Mask-setting device
The present invention definitively and efficiently calculates a three-dimensional plane of a workpiece to be measured by automating the mask processing. A mask-setting device which, when obtaining three-dimensional information about a workpiece by using a three-dimensional sensor, sets a mask which makes three-dimensional points outside a measurement target region not usable in the calculation of a three-dimensional plane, said device being equipped with an outline extraction unit for subjecting a two-dimensional image of the workpiece which is captured by a camera to pattern recognition, and extracting an outline of the workpiece therefrom, a height information acquisition unit for acquiring height information about the outline from a distance image among the three-dimensional information acquired by the three-dimensional sensor; and a mask-setting unit for setting a mask in a region outside the workpiece on the basis of the height information.
1 . A mask-setting device that, when obtaining three-dimensional information about a workpiece by using a three-dimensional sensor, sets a mask that makes three-dimensional points that are outside a measurement target region not usable in a calculation of a three-dimensional plane, the mask-setting device comprising:
a processor configured to:
perform pattern recognition of a two-dimensional image of the workpiece that is captured by a camera, and extract an outline of the workpiece therefrom;
acquire height information about the outline from a distance image among the three-dimensional information acquired by the three-dimensional sensor, and recognize a height of the workpiece based on a difference in height between regions away inwardly and outwardly from the outline by a predetermined range; and
set a mask in a region other than the workpiece on the basis of the height information.
2 . The mask-setting device according to claim 1 , wherein
the processor is further configured to set the mask in a region having a height that does not match the height of the workpiece as the region other than the workpiece.
3 . A three-dimensional information measuring device that measures three-dimensional information of a workpiece by a three-dimensional sensor, the three-dimensional information measuring device comprising:
a processor configured to:
perform pattern recognition of a two-dimensional image of the workpiece that is captured by a camera, and extract an outline of the workpiece therefrom;
acquire height information about the outline from a distance image among the three-dimensional information acquired by the three-dimensional sensor, and recognize a height of the workpiece based on a difference in height between regions away inwardly and outwardly from the outline by a predetermined range; and
extract only a region of the workpiece and acquire three-dimensional information of the workpiece, on the basis of the height information.