Medium, apparatus, and method for generating movement rotation information

1. A non-transitory computer-readable storage medium for storing a program that causes a processor to execute a process for generating movement rotation information, the process comprising:

acquiring a first jaw image and a second jaw image, the first jaw image including an upper jaw, the second jaw image including a lower jaw;

executing first processing that includes

specifying first position information indicative of positions of three or more first points individually corresponding to three or more types of teeth included in the first jaw image, each of the three or more types of teeth included in the first jaw image being different in type of teeth from each other, the three or more first points including a first moving point, a second moving point, and a third moving point, the first moving point being coordinates corresponding to a center of gravity of a first teeth group, the second moving point being coordinates corresponding to a center of gravity of a second teeth group, the third moving point being coordinates corresponding to a center of gravity of a third teeth group, the first teeth group including a teeth of a first type among the three or more types of teeth and a teeth adjacent to the teeth of the first type, the second teeth group including a teeth of a second type among the three or more types of teeth and a teeth adjacent to the teeth of the second type, the third teeth group including a teeth of a third type among the three or more types of teeth and a teeth adjacent to the teeth of the third type, and

specifying second position information indicative of positions of three or more second points individually corresponding to three or more types of teeth included in the second jaw image, each of the three or more types of teeth included in the second jaw image being different in type of teeth from each other, the three or more second points including a fourth moving point, a fifth moving point and a sixth moving point, the fourth moving point being coordinates corresponding to a center of gravity of a fourth teeth group, the fifth moving point being coordinates corresponding to a center of gravity of a fifth teeth group, the sixth moving point being coordinates corresponding to a center of gravity of a sixth teeth group, the fourth teeth group including a teeth of a fourth type among the three or more types of teeth and a teeth adjacent to the teeth of the fourth type, the fifth teeth group including a teeth of a fifth type among the three or more types of teeth and a teeth adjacent to the teeth of the fifth type, the sixth group including a teeth of a sixth type among the three or more types of teeth and a teeth adjacent to the teeth of the sixth type;

executing second processing that includes

acquiring first reference points corresponding to the tree or more types of teeth in the upper jaw, the first reference points including at least three reference points each of which corresponds to any of the three or more types of teeth in the upper jaw, a position of each of the first reference points being determined by first positional relationship information that indicates, for each of the three or more types of teeth in the upper jaw, a position corresponding to any of the first reference points, and

acquiring second reference points corresponding to the three or more types of teeth in the lower jaw, the second reference points including at least three reference points each of which corresponds to any of the three or more types of teeth in the lower jaw, a position of each of the second reference points being determined by second positional relationship information that indicates, for each of the three or more types of teeth in the lower jaw, a position corresponding to any of the second reference points;

executing third processing that includes

calculating first movement rotation information so that a first plane is made coincide with a first reference plane, the first plane being a plane that includes the first moving point and the second moving point and the third moving point, the first reference plane being a plane that includes the first reference points, the first movement rotation information including at least either of a movement amount and a rotation amount with respect to the first plane, and

calculating second movement rotation information so that a second plane is made coincide with a second reference plane, the second plane being a plane that includes the fourth moving point and the fifth moving point and the sixth moving point, the second reference plane being a plane that includes the second reference points, the second movement rotation information including at least either of a movement amount and a rotation amount with respect to the second plane; and

outputting the first movement rotation information and the second movement rotation information.

2. The non-transitory computer-readable storage medium according to claim 1 ,

wherein each of the first jaw image and the second jaw image is an image generated by scanning with a three-dimensional scanner.

3. The non-transitory computer-readable storage medium according to claim 2 ,

wherein the process further includes:

executing fifth processing that includes

generating first reference position image data indicating a first reference position image in which the first jaw image is arranged in a state moved, or rotated, or moved and rotated, based on the first movement rotation information, and

generating second reference position image data indicating a second reference position image in which the second jaw image is arranged in a state moved, or rotated, or moved and rotated, based on the first movement rotation information; and

executing sixth processing that includes

outputting the first reference position image data, and

outputting the second reference position image data.

