb11 and the intersection Pb12 is extracted from the intersection Lb12. Further, a line segment connecting the intersection Pb12 and the intersection Pb13 is extracted from the intersection Lb13. Further, a line segment connecting the intersection Pb13 and the intersection Pb14 is extracted from the intersection Lb14. Then, the four extracted line segments are set as boundaries.

  In the plane Sb3, intersection points Pb21, Pb24, and Pb25 exist on the intersection line Lb21. Then, of the intersections Pb21, Pb24, and Pb25, a line segment connecting the intersections Pb21 and Pb24 where the distance between the two intersections is the longest is extracted. Similarly, a line segment connecting the intersection Pb21 and the intersection Pb22 is extracted from the intersection Lb22. Further, a line segment connecting the intersection Pb22 and the intersection Pb23 is extracted from the intersection Lb23. Further, a line segment connecting the intersection Pb23 and the intersection Pb24 is extracted from the intersection Lb24. Then, the four extracted line segments are set as boundaries.

  Then, when the process of S530 is completed, as shown in FIG. 10, in S540, it is determined whether or not the boundary has been set in the process of S530. Here, if the boundary could not be set, the selected plane is registered in S550 as a plane whose boundary has not been determined (hereinafter, a boundary undetermined plane), and the process proceeds to S600.

  On the other hand, if the boundary can be set, the selected plane is registered as a plane whose boundary has been determined (hereinafter, a boundary-determined plane) in S560. Then, in S570, it is determined whether or not an intersection other than the intersection used as the boundary (hereinafter, unused intersection) exists on the selected plane. Here, when there is no unused intersection, the process proceeds to S600. On the other hand, if an unused intersection exists, in S580, the closed area of the selected plane is divided by the unused intersection.

  For example, as shown in FIG. 12, the closed region Rb2 on the plane Sb3 is divided into divided regions Rd21, Rd22, Rd23, and Rd24 by intersection lines Lb25 and Lb26. The divided area Rd21 is an area surrounded by the intersection lines Lb21, Lb22, Lb25, Lb26. The divided region Rd22 is a region surrounded by the intersection lines Lb22, Lb23, Lb25, and Lb26. The divided region Rd23 is a region surrounded by the intersection lines Lb23, Lb24, Lb25, and Lb26. The divided region Rd24 is a region surrounded by the intersection lines Lb21, Lb24, Lb25, and Lb26.

  Then, when the process of S580 ends, as shown in FIG. 10, in S590, validity or invalidity of the boundary is set. Specifically, among the plurality of divided regions formed in S580, a divided region including three coordinate points specified by the coordinate values input in S210 corresponding to the selected plane is defined as an effective divided region. I do. Then, a line surrounding an area formed by one or more effective divided areas is set as an effective boundary. Further, among the lines surrounding the divided area, a line that is not set as an effective boundary is set as an invalid boundary.

  For example, as shown in FIG. 13, when the divided region Rd22 among the divided regions Rd21, Rd22, Rd23, and Rd24 of the plane Sb3 includes three coordinate points Pc1, Pc2, and Pc3 corresponding to the selected plane, Four line segments surrounding the divided region Rd22 are set as effective boundaries. The effective boundary in FIG. 13 is the following four line segments. The first line segment is a line segment connecting the intersection Pb22 and the intersection Pb26. The second line segment is a line segment connecting the intersection Pb22 and the intersection Pb27. The third line segment is a line segment connecting the intersection Pb27 and the intersection Pb29. The fourth line segment is a line segment connecting the intersection Pb26 and the intersection Pb29.

  Further, as shown in FIG. 14, when the three coordinate points Pc1, Pc2, and Pc3 are included in the divided regions Rd22, Rd23, and Rd24 among the divided regions Rd21, Rd22, Rd23, and Rd24 on the plane Sb3, the division is performed. Six line segments surrounding the regions Rd22, Rd23, and Rd24 are set as effective boundaries. The effective boundaries in FIG. 14 are the following six line segments. The first line segment is a line segment connecting the intersection Pb22 and the intersection Pb26. The second line segment is a line segment connecting the intersection Pb22 and the intersection Pb23. The third line segment is a line segment connecting the intersection Pb23 and the intersection Pb24. The fourth line segment is a line segment connecting the intersection Pb24 and the intersection Pb25. The fifth line segment is a line segment connecting the intersection Pb25 and the intersection Pb29. The sixth line segment is a line segment connecting the intersection Pb26 and the intersection Pb29.

