US-12625603-B2 - Point cloud processing apparatus, point cloud processing method, non-transitory recording medium, and point cloud processing system

US12625603B2US 12625603 B2US12625603 B2US 12625603B2US-12625603-B2

Abstract

A point cloud processing apparatus includes circuitry to generate a selection screen displaying a plurality of options each of which indicates a corresponding one of a plurality of qualities for point cloud processing that is performed on point cloud data representing a three-dimensional point cloud. The circuitry stores, in a memory, a processing result of the point cloud processing performed with one of the plurality of qualities on the point cloud data. The one of the plurality of qualities is a selected one of the plurality of options.

Inventors

Naoki MOTOHASHI

Assignees

Naoki MOTOHASHI

Dates

Publication Date: 20260512
Application Date: 20230922
Priority Date: 20220930

Claims (20)

1 . A point cloud processing apparatus, comprising circuitry configured to: generate a selection screen displaying a plurality of options each of which indicates a corresponding one of a plurality of qualities for point cloud processing that is performed on point cloud data representing a three-dimensional point cloud; and store, in a memory, a processing result of the point cloud processing performed with one of the plurality of qualities on the point cloud data, the one of the plurality of qualities being a selected one of the plurality of options, wherein the selection screen displays each of a plurality of pieces of quality information which indicates one of the plurality of qualities, and the selection screen displays the each of the plurality of pieces of quality information that varies according to a combination of two or more qualities of corresponding two or more of a plurality of point cloud processing operations, or according to each of a plurality of processing types, the plurality of processing types differing from each other in at least one of a number of the point cloud processing operations to be executed, a combination of the point cloud processing operations to be executed, or an order of the point cloud processing operations to be executed.
2 . The point cloud processing apparatus of claim 1 , wherein the two or more of the plurality of point cloud processing operations are performed as the point cloud processing.
3 . The point cloud processing apparatus of claim 1 , wherein the circuitry is further configured to transmit selection screen information indicating the selection screen to an external apparatus.
4 . The point cloud processing apparatus of claim 1 , wherein the point cloud processing includes at least one of the plurality of point cloud processing operations, the plurality of point cloud processing operations being registration processing that merges point clouds captured at two or more locations, noise removal processing that removes a point cloud determined as noise, mesh generation processing that forms a surface from a point cloud, texture mapping processing that applies RGB values to a mesh object, segmentation processing that identifies a point cloud, point cloud reduction processing that reduces point cloud density, and three-dimensional Computer Aided Design (CAD) model conversion processing that converts a point cloud into a three-dimensional CAD model.
5 . The point cloud processing apparatus of claim 1 , wherein the circuitry is further configured to generate a setting screen on which a plurality of pieces of processing result type information is displayed as the plurality of options in a case in which the selection screen displays the each of the plurality of pieces of quality information that varies according to the each of the plurality of processing types, each of the plurality of pieces of processing result type information indicating one of a plurality of processing result types of the plurality of processing types.
6 . The point cloud processing apparatus of claim 5 , wherein the plurality of processing result types includes at least two of a merged point cloud, a mesh object, a textured mesh object, or a three-dimensional CAD model.
7 . The point cloud processing apparatus of claim 1 , wherein the circuitry is further configured to: perform the point cloud processing with a quality indicated by each of the plurality of pieces of quality information for all of the plurality of pieces of quality information; and store, in the memory, the processing result corresponding to the selected one of the plurality of pieces of quality information, from among a plurality of processing results obtained by performing the point cloud processing corresponding to the plurality of pieces of quality information.
8 . The point cloud processing apparatus of claim 7 , wherein the plurality of pieces of quality information includes visible information for visually displaying an image indicating the processing result.
9 . The point cloud processing apparatus of claim 1 , wherein each of the plurality of pieces of quality information indicates, in advance of performing the point cloud processing, a quality of the processing result, and the circuitry is further configured to perform the point cloud processing with a quality indicated by one of the plurality of pieces of quality information, the one of the plurality of pieces of quality information corresponding to the selected one.
10 . The point cloud processing apparatus of claim 7 , wherein the circuitry is further configured to perform the point cloud processing again based on a received adjustment operation of adjusting the processing result of the point cloud processing.