4. The non-transitory computer-readable storage medium according to claim 1 ,

wherein the first processing is configured to

perform clustering on first point groups in accordance with the three or more types of teeth in the first jaw image, each of the first point groups being included in the acquired first jaw image and being associated with any of the three or more types of teeth in the first jaw image,

perform clustering on second point groups in accordance with the three or more types of teeth in the second jaw image, each of the second point groups being included in the acquired second jaw image and being associated with any of the three or more types of teeth in the second jaw image.

5. The non-transitory computer-readable storage medium according to claim 4 ,

wherein the process of clustering is configured to

perform clustering on the first point groups in accordance with a distance from a point associated with any of the three or more types of teeth in the first jaw image, and

perform clustering on the second point groups in accordance with a distance from a point associated with any of the three or more types of teeth in the second jaw image.

6. The non-transitory computer-readable storage medium according to claim 1 ,

wherein the movement rotation information includes a matrix indicative of a movement amount, or a rotation amount, or both the movement amount and the rotation amount, of the plane when the plane is to be made coincide with the reference plane.

7. An apparatus for generating movement rotation information, the apparatus comprising:

a memory configured to store positional relationship information that associates types of teeth with second position information indicating positions of reference points; and

a processor coupled to the memory and configured to

execute a first acquisition process that includes acquiring a first jaw image and a second jaw image, the first jaw image including an upper jaw, the second jaw image including a lower jaw;

execute a specification process that includes

specifying first position information indicative of positions of three or more first points individually corresponding to three or more types of teeth included in the first jaw image, each of the three or more types of teeth included in the first jaw image being different in type of teeth from each other, the three or more first points including a first moving point, a second moving point, and a third moving point, the first moving point being coordinates corresponding to a center of gravity of a first teeth group, the second moving point being coordinates corresponding to a center of gravity of a second teeth group, the third moving point being coordinates corresponding to a center of gravity of a third teeth group, the first teeth group including a teeth of a first type among the three or more types of teeth and a teeth adjacent to the teeth of the first type, the second teeth group including a teeth of a second type among the three or more types of teeth and a teeth adjacent to the teeth of the second type, the third teeth group including a teeth of a third type among the three or more types of teeth and a teeth adjacent to the teeth of the third type, and

specifying second position information indicative of positions of three or more second points individually corresponding to three or more types of teeth included in the second jaw image, each of the three or more types of teeth included in the second jaw image being different in type of teeth from each other, the three or more second points including a fourth moving point, a fifth moving point and a sixth moving point, the fourth moving point being coordinates corresponding to a center of gravity of a fourth teeth group, the fifth moving point being coordinates corresponding to a center of gravity of a fifth teeth group, the sixth moving point being coordinates corresponding to a center of gravity of a sixth teeth group, the fourth teeth group including a teeth of a fourth type among the three or more types of teeth and a teeth adjacent to the teeth of the fourth type, the fifth teeth group including a teeth of a fifth type among the three or more types of teeth and a teeth adjacent to the teeth of the fifth type, the sixth group including a teeth of a sixth type among the three or more types of teeth and a teeth adjacent to the teeth of the sixth type;

execute a second acquisition process that includes

acquiring first reference points corresponding to the tree or more types of teeth in the upper jaw, the first reference points including at least three reference points each of which corresponds to any of the three or more types of teeth in the upper jaw, a position of each of the first reference points being determined by first positional relationship information that indicates, for each of the three or more types of teeth in the upper jaw, a position corresponding to any of the first reference points, and

acquiring second reference points corresponding to the three or more types of teeth in the lower jaw, the second reference points including at least three reference points each of which corresponds to any of the three or more types of teeth in the lower jaw, a position of each of the second reference points being determined by second positional relationship information that indicates, for each of the three or more types of teeth in the lower jaw, a position corresponding to any of the second reference points;

