Surveying data processing device, surveying data processing method, and surveying data processing program
Point cloud data relating to a matching target is efficiently eliminated after completion of a process of matching between sets of point cloud data obtained at different viewpoints. The surveying data processing device includes a target detecting unit, a location acquiring unit, a point cloud data eliminating region setting unit, and a point cloud data eliminating unit. The target detecting unit detects a target in point cloud data. The point cloud data is obtained by emitting laser light on an object having the target and by detecting the light reflected back from the object. The target location acquiring unit acquires a location of the detected target. The point cloud data eliminating region setting unit sets a point cloud data eliminating region containing the target, based on the location of the target. The point cloud data eliminating unit eliminates point cloud data contained in the point cloud data eliminating region.
1. A surveying data processing device configured to process first point cloud data and second point cloud data,
the first point cloud data and the second point cloud data being obtained by laser scanning from different viewpoints and partially overlapping with each other,
the first point cloud data and the second point cloud data containing both point cloud data of a measurement object and point cloud data of a matching target,
the first point cloud data and the second point cloud data containing the same point cloud data of the matching target,
the surveying data processing device comprising a processor or circuitry, the processor or circuitry configured to:
determine a correspondence relationship between the first point cloud data and the second point cloud data by using the point cloud data of the matching target;
integrate the first point cloud data and the second point cloud data after the correspondence relationship therebetween is determined, to obtain integrated point cloud data;
detect, among the integrated point cloud data, light in which an intensity of light is a predetermined value or greater, as reflection light that is reflected back from the matching target;
acquire a location of the matching target after the reflection light of the matching target is detected;
set a tubular space containing the matching target, on a basis of the location of the matching target, the tubular space passing the location of the matching target and having a perpendicular of a plane above or under the location of the matching target as an axis; and
eliminate point cloud data that is contained in the tubular space.
2. The surveying data processing device according to claim 1 , wherein the matching target includes a reflection prism and a leg part that supports the reflection prism, and the tubular space is set so as to have dimensions for containing the reflection prism and the leg part.
3. The surveying data processing device according to claim 1 , wherein the tubular space is set in such a manner as not to contain point cloud data of a plane crossing a vertical axis that passes the location of the matching target.
4. A surveying data processing method for processing first point cloud data and second point cloud data,
the first point cloud data and the second point cloud data being obtained by laser scanning from different viewpoints and partially overlapping with each other,
the first point cloud data and the second point cloud data containing both point cloud data of a measurement object and point cloud data of a matching target,
the first point cloud data and the second point cloud data containing the same point cloud data of the matching target,
the method comprising:
determining a correspondence relationship between the first point cloud data and the second point cloud data by using the point cloud data of the matching target;
integrating the first point cloud data and the second point cloud data after the correspondence relationship therebetween is determined, to obtain integrated point cloud data;
detecting, among the integrated point cloud data, light in which an intensity of light is a predetermined value or greater, as reflection light that is reflected back from the matching target;
acquiring a location of the matching target after the reflection light of the matching target is detected;
setting a tubular space containing the matching target, on a basis of the location of the matching target, the tubular space passing the location of the matching target and having a perpendicular of a plane above or under the location of the matching target as an axis; and
eliminating point cloud data that is contained in the tubular space.
5. A non-transitory computer recording medium storing computer executable instructions for processing first point cloud data and second point cloud data,
the first point cloud data and the second point cloud data being obtained by laser scanning from different viewpoints and partially overlapping with each other,
the first point cloud data and the second point cloud data containing both point cloud data of a measurement object and point cloud data of a matching target,
the first point cloud data and the second point cloud data containing the same point cloud data of the matching target,
the computer executable instructions that, when executed by a computer processor, cause the computer processor to:
determine a correspondence relationship between the first point cloud data and the second point cloud data by using the point cloud data of the matching target;
integrate the first point cloud data and the second point cloud data after the correspondence relationship therebetween is determined, to obtain integrated point cloud data;
detect, among the integrated point cloud data, light in which an intensity of light is a predetermined value or greater, as reflection light that is reflected back from the matching target;
acquire a location of the matching target after the reflection light of the matching target is detected;
set a tubular space containing the matching target, on a basis of the location of the matching target, the tubular space passing the location of the matching target and having a perpendicular of a plane above or under the location of the matching target as an axis; and
eliminate point cloud data that is contained in the tubular space.
6. A surveying data processing device configured to process point cloud data that is obtained by laser scanning,
the point cloud data containing both point cloud data of a measurement object and point cloud data of a reflection prism,
the surveying data processing device comprising a processor or circuitry, the processor or circuitry configured to:
detect, among the point cloud data that is obtained by laser scanning, light in which an intensity of light is a predetermined value or greater, as reflection light that is reflected back from the reflection prism;
acquire a location of the reflection prism after the reflection light of the reflection prism is detected;
set a tubular space containing the reflection prism, on a basis of the location of the reflection prism, the tubular space passing the location of the reflection prism and having a perpendicular of a plane above or under the location of the reflection prism as an axis; and
eliminate point cloud data that is contained in the tubular space.