11 . A point cloud processing system, comprising: the point cloud processing apparatus of claim 1 ; and a terminal apparatus communicably connected to the point cloud processing apparatus, the circuitry of the point cloud processing apparatus is further configured to transmit selection screen information indicating the selection screen to the terminal apparatus, the terminal apparatus including additional circuitry configured to: receive the selection screen information transmitted from the point cloud processing apparatus; and display, on a display, the selection screen.
12 . A point cloud processing method, comprising: generating a selection screen displaying a plurality of options each of which indicates a corresponding one of a plurality of qualities for point cloud processing that is performed on point cloud data representing a three-dimensional point cloud; and storing a processing result of the point cloud processing performed with one of the plurality of qualities on the point cloud data, the one of the plurality of qualities being a selected one of the plurality of options, wherein the selection screen displays each of a plurality of pieces of quality information which indicates one of the plurality of qualities, and the selection screen displays the each of the plurality of pieces of quality information that varies according to a combination of two or more qualities of corresponding two or more of a plurality of point cloud processing operations, or according to each of a plurality of processing types, the plurality of processing types differing from each other in at least one of a number of the point cloud processing operations to be executed, a combination of the point cloud processing operations to be executed, or an order of the point cloud processing operations to be executed.
13 . A non-transitory recording medium storing a plurality of instructions which, when executed by one or more processors, causes the one or more processors to perform a method, the method comprising: generating a selection screen displaying a plurality of options each of which indicates a corresponding one of a plurality of qualities for point cloud processing that is performed on point cloud data representing a three-dimensional point cloud; and storing a processing result of the point cloud processing performed with one of the plurality of qualities on the point cloud data, the one of the plurality of qualities being a selected one of the plurality of options, wherein the selection screen displays each of a plurality of pieces of quality information which indicates one of the plurality of qualities, and the selection screen displays the each of the plurality of pieces of quality information that varies according to a combination of two or more qualities of corresponding two or more of a plurality of point cloud processing operations, or according to each of a plurality of processing types, the plurality of processing types differing from each other in at least one of a number of the point cloud processing operations to be executed, a combination of the point cloud processing operations to be executed, or an order of the point cloud processing operations to be executed.
14 . The non-transitory recording medium of claim 13 , wherein the two or more of the plurality of point cloud processing operations are performed as the point cloud processing.
15 . The non-transitory recording medium of claim 13 , wherein the point cloud processing includes at least one of the plurality of point cloud processing operations, the plurality of point cloud processing operations being registration processing that merges point clouds captured at two or more locations, noise removal processing that removes a point cloud determined as noise, mesh generation processing that forms a surface from a point cloud, texture mapping processing that applies RGB values to a mesh object, segmentation processing that identifies a point cloud, point cloud reduction processing that reduces point cloud density, and three-dimensional Computer Aided Design (CAD) model conversion processing that converts a point cloud into a three-dimensional CAD model.
16 . The non-transitory recording medium of claim 13 , wherein the method further comprises generating a setting screen on which a plurality of pieces of processing result type information is displayed as the plurality of options in a case in which the selection screen displays the each of the plurality of pieces of quality information that varies according to the each of the plurality of processing types, each of the plurality of pieces of processing result type information indicating one of a plurality of processing result types of the plurality of processing types.
17 . The non-transitory recording medium of claim 13 , wherein the method further comprises: performing the point cloud processing with a quality indicated by each of the plurality of pieces of quality information for all of the plurality of pieces of quality information; and storing, in the memory, the processing result corresponding to the selected one of the plurality of pieces of quality information, from among a plurality of processing results obtained by performing the point cloud processing corresponding to the plurality of pieces of quality information.
18 . The non-transitory recording medium of claim 17 , wherein the plurality of pieces of quality information includes visible information for visually displaying an image indicating the processing result.