execute a calculation process that includes

calculating first movement rotation information so that a first plane is made coincide with a first reference plane, the first plane being a plane that includes the first moving point and the second moving point and the third moving point, the first reference plane being a plane that includes the first reference points, the first movement rotation information including at least either of a movement amount and a rotation amount with respect to the first plane, and

calculating second movement rotation information so that a second plane is made coincide with a second reference plane, the second plane being a plane that includes the fourth moving point and the fifth moving point and the sixth moving point, the second reference plane being a plane that includes the second reference points, the second movement rotation information including at least either of a movement amount and a rotation amount with respect to the second plane; and

execute an outputting process that includes outputting the first movement rotation information and the second movement rotation information.

8. A method performed by a computer for generating movement rotation information, the method comprising:

acquiring, by a processor of the computer, a first jaw image and a second jaw image, the first jaw image including an upper jaw, the second jaw image including a lower jaw;

executing first processing that includes

specifying, by the processor of the computer, first position information indicative of positions of three or more first points individually corresponding to three or more types of teeth included in the first jaw image, each of the three or more types of teeth included in the first jaw image being different in type of teeth from each other, the three or more first points including a first moving point, a second moving point, and a third moving point, the first moving point being coordinates corresponding to a center of gravity of a first teeth group, the second moving point being coordinates corresponding to a center of gravity of a second teeth group, the third moving point being coordinates corresponding to a center of gravity of a third teeth group, the first teeth group including a teeth of a first type among the three or more types of teeth and a teeth adjacent to the teeth of the first type, the second teeth group including a teeth of a second type among the three or more types of teeth and a teeth adjacent to the teeth of the second type, the third teeth group including a teeth of a third type among the three or more types of teeth and a teeth adjacent to the teeth of the third type, and

specifying second position information indicative of positions of three or more second points individually corresponding to three or more types of teeth included in the second jaw image, each of the three or more types of teeth included in the second jaw image being different in type of teeth from each other, the three or more second points including a fourth moving point, a fifth moving point and a sixth moving point, the fourth moving point being coordinates corresponding to a center of gravity of a fourth teeth group, the fifth moving point being coordinates corresponding to a center of gravity of a fifth teeth group, the sixth moving point being coordinates corresponding to a center of gravity of a sixth teeth group, the fourth teeth group including a teeth of a fourth type among the three or more types of teeth and a teeth adjacent to the teeth of the fourth type, the fifth teeth group including a teeth of a fifth type among the three or more types of teeth and a teeth adjacent to the teeth of the fifth type, the sixth group including a teeth of a sixth type among the three or more types of teeth and a teeth adjacent to the teeth of the sixth type;

executing second processing that includes

acquiring first reference points corresponding to the tree or more types of teeth in the upper jaw, the first reference points including at least three reference points each of which corresponds to any of the three or more types of teeth in the upper jaw, a position of each of the first reference points being determined by first positional relationship information that indicates, for each of the three or more types of teeth in the upper jaw, a position corresponding to any of the first reference points, and

acquiring second reference points corresponding to the three or more types of teeth in the lower jaw, the second reference points including at least three reference points each of which corresponds to any of the three or more types of teeth in the lower jaw, a position of each of the second reference points being determined by second positional relationship information that indicates, for each of the three or more types of teeth in the lower jaw, a position corresponding to any of the second reference points;

executing third processing that includes

calculating first movement rotation information so that a first plane is made coincide with a first reference plane, the first plane being a plane that includes the first moving point and the second moving point and the third moving point, the first reference plane being a plane that includes the first reference points, the first movement rotation information including at least either of a movement amount and a rotation amount with respect to the first plane, and

calculating second movement rotation information so that a second plane is made coincide with a second reference plane, the second plane being a plane that includes the fourth moving point and the fifth moving point and the sixth moving point, the second reference plane being a plane that includes the second reference points, the second movement rotation information including at least either of a movement amount and a rotation amount with respect to the second plane; and

outputting, by the processor of the computer, the first movement rotation information and the second movement rotation information.