Point cloud data processing apparatus, point cloud data processing method, and program
A point cloud data processing apparatus ( 11 ) includes: a memory ( 21 ) configured to store point cloud data ( 7 ) and pieces of image data ( 5 ), with positions of pixels of at least any one piece of image data ( 5 ) among the pieces of image data ( 5 ) being associated with points that constitute the point cloud data ( 7 ); and a processor, the processor being configured to cause a display unit ( 9 ) to display the point cloud data such that three-dimensional rotation, three-dimensional movement, and rescaling are enabled, accept a designation of a specified point in the point cloud data ( 7 ) displayed on the display unit ( 9 ), select a region of a target object including a region corresponding to the specified point, on the piece of image data ( 5 ), and assign the same attribute information to points, in the point cloud data ( 7 ), corresponding to the region of the target object.
1 . A point cloud data processing apparatus comprising:
a memory configured to store positional information on a corresponding positional relationship between a position of each one of pixels of two-dimensional image data of a measurement target and one or more three-dimensional points that constitute three-dimensional point cloud data of three-dimensional points on a surface of the measurement target, the two-dimensional image data being acquired by image capturing of the measurement target, the measurement target comprising a plurality of objects in the two-dimensional image data; and
a processor, the processor being configured to
cause a monitor to display the three-dimensional point cloud data of the measurement target such that three-dimensional rotation, three-dimensional movement, and rescaling of the measurement target are enabled,
accept a designation of a specified point in the three-dimensional point cloud data on a surface of an object among the plurality of objects of the measurement target displayed on the monitor,
select, based on the positional relationship between the specified point in the three-dimensional point cloud data and the two-dimensional image data stored in the memory, an image region of a plurality of pixels of the object in the two-dimensional image data from among image regions of the plurality of objects of the measurement target in the two-dimensional image data,
identify a plurality of three-dimensional points on the surface of the object from among three-dimensional points on surfaces of the plurality of objects of the measurement target in the three-dimensional point cloud data based on the positional relationship between the plurality of pixels of the object in the two-dimensional image data and the plurality of three-dimensional points on the surface of the object stored in the memory, and
assign, to the plurality of three-dimensional points, information that identifies the object from among the plurality of objects of the measurement target to which the plurality of three-dimensional points corresponds.
2 . The point cloud data processing apparatus according to claim 1 , wherein the processor is configured to select the image region of the plurality of pixels of the object in the two-dimensional image data with a recognizer subjected to machine learning.
3 . The point cloud data processing apparatus according to claim 1 , wherein the processor is configured to cause the monitor to display the image region of the plurality of pixels of the object in the two-dimensional image data corresponding to the specified point after accepting the designation of the specified point.
4 . The point cloud data processing apparatus according to claim 2 , wherein the processor is configured to cause the monitor to display the image region of the plurality of pixels of the object in the two-dimensional image data corresponding to the specified point after accepting the designation of the specified point.
5 . The point cloud data processing apparatus according to claim 3 , wherein the processor is configured to display the two-dimensional image data of the measurement target on the monitor.
6 . The point cloud data processing apparatus according to claim 4 , wherein the processor is configured to display the two-dimensional image data of the measurement target on the monitor.
7 . The point cloud data processing apparatus according to claim 3 , wherein the processor is configured to accept selection of the image region of the plurality of pixels of the object in the two-dimensional image data selected on the two-dimensional image data displayed on the monitor.
8 . The point cloud data processing apparatus according to claim 4 , wherein the processor is configured to accept selection of the image region of the plurality of pixels of the object in the two-dimensional image data selected on the two-dimensional image data displayed on the monitor.
9 . The point cloud data processing apparatus according to claim 5 , wherein the processor is configured to accept selection of the image region of the plurality of pixels of the object in the two-dimensional image data selected on the two-dimensional image data displayed on the monitor.
10 . The point cloud data processing apparatus according to claim 6 , wherein the processor is configured to accept selection of the image region of the plurality of pixels of the object in the two-dimensional image data selected on the two-dimensional image data displayed on the monitor.
11 . The point cloud data processing apparatus according to claim 1 , wherein the processor is configured to, with respect to the plurality of three-dimensional points that is assigned the information representing that identifies the object, correct assignment of the information that identifies the object with a recognizer subjected to machine learning.
12 . The point cloud data processing apparatus according to claim 2 , wherein the processor is configured to, with respect to the plurality of three-dimensional points that is assigned the information that identifies the object, correct assignment of the information that identifies the object with a recognizer subjected to machine learning.