19 . The non-transitory recording medium of claim 13 , wherein each of the plurality of pieces of quality information indicates, in advance of performing the point cloud processing, a quality of the processing result, and the method further comprises performing the point cloud processing with a quality indicated by one of the plurality of pieces of quality information, the one of the plurality of pieces of quality information corresponding to the selected one.
20 . The non-transitory recording medium of claim 17 , wherein the method further comprises performing the point cloud processing again based on a received adjustment operation of adjusting the processing result of the point cloud processing.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This patent application is based on and claims priority pursuant to 35 U.S.C. § 119(a) to Japanese Patent Application Nos. 2022-157818, filed on Sep. 30, 2022, and 2023-127934, filed on Aug. 4, 2023, in the Japan Patent Office, the entire disclosure of which is hereby incorporated by reference herein. BACKGROUND Technical Field The present disclosure relates to a point cloud processing apparatus, a point cloud processing method, a non-transitory recording medium, and a point cloud processing system. Related Art A three-dimensional point cloud data processing apparatus is provided with a feature point extracting unit including an area calculating mechanism and an area comparing mechanism, a binary image generating unit including a projecting mechanism for projecting a feature point cloud onto a curved surface, a lattice setting mechanism for forming a lattice on the curved surface, a multi-valued image generating mechanism on lattice points, and a binarizing mechanism, and a point cloud data thinning unit including a reduction degree adjusting mechanism for thinning points from the point cloud at an equal ratio. SUMMARY According to an embodiment of the disclosure, a point cloud processing apparatus includes circuitry to generate a selection screen displaying a plurality of options each of which indicates a corresponding one of a plurality of qualities for point cloud processing that is performed on point cloud data representing a three-dimensional point cloud. The circuitry stores, in a memory, a processing result of the point cloud processing performed with one of the plurality of qualities on the point cloud data. The one of the plurality of qualities is a selected one of the plurality of options. According to an embodiment of the disclosure, a point cloud processing method includes generating a selection screen displaying a plurality of options each of which indicates a corresponding one of a plurality of qualities for point cloud processing that is performed on point cloud data representing a three-dimensional point cloud. The method includes storing a processing result of the point cloud processing performed with one of the plurality of qualities on the point cloud data. The one of the plurality of qualities is a selected one of the plurality of options. According to an embodiment of the disclosure, a non-transitory recording medium storing a plurality of instructions which, when executed by one or more processors, causes the one or more processors to perform the above-described method. According to an embodiment of the disclosure, a point cloud processing system includes the above-described point cloud processing apparatus and a terminal apparatus communicably connected to the point cloud processing apparatus. The circuitry of the point cloud processing apparatus further transmits selection screen information indicating the selection screen to the terminal apparatus. The terminal apparatus includes additional circuitry to receive the selection screen information transmitted from the point cloud processing apparatus and displays, on a display, the selection screen. BRIEF DESCRIPTION OF THE DRAWINGS A more complete appreciation of embodiments of the present disclosure and many of the attendant advantages and features thereof can be readily obtained and understood from the following detailed description with reference to the accompanying drawings, wherein: FIG. 1 is a diagram illustrating an overall configuration of a point cloud processing system according to an embodiment of the present disclosure; FIG. 2 is a block diagram illustrating a hardware configuration of each of a terminal apparatus and a management server according to an embodiment of the present disclosure; FIG. 3 is a block diagram illustrating a functional configuration of the point cloud processing system according to an embodiment of the present disclosure; FIG. 4 is a conceptual diagram illustrating a setting information management table according to an embodiment of the present disclosure; FIGS. 5A and 5B are diagrams illustrating registration processing according to an embodiment of the present disclosure; FIG. 6 is a diagram illustrating noise removal processing according to an embodiment of the present disclosure; FIG. 7 is a diagram illustrating segmentation processing according to an embodiment of the present disclosure; FIGS. 8A and 8B are diagrams illustrating a model transformation process according to an embodiment of the present disclosure; FIG. 9 is a sequence diagram illustrating point cloud processing according to an embodiment of the present disclosure; FIG. 10 is a diagram illustrating a setting screen according to an embodiment of the present disclosure; FIGS. 11A and 11B are diagrams illustrating a selection screen and an adjustment screen, respectively, according to an embodiment of the present disclosure; FIG. 12 is a diagram illustrating quality information according to an em