JP2000283720A - Method and device for inputting three-dimensional data - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily, quickly, and accurately input the three-dimensional data of an object and to easily acquire a composed picture over the full periphery or in a prescribed extent of the object. SOLUTION: In a method for inputting three-dimensional data for a three- dimensional data inputting device which has a monitor screen for confirming an object Q, and is constituted to input the three-dimensional data of the object Q by photographing the object Q, the picture of the three-dimensional model corresponding to the shape of the object Q is generated based on three- dimensional data inputted from part of the object Q, and the picture of the model is displayed on the monitor screen as a guide picture GP for framing. Then framing is performed so that the guide picture GP and the part of the picture QP of the object Q corresponding to the guide picture GP may be superposed upon another.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for inputting three-dimensional data of a subject.

[0002]

2. Description of the Related Art An optical three-dimensional data input device (three-dimensional camera) can perform higher-speed measurement than a contact type, so that data input to a CG system or a CAD system, body measurement, and robot It is used for visual recognition. As a measurement method suitable for such a three-dimensional data input device, a slit light projection method (also referred to as a light cutting method) is known.

FIG. 8 is a diagram showing an input principle of a three-dimensional camera 80 to which the slit light projection method is applied. In FIG.
The three-dimensional camera 80 has a light projecting unit 81 and a light receiving unit 82. The light projecting unit 81 emits slit light S having a linear cross section. The light receiving section 82 has an imaging surface 83 and an imaging lens (not shown). The light-emitting unit 81 and the light-receiving unit 82 are usually integrated into one housing with a predetermined distance from each other.

The subject Q1 is illuminated by the slit light S from the light projecting section 81, and the reflected light is captured as a slit image on the imaging surface 83. The spatial coordinates of a point p on the subject Q1 corresponding to one point p 'in the slit image are defined by a plane formed by the slit light S and a straight line L connecting the point p' and the center point O of the imaging lens. It is obtained as the coordinates of the intersection. Therefore, from one slit image obtained with the slit light S, the spatial coordinates of a point group on the surface of the subject Q1 corresponding to each point on this slit image are obtained.
By moving the slit light S in the horizontal direction, the subject Q1 is moved.
Is scanned, and a slit image at each scanning position is input, so that three-dimensional data of a front side portion of the subject Q1, that is, a portion irradiated with the slit light S is input.

When it is desired to obtain three-dimensional data over the entire circumference of the subject Q1, it is necessary to input the subject Q1 from a plurality of directions. Two methods are known as a method for that. In the first method, the three-dimensional camera 80
With the subject Q facing the subject Q1.
The subject Q1 is moved on a predetermined trajectory with the center at 1, and shooting is performed on the subject Q1 from a plurality of directions. In the second method, the subject Q1 is placed on a rotating stage and rotated, and the three-dimensional camera 80 installed at a predetermined position captures an image of the subject Q1 from a plurality of directions.

[0006] The three-dimensional data of the subject Q1 input from a plurality of directions is subjected to alignment processing by a conversion parameter calculated based on the position on the trajectory of the three-dimensional camera 80 or the position of the rotary stage. Done. Thus, three-dimensional data over the entire circumference of the subject Q1 is obtained.

However, in the above-described method, it is necessary to detect the position of the three-dimensional camera 80 or the angular position of the rotary stage with high accuracy in order to improve the positioning accuracy.
The cost is high.

In addition, since the three-dimensional camera 80 is set on a moving device or the like, it is impossible to hold the three-dimensional camera 80 and hold an image. For this reason, subjects to which input can be made are limited. That is, for example, a subject that cannot move, such as an existing stone image or a copper image,
With this method, three-dimensional data cannot be input.

In order to solve such a problem, an apparatus described in Japanese Patent Application Laid-Open No. 9-5051 has been proposed. According to this conventional apparatus, the subject Q1 is photographed from a plurality of arbitrary directions, and three-dimensional data is input. After the input, a three-dimensional shape input from a plurality of directions and a color image input simultaneously from the same field of view and associated with the three-dimensional data are displayed. The user manually designates corresponding points in the three-dimensional shapes based on a change in color while viewing the displayed color image. Based on the corresponding points specified by the user, the positions of the input three-dimensional data are aligned with each other.

[0010]

However, according to the above-mentioned conventional apparatus, it is necessary for a user to perform a work of designating a corresponding point in order to align a plurality of three-dimensional data with each other. The work is extremely troublesome.