13 . The point cloud data processing apparatus according to claim 3 , wherein the processor is configured to, with respect to the plurality of three-dimensional points that is assigned the information that identifies the object, correct assignment of the information that identifies the object with a recognizer subjected to machine learning.
14 . The point cloud data processing apparatus according to claim 4 , wherein the processor is configured to, with respect to the plurality of three-dimensional points that is assigned the information that identifies the object, correct assignment of the information that identifies the object with a recognizer subjected to machine learning.
15 . The point cloud data processing apparatus according to claim 5 , wherein the processor is configured to, with respect to the plurality of three-dimensional points that is assigned the information that identifies the object, correct assignment of the information that identifies the object with a recognizer subjected to machine learning.
16 . The point cloud data processing apparatus according to claim 6 , wherein the processor is configured to, with respect to the plurality of three-dimensional points that is assigned the information that identifies the object, correct assignment of the information that identifies the object with a recognizer subjected to machine learning.
17 . The point cloud data processing apparatus according to claim 1 , wherein the processor is configured to
display the plurality of three-dimensional points that is assigned the information that identifies the object on the monitor, and
accept a correction concerning assignment of the information that identifies the object and correct the information that identifies the object based on the correction.
18 . The point cloud data processing apparatus according to claim 1 , wherein the processor is configured to acquire the two-dimensional image data and the three-dimensional point cloud data that are acquired by devices having a same optical axis.
19 . A point cloud data processing method for a point cloud data processing apparatus comprising:
a memory configured to store positional information on a corresponding positional relationship between a position of each one of pixels of two-dimensional image data of a measurement target and one or more three-dimensional points that constitute three-dimensional point cloud data of three-dimensional points on a surface of the measurement target, the two-dimensional image data being acquired by image capturing of the measurement target, the measurement target comprising a plurality of objects in the two-dimensional image data; and
a processor configured to control the point cloud data processing apparatus to perform the point cloud data processing method, the point cloud data processing method including:
causing a monitor to display the three-dimensional point cloud data of the measurement target such that three-dimensional rotation, three-dimensional movement, and rescaling of the measurement target are enabled,
accepting a designation a specified point in the three-dimensional point cloud data on a surface of an object among the plurality of objects of the measurement target displayed on the monitor,
selecting, based on the positional relationship between the specified point in the three-dimensional point cloud data and the two-dimensional image data stored in the memory, an image region of a plurality of pixels of the object in the two-dimensional image data from among image regions of the plurality of objects of the measurement target in the two-dimensional image data,
identifying a plurality of three-dimensional points on the surface of the object from among three-dimensional points on surfaces of the plurality of objects of the measurement target in the three-dimensional point cloud data based on the positional relationship between the plurality of pixels of the object in the two-dimensional image data and the plurality of three-dimensional points on the surface of the object stored in the memory, and
assigning, to the plurality of three-dimensional points, information that identifies the object from among the plurality of objects of the measurement target to which the plurality of three-dimensional points corresponds.
20 . A non-transitory computer readable recording medium storing a program for causing a point cloud data processing apparatus to perform a point cloud data processing method, the point cloud data processing apparatus comprising:
a memory configured to store positional information on a corresponding positional relationship between a position of each one of pixels of two-dimensional image data of a measurement target and one or more three-dimensional points that constitute three-dimensional point cloud data of three-dimensional points on a surface of the measurement target, the two-dimensional image data being acquired by image capturing of the measurement target, the measurement target comprising a plurality of objects in the two-dimensional image data; and
a processor which, when executing the program, causes the processor to control the point cloud data processing apparatus to perform the point cloud data processing method, the point cloud data processing method including:
causing a monitor to display the three-dimensional point cloud data of the measurement target such that three-dimensional rotation, three-dimensional movement, and rescaling of the measurement target are enabled,
accepting a designation a specified point in the three-dimensional point cloud data on a surface of an object among the plurality of objects of the measurement target displayed on the monitor,
selecting, based on the positional relationship between the specified point in the three-dimensional point cloud data and the two-dimensional image data stored in the memory, an image region of a plurality of pixels of the object in the two-dimensional image data from among image regions of the plurality of objects of the measurement target in the two-dimensional image data,
identifying a plurality of three-dimensional points on the surface of the object from among three-dimensional points on surfaces of the plurality of objects of the measurement target in the three-dimensional point cloud data based on the positional relationship between the plurality of pixels of the object in the two-dimensional image data and the plurality of three-dimensional points on the surface of the object stored in the memory, and
assigning, to the plurality of three-dimensional points, information that identifies the object from among the plurality of objects of the measurement target to which the plurality of three-dimensional points corresponds.