Information processing apparatus, information processing method, and non-transitory storage medium

1 . An information processing apparatus comprising:

at least one memory configured to store instructions; and

at least one processor configured to execute the instructions to perform operations comprising:

generating display data of point cloud data including position information of a plurality of data points, the display data being data for displaying each of the plurality of data points with a mark; and

determining, by the at least one processor, a display size of the mark for each of the plurality of data points,

wherein the determining the display size of the mark comprises:

making the mark for a data point larger as a distance from a fiducial point to the data point becomes longer, the fiducial point indicating a position of a distance measuring apparatus that emits pulsed light, the data point being included in the plurality of data points;

emulating a size of an actual irradiation region of the pulsed light from the distance measuring apparatus;

calculating the distance from the fiducial point to the data point;

calculating the display size using an equation w=2D×tan(θ/2), where w is the display size, D is the distance from the fiducial point to the data point, and θ is a spread angle of the pulsed light from the distance measuring apparatus; and

deriving the display size corresponding to the calculated distance by using a size information, the size information being the equation indicating a relationship between the distance and the display size.

2 . The information processing apparatus according to claim 1 ,

wherein generating the display data comprises determining the display size of each of the data points further based on the spread angle of the pulsed light from the distance measuring apparatus.

3 . The information processing apparatus according to claim 1 ,

wherein, in the generation of the display data, the processor is configured to set display shapes of the plurality of data points to be each similar in shape to a shape of the pulsed light.

4 . The information processing apparatus according to claim 1 ,

wherein generating the display data comprises generating the display data for superimposing and displaying an image captured by a camera and the plurality of data points.

5 . The information processing apparatus according to claim 1 ,

wherein generating the display data comprises generating the display data for displaying the plurality of data points with display marks each having lower transparency toward a center.

6 . The information processing apparatus according to claim 1 ,

wherein a first display mode in which the display data for displaying each of the data points in a display size determined based on the position information of the data point is generated and a second display mode in which the display data for displaying the plurality of data points in same display size is generated are switchable.

7 . The information processing apparatus according to claim 1 ,

wherein generating the display data comprises determining display positions of the plurality of data points based on the position information.

8 . An information processing method executed by a processor of a computer, the information processing method comprising:

generating display data of point cloud data including position information of a plurality of data points, the display data being data for displaying each of the plurality of data points with a mark; and

determining, by the processor, a display size of the mark for each of the plurality of data points,

wherein the determining the display size of the mark comprises:

making the mark for a data point larger as a distance from a fiducial point to the data point becomes longer, the fiducial point indicating a position of a distance measuring apparatus that emits pulsed light, the data point being included in the plurality of data points;

emulating a size of an actual irradiation region of the pulsed light from the distance measuring apparatus;

calculating the distance from the fiducial point to the data point;

calculating the display size using an equation w=2D×tan (θ/2), where w is the display size, D is the distance from the fiducial point to the data point, and θ is a spread angle of the pulsed light from the distance measuring apparatus; and

deriving the display size corresponding to the calculated distance by using a size information, the size information being the equation indicating a relationship between the distance and the display size.

9 . A non-transitory storage medium storing a program causing a processor of a computer to execute an information processing method, the information processing method comprising:

generating display data of point cloud data including position information of a plurality of data points, the display data being data for displaying each of the plurality of data points with a mark; and

determining, by the processor, a display size of the mark for each of the plurality of data points,

wherein the determining the display size of the mark comprises:

making the mark for a data point larger as a distance from a fiducial point to the data point becomes longer, the fiducial point indicating a position of a distance measuring apparatus that emits pulsed light, the data point being included in the plurality of data points;

emulating a size of an actual irradiation region of the pulsed light from the distance measuring apparatus;

calculating the distance from the fiducial point to the data point;

calculating the display size using an equation w=2D×tan(θ/2), where w is the display size, D is the distance from the fiducial point to the data point, and θ is a spread angle of the pulsed light from the distance measuring apparatus; and

deriving the display size corresponding to the calculated distance by using a size information, the size information being the equation indicating a relationship between the distance and the display size.

10 . The information processing apparatus according to claim 1 , wherein the operations further comprise outputting the generated display data to a display device to display an image.

11 . The information processing apparatus according to claim 1 , wherein the operations further comprise:

updating an image displayed on a display apparatus with the generated display data each time the distance measuring apparatus generates the point cloud data.

12 . The information processing apparatus according to claim 1 , wherein the pulsed light is infrared light, and

wherein generating the display data comprises generating the display data for superimposing and displaying, on an image obtained by a visible light camera, the plurality of data points with marks emulated to actual irradiation regions of the pulsed light.

13 . The information processing apparatus according to claim 1 , wherein a display area size of the mark corresponds to the size of the actual irradiation region of the pulsed light, such that a size of a gap between marks corresponds to a size of an actual gap between light irradiation regions of the pulsed light.

14 . The information processing apparatus according to claim 1 , wherein the distance measuring apparatus is mounted in a moving object, and

wherein the display data is for use in adjustment work of an attachment position and an attachment angle of the distance measuring apparatus with respect to the moving object using a target disposed at a predetermined position.

15 . The information processing apparatus according to claim 1 , wherein the operations further comprise:

acquiring the point cloud data from the distance measuring apparatus; and

updating an image displayed on a display apparatus with the generated display data each time the distance measuring apparatus generates the point cloud data.

16 . The information processing apparatus according to claim 1 , wherein the operations further comprise acquiring spread angle information indicating the spread angle of the pulsed light from the distance measuring apparatus, and wherein the determining the display size of the mark is further based on the spread angle indicated by the acquired spread angle information.