When inputting three-dimensional data,
There is no method for confirming whether or not photographing has been successfully performed on the entire circumference of the subject Q1. Therefore, when a plurality of three-dimensional data are not continuous with an appropriate overlap or are insufficient, a corresponding point between the three-dimensional data cannot be well determined. In such a case, the accuracy of the mutual alignment of the three-dimensional data is reduced, or in a severe case, the photographing needs to be performed again.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and can easily, quickly, and accurately input three-dimensional data of a subject, and can perform composition without loss over the entire circumference or a predetermined range of the subject. It is an object of the present invention to provide a method and an apparatus for inputting three-dimensional data that enable easy acquisition of an image.

[0013]

According to a first aspect of the present invention, there is provided a three-dimensional data input method, comprising the steps of:
Has a monitor screen 21 for checking the object Q
Is a three-dimensional data input method in the three-dimensional data input device 2 configured to input three-dimensional data of the subject Q by photographing the subject, based on three-dimensional data input from a part of the subject Q. To generate an image of a three-dimensional shape model corresponding to the shape, display the image of the three-dimensional shape model on the monitor screen 21 as a framing guide image GP, and display the guide image GP and the image QP of the subject Q. The framing is performed such that the image corresponding to the guide image GP overlaps, and the subject Q is photographed in the state where the framing is performed.

The three-dimensional data input device according to claim 2 is
As shown in FIGS. 2 to 6, a three-dimensional screen having a monitor screen 21 for confirming the subject Q is configured to input three-dimensional data of the subject Q by photographing the subject Q. A three-dimensional shape model image generating means for generating a three-dimensional shape model image corresponding to the shape based on three-dimensional data input from a part of the subject; The display device has display instruction means 76 for displaying an image of the model as the framing guide image GP on the monitor screen 21 and storage means 63 for storing three-dimensional data input by photographing the framed subject Q. .

[0015]

FIG. 1 is a block diagram of a measuring system 1 using a three-dimensional camera 2 according to the present invention, and FIG.

As shown in FIG. 1, the measuring system 1
It comprises a two-dimensional camera 2 and a host 3. The three-dimensional camera 2 is a portable three-dimensional data input device that performs three-dimensional measurement by a slit light projection method. The three-dimensional camera 2 inputs three-dimensional data (distance data) by photographing a subject Q to be input. Based on the three-dimensional data, the base data for calculating the three-dimensional shape of the subject Q is calculated and output.

The host 3 includes a CPU 3a, a display 3
b, a keyboard 3c, a mouse 3d, and the like. Between the three-dimensional camera 2 and the host 3, both online and offline data transfer by the portable recording medium 4 is possible. As the recording medium 4, a magneto-optical disk (M
O), a mini disk (MD), a memory card, and the like.

The host 3 performs, based on the three-dimensional data sent from the three-dimensional camera 2, an arithmetic process for obtaining the coordinates of the sampling points by using a triangulation method, a bonding process (synthesizing process), and the like. The software for that is CPU3
a.

As shown in FIG. 2A, the three-dimensional camera 2
Has a light projecting window 20a and a light receiving window 20b on the front surface of the housing 20. The light projecting window 20a is located above the light receiving window 20b. The slit light (band-shaped laser beam having a predetermined width w) U emitted from the internal optical unit OU travels toward the subject Q through the light projecting window 20a. The radiation angle φ in the length direction M1 of the slit light U is fixed. A part of the slit light U reflected on the surface of the subject Q enters the optical unit OU through the light receiving window 20b. The optical unit O
U has a two-axis adjustment mechanism for optimizing the relative relationship between the light emitting axis and the light receiving axis.

On the upper surface of the housing 20, zooming buttons 25a and 25b, a manual focusing button 26
a, 26b, and a shutter button 27 are provided. As shown in FIG. 2B, the viewfinder 21, the cursor button 22, the select button 23, the cancel button 24, the analog output terminal 32, the digital output terminal 33, and the attachment of the recording medium 4 are provided on the back of the housing 20. An outlet 30a is provided.

The finder 21 is an image display device having a monitor screen such as a liquid crystal display. On the finder 21, a monitor image QP and a guide image GP which is a feature of the present invention are displayed. Details of the monitor image QP and the guide image GP will be described later. In addition, in each operation stage, operation procedure information for instructing the next operation to be performed by the user by characters and symbols, and a distance image (shade image) in which the three-dimensional data of the captured portion is expressed by shading are displayed.

The buttons 22 to 24 on the back are used to set a photographing mode and the like. Analog output terminal 3
2, the two-dimensional image signal of the subject Q is, for example, NTSC
Output in format. The digital output terminal 33 is, for example, S
This is a CSI terminal.

Next, the function of the three-dimensional camera 2 will be described. FIG. 3 is a block diagram showing a functional configuration of the three-dimensional camera 2. The solid arrows in FIG. 3 indicate the flow of electric signals, and the broken arrows indicate the flow of light.

As shown in FIG. 3, the three-dimensional camera 2 includes a light emitting side and a light receiving side constituting the optical unit OU.
It has two optical systems 40 and 50. In the optical system 40, the wavelength 685n emitted from the semiconductor laser (LD) 41
The m laser beam becomes slit light U by passing through the light projecting lens system 42, and is deflected by the galvanomirror (scanning means) 43. The driver 44 of the semiconductor laser 41, the drive system 45 of the light projecting lens system 42, and the drive system 46 of the galvanomirror 43
1 is controlled.

In the optical system 50, a zoom unit 51
The light condensed by the beam splitter 52 is split by the beam splitter 52. The light in the oscillation wavelength band of the semiconductor laser 41 is
The light enters the measurement sensor 53. Light in the visible band enters the monitor color sensor 54. The measurement sensor 53 and the monitor color sensor 54 are both CCD area sensors. The measurement sensor 53 and the monitor color sensor 54 each output photographing information or photographing information of the subject Q as an electric signal.

The zoom unit 51 is of an in-focus type, and has a zoom lens (not shown). By moving this zoom lens along the shooting direction between the long focal length side and the short focal length side, three-dimensional data can be input at various resolutions. A part of the incident light is used for auto focusing (AF). The AF function is realized by the AF sensor 57, the lens controller 58, and the focusing drive system 59. The zooming drive system 60 is provided for electric zooming.

Next, the main flow of electric signals in the three-dimensional camera 2 will be described. First, the photographing information from the measurement sensor 53 is transferred to the output processing circuit 62 in synchronization with the clock from the driver 55. Output processing circuit 62
Has an amplifier that amplifies the photoelectric conversion signal of each pixel output from the measurement sensor 53, and an AD converter that converts the photoelectric conversion signal into 8-bit light reception data. The light receiving data obtained by the output processing circuit 62 is temporarily stored in the memory 63 and then sent to the center-of-gravity calculating circuit 73. The address specification at this time is performed by the memory control circuit 63A. The center-of-gravity calculation circuit 73 calculates data serving as a basis for calculating the three-dimensional shape based on the input light-receiving data, and outputs the data to the output memory 64. The data stored in the output memory 64 is output from the digital output terminal 33 via the SCSI controller 66 or is output to the recording medium 4.

The center-of-gravity calculating circuit 73 outputs subject shape data TD which is three-dimensional data corresponding to the shape of the subject Q.
Is generated and output to the display memory 74. The subject shape data TD stored in the display memory 74 is displayed on the finder 21 as a guide image GP after being subjected to image processing, which will be described later, by the display control unit 76.

On the other hand, imaging information from the monitor color sensor 54 is transferred to the color processing circuit 67 in synchronization with a clock from the driver 56. The color-processed imaging information is supplied to the NTSC conversion circuit 70 and the analog output terminal 3
The digital image data is output on-line via the digital image processor 2 or quantized by the digital image generator 68 and stored in the color image memory 69. The imaging information stored in the color image memory 69 is S
After passing through the CSI controller 66, it is output online from the digital output terminal 33 or written to the recording medium 4. The imaging information is displayed on the finder 21 via the display control unit 76 as a monitor image QP.

The system controller 61 gives an instruction for displaying operation procedure information on the finder 21 to the display control unit 76. Note that the object shape data T
Circuits from the optical systems 40 and 50 for generating D to the center-of-gravity calculating circuit 73, a display memory 74, a color image memory 69, a display control unit 76, and a system controller 6
1 and the finder 21 constitute the superimposed image generator 7.

The three-dimensional camera 2 having the above-described configuration and function inputs three-dimensional data of the entire circumference or a predetermined range of the subject Q. FIG. 4 is a diagram showing a specific method of inputting three-dimensional data of the entire circumference or a predetermined range of the subject Q by the three-dimensional camera 2.

In the method shown in FIG. 4A, the user moves the three-dimensional camera 2 around the subject Q and adaptively changes the photographing conditions for input. In the method shown in FIG. 4B, an input is performed by adaptively changing the shooting conditions while moving the subject Q itself. Alternatively, the three-dimensional camera 2 may be attached to a predetermined arm, and the position at which the subject Q is photographed may be changed by moving the arm.

Next, the monitor image QP and the guide image GP will be described. FIG. 5 is a diagram for explaining the process of generating the monitor image QP and the guide image GP by the superimposed image generator 7, and FIG. 6 shows the monitor image QP and the guide image GP of the subject Q displayed on the finder 21. FIG.

5 and 6, the monitor image QP
Is a color image for monitoring a portion of the subject Q where the user intends to input three-dimensional data while looking at the line of sight of the three-dimensional camera 2, and is generated from imaging information stored in the color image memory 69. .

The guide image GP is an image that gives the user information on how and where to shoot the subject Q when inputting three-dimensional data of the entire circumference or a predetermined range of the subject Q. The guide image GP is generated from the subject shape data TD as shown in FIG.

Here, the subject shape data TD is three-dimensional data of the input portion when the subject Q is input.
In the present embodiment, the left half of the rabbit is shown as an example.

Processing such as wire frame, shading, texture mapping, or coloring is performed on the subject shape data TD. The coloring is performed so that the wire frame, the shading, or the texture mapping image can be easily distinguished from the monitor image QP. By coloring, for example, colors such as blue, green, and red are obtained. Also, by changing the mixture ratio of the monitor image QP and the guide image GP, that is, by arbitrarily changing the density ratio of these two overlapping images, it is possible to make the user most visible. . By performing these processes, it is easy to superimpose the guide image GP and the monitor image QP.
It is possible to select which processing is performed according to the user's request. In the present embodiment, an example in which texture mapping is performed is shown.

The user can rotate (zoom) or zoom the subject shape data TD so that the guide image GP is in a state when the subject is viewed from a desired position. As a result, the guide image GP changes. The user can determine the next shooting position with reference to the guide image GP. Hereinafter, when it is necessary to distinguish the guide image GP from the others based on the display shape, “G
Numbers are added at the end, such as P1 and GP2.

The monitor image QP and the guide image GP
FIG. 5 shows a method for inputting three-dimensional data using
This will be described with reference to FIG. First, the user photographs the subject Q from one direction. Here, the left half of the rabbit is photographed from the right side. By photographing, three-dimensional data of the left half of the rabbit is obtained. The obtained three-dimensional data is displayed on the finder 21 as a guide image GP1, as shown in FIG.

Next, the user may input, for example, a guide image GP1.
An operation is performed to rotate the (subject shape data TD) rightward when viewed from above, and as shown in FIG. 6B, a guide image GP2 in a state when the subject is viewed from behind is displayed. . At this time, the right end region GPR of the subject shape data TD is displayed on the finder 21. Subject shape data T obtained in the first shooting
This is to leave a margin for joining D and the subject shape data TD obtained in the second shooting. It should be noted that if the color of the end area GPR, which is the margin, is different from that of the other parts, it becomes easier for the user to see.

Next, as shown in FIG. 6C, framing is performed so that the guide image GP2 and the portion of the monitor image QP corresponding to the guide image GP2 overlap. At the time of framing, the three-dimensional camera 2 may be moved, or the subject Q may be moved, as shown in FIG. By performing zooming or moving the three-dimensional camera 2, input can be performed at various resolutions. For example, a portion requiring detailed data such as a face can be input at a high resolution, while a portion such as the back whose shape does not change much can be input at a low resolution. This can prevent unnecessary data from increasing.

After the framing is performed, the shutter button 27 is pressed to perform the second photographing. Here, the second time, the rabbit is photographed from behind. By the same operation, the guide image GP2 is sequentially changed to the guide images GP3, GP4,... (Not shown), and shooting is performed over the entire circumference of the subject. Thereby, three-dimensional data of the entire circumference of the subject is input.

The third and subsequent guidance images GP3 and GP
4 can be generated, for example, by the following method. (1) Generate a guide image GP from an image taken last time. (2) Guide image G using all images taken so far
Generate P. (3) An arbitrary image is selected from the images captured so far, and a guide image GP is generated from the selected image.

As described above, the guide images GP sequentially formed
Can be changed in either a manual mode performed according to the user's request or an automatic mode performed in an order determined by a pre-program. When the manual mode is selected, it is possible to operate with a mouse or the like.

By inputting with reference to the guide image GP, it is possible to input three-dimensional data of the subject easily, quickly and accurately. In addition, several 3
Since the dimensional data can be easily positioned and accurately positioned, it is possible to easily obtain a composite image of the subject around the entire circumference or in a predetermined range without any loss.

FIG. 7 is a flowchart showing the input operation and processing of three-dimensional data. The first three-dimensional data is input by taking an image of a subject with an appropriate position as a first viewpoint (# 1). The viewfinder display viewpoint position is determined in the coordinate system at the time of inputting the first three-dimensional data (# 2). From the first viewpoint, a guidance image GP1 based on the first three-dimensional data is displayed (# 3). The guide image GP1 becomes the guide image GP2 automatically or by rotation or zooming specified by the user. From the second viewpoint which is the next viewpoint, the guide image GP2 and the monitor image QP
And (# 4). When the overlay is successfully completed, the second three-dimensional data is input (# 5). A parameter for converting the second three-dimensional data into the coordinate system of the first three-dimensional data is obtained. The three-dimensional data superimposed and input on the finder 21 is data of each coordinate system, and conversion between these coordinate systems is required. Aligning the three-dimensional data means converting to one coordinate system