  Next, as shown in FIG. 15, in the building BL1 formed by the walls WL11, WL12, WL13, WL14, WL15, WL16, WL17, WL18, the planes Sw11, Sw12, Sw13, Sw14, Sw15, Sw16, Sw17, Sw18 is calculated. The planes Sw11, Sw12, Sw13, Sw14, Sw15, Sw16, Sw17, Sw18 are planes including the walls WL11, WL12, WL13, WL14, WL15, WL16, WL17, WL18, respectively.

  In the plane Sw13, an effective boundary that defines the wall WL13 is defined by an intersection with the plane including the ceiling, an intersection with the plane including the floor, an intersection with the plane Sw12, and an intersection with the plane Sw14. It is set to indicate the enclosed area.

  When the effective boundary is set in the plane Sw13 in this way, the other boundaries in the plane Sw13 are set to be invalid, and therefore, the plane Sw18 and the plane Sw13 do not intersect as shown in FIG. In this state, in the plane Sw18, no line of intersection with the plane Sw13 is arranged between the line of intersection with the plane Sw11 and the line of intersection with the plane Sw17. This can suppress erroneous setting of the effective boundary that defines the wall WL18.

  Then, when the processing of S590 ends, as shown in FIG. 10, in S600, it is determined whether or not all existing planes have been selected in S510. If there is an unselected existing plane, the process proceeds to S510. On the other hand, when all the existing planes have been selected, the boundary setting processing ends.

  The three-dimensional shape creating apparatus 1 configured as described above is configured to convert at least one target object from coordinate point group data indicating the three-dimensional shape of the surface of at least one target building by a set of coordinate points represented by three-dimensional coordinates. Create a three-dimensional shape of a building.

First, the control unit 15 acquires coordinate values of three coordinate points included in one plane forming the surface of at least one target building from the group of coordinate points.
Further, the control unit 15 calculates a plane equation (hereinafter, plane equation) including three coordinate points based on the acquired coordinate values.

Further, the control unit 15 calculates an equation of an intersecting line (hereinafter, an intersecting line equation) at which the plurality of planes for which the plane equations are calculated intersect based on the calculated plurality of plane equations.
Then, the control unit 15 calculates a coordinate value of an intersection where the plurality of intersection lines for which the intersection equation is calculated intersects, based on the calculated plurality of intersection line equations.

  As described above, the three-dimensional shape creation device 1 can create a plurality of planes forming the surface of the target building by specifying the coordinate values of three coordinate points for one plane. Then, the three-dimensional shape creation device 1 can create an intersection line where the created planes intersect. Thereby, the three-dimensional shape creation device 1 can specify an intersection point where the created plurality of intersection lines intersect.

  For this reason, the three-dimensional shape creation device 1 can specify the position of the vertex of the target object without actually measuring the vertex of the target building, and facilitates the generation of the three-dimensional shape of the target building. be able to.

  Further, the control unit 15 creates, for each of the plurality of planes for which the plane equations have been calculated, a maximum region surrounded by a plurality of intersection lines existing on the plane as a closed region. Further, the control unit 15 divides the created closed region by a plurality of intersection lines existing on a plane to create a plurality of divided regions.

  In addition, the control unit 15 sets a divided region including a coordinate point corresponding to the acquired coordinate value among the plurality of created divided regions as an effective divided region. Then, the control unit 15 sets a line surrounding the set one or more effective divided areas as an effective boundary.

  As described above, the three-dimensional shape creation device 1 determines that, among the regions (i.e., the divided regions) surrounded by the plurality of intersections existing on the plane, the region that is not the plane that forms the surface of the target building is the target building. Can be prevented from being specified as a plane that forms the surface of (1).

In addition, the control unit 15 sets a part of the plurality of intersections for which the intersection equation is calculated, which is not set as an effective boundary, to be invalid.
As described above, the three-dimensional shape creating apparatus 1 can exclude a part that does not actually exist on the surface of the target building from the intersection line where the intersection line equation is calculated. Thereby, when setting the effective boundary on a plane on which the effective boundary has not been set, the three-dimensional shape creating apparatus 1 replaces the already invalidated portion of the plurality of intersection lines existing on the plane with each other. By excluding, a plurality of divided areas can be created. In other words, the three-dimensional shape creation device 1 can reduce the frequency of creating a divided region using a line that does not actually exist on the surface of the target building. For this reason, the three-dimensional shape creation device 1 determines that the area that is not the plane that forms the surface of the target building, out of the area surrounded by the plurality of intersection lines existing on the plane (that is, the divided area), Can be further suppressed from being specified as a plane that forms the surface of (1).

  In this way, as shown in FIG. 17, the three-dimensional shape creation device 1 generates a three-dimensional shape indicating the surface of the target building based on the intersection line where the plurality of planes intersect and the intersection point where the plurality of intersection lines intersect. Shapes can be created.

  In the embodiment described above, S210 corresponds to a process as a coordinate value acquiring unit, S230 corresponds to a process as a plane calculating unit, S330 corresponds to a process as an intersection calculating unit, and S350 corresponds to an intersection calculating unit. , And the target building corresponds to the target.

  S530 corresponds to processing as a closed region creation unit, S580 corresponds to processing as a divided region creation unit, and S590 corresponds to processing as a valid setting unit, an invalid setting unit, and a boundary setting unit.

  Also, S210 corresponds to a process as a coordinate value acquisition procedure, S230 corresponds to a process as a plane calculation procedure, S330 corresponds to a process as an intersection calculation procedure, and S350 corresponds to a process as an intersection calculation procedure. However, the three-dimensional shape creation program 20 corresponds to a three-dimensional shape creation program.

As described above, one embodiment of the present disclosure has been described, but the present disclosure is not limited to the above embodiment, and can be implemented with various modifications.
For example, in the above-described embodiment, the mode in which three coordinate values are input has been described, but four or more coordinate values may be input.

In the above embodiment, the form in which the coordinate point cloud data of the target building is obtained by using the laser scanner is described. However, the coordinate point cloud data may be obtained by using a surveying instrument.
In the above embodiment, the form in which the camera position of the display software is automatically acquired from the display software and input as the viewpoint coordinate value has been described. However, when the coordinate point group data is acquired using a surveying instrument, it is preferable to manually input the position where the surveying instrument is installed as the viewpoint coordinate value.

  In addition, for example, as illustrated in FIG. 18, in a building BL1 formed by the walls WL11 to WL18, the planes Sw11 to Sw18 are calculated. Then, on the plane Sw18, an intersection with the plane including the ceiling, an intersection with the plane including the floor, an intersection with the plane Sw11, an intersection with the plane Sw13, and an intersection with the plane Sw17. , A plane Sw15. The area corresponding to the wall WL18 is an area surrounded by an intersection with the plane including the ceiling, an intersection with the plane including the floor, an intersection with the plane Sw11, and an intersection with the plane Sw17. .

  On the other hand, as shown in FIG. 19, the three coordinate points corresponding to the plane Sw18 are the intersection line with the plane including the ceiling, the intersection line with the plane including the floor, and the intersection line with the plane Sw11. If the wall WL18 is included in the region Re1 surrounded by the intersection with the plane Sw13, the wall WL18 cannot be correctly set by the effective boundary.

  Also, three coordinate points corresponding to the plane Sw18 are surrounded by an intersection with the plane including the ceiling, an intersection with the plane including the floor, an intersection with the plane Sw13, and an intersection with the plane Sw17. If it is included in the region Re2, the wall WL18 cannot be correctly set by the effective boundary.

  On the other hand, three coordinate points corresponding to the plane Sw18 are surrounded by an intersection with the plane including the ceiling, an intersection with the plane including the floor, an intersection with the plane Sw11, and an intersection with the plane Sw17. When included in the region Re3, the wall WL18 can be correctly set by the effective boundary.

  For this reason, when the effective boundary cannot be set correctly, the user of the three-dimensional shape creating apparatus 1 can manually set the validity or invalidity of the boundary by an input operation through the keyboard and the mouse. You may do so.

  Further, the function of one component in the above embodiment may be shared between a plurality of components, or the function of a plurality of components may be exhibited by one component. Further, a part of the configuration of the above embodiment may be omitted. Further, at least a part of the configuration of the above-described embodiment may be added to or replaced with the configuration of another above-described embodiment.

  In addition to the three-dimensional shape creation device 1 described above, a system including the three-dimensional shape creation device 1 as a component, a program for causing a computer to function as the three-dimensional shape creation device 1, a medium storing the program, a three-dimensional The present disclosure can be realized in various forms such as a shape creation method.

DESCRIPTION OF SYMBOLS 1 ... Three-dimensional shape creation apparatus, 15 ... Control part, 20 ... Three-dimensional shape creation program

Claims (5)

A three-dimensional shape creating apparatus for creating a three-dimensional shape of the at least one object from data of a coordinate point group indicating a three-dimensional shape of a surface of at least one object by a set of coordinate points represented by three-dimensional coordinates And
A coordinate value acquisition unit configured to acquire coordinate values of three or more of the coordinate points included in one plane forming the surface of the at least one object, from the coordinate point group;
A plane calculating unit configured to calculate a plane equation that is an equation of the plane including three or more of the coordinate points based on the coordinate values acquired by the coordinate value acquiring unit;
Based on the plurality of plane equations calculated by the plane calculation unit, the plane calculation unit is configured to calculate an intersection equation that is an equation of an intersection line where the planes calculated by the plane calculation unit intersect. Intersection line calculation unit,
Based on the plurality of intersection equations calculated by the intersection calculation unit, a coordinate value of an intersection of the plurality of intersections calculated by the intersection calculation unit by the intersection calculation unit is calculated. A three-dimensional shape creating device, comprising: The three-dimensional shape creation device according to claim 1,
For each of the plurality of planes for which the plane equation has been calculated by the plane calculation unit, a closed region configured to create a maximum region surrounded by the plurality of intersections existing on the plane as a closed region. A creation department;
The closed region created by the closed region creating unit, divided by a plurality of the intersection lines present on the plane, a divided region creating unit configured to create a plurality of divided regions,
The plurality of divided regions created by the divided region creating unit are configured to set the divided region including the coordinate point corresponding to the coordinate value acquired by the coordinate value acquiring unit as an effective divided region. Enabled setting section,
A boundary setting unit configured to set, as an effective boundary, a line surrounding one or a plurality of the effective divided regions set by the effective setting unit. The three-dimensional shape creation device according to claim 2,
Among the plurality of intersections for which the intersection equation has been calculated by the intersection calculation unit, an invalid setting unit configured to invalidate a part that has not been set as the valid boundary by the boundary setting unit. Three-dimensional shape creation device equipped. A three-dimensional shape creating method for creating a three-dimensional shape of the at least one object from data of a coordinate point group indicating a three-dimensional shape of a surface of at least one object by a set of coordinate points represented by three-dimensional coordinates And
A coordinate value acquiring step of acquiring coordinate values of three or more of the coordinate points included in one plane forming the surface of the at least one object from the coordinate point group;
A plane calculating step of calculating a plane equation that is an equation of the plane including three or more of the coordinate points based on the coordinate values acquired by the coordinate value acquiring step;
Based on the plurality of plane equations calculated by the plane calculation procedure, an intersection calculation is performed to calculate an intersection equation that is an equation of an intersection of the plurality of planes whose plane equations are calculated by the plane calculation procedure. Instructions,
An intersection calculation step of calculating, based on the plurality of intersection equations calculated by the intersection calculation procedure, coordinate values of intersections at which the plurality of intersections calculated by the intersection calculation procedure intersect. A method for creating a three-dimensional shape, comprising: A computer configured to generate a three-dimensional shape of the at least one object from data of a set of coordinate points indicating a three-dimensional shape of a surface of at least one object by a set of coordinate points represented by three-dimensional coordinates; ,
A coordinate value acquiring unit configured to acquire coordinate values of three or more of the coordinate points included in one plane forming the surface of the at least one object from the coordinate point group;
A plane calculation unit configured to calculate a plane equation that is an equation of the plane including three or more of the coordinate points based on the coordinate values acquired by the coordinate value acquisition unit;
Based on the plurality of plane equations calculated by the plane calculation unit, the plane calculation unit is configured to calculate an intersection equation that is an equation of an intersection line where the planes calculated by the plane calculation unit intersect. Intersection line calculation unit, and
Based on the plurality of intersection equations calculated by the intersection calculation unit, a coordinate value of an intersection of the plurality of intersections calculated by the intersection calculation unit by the intersection calculation unit is calculated. 3D shape creation program to function as the intersection calculation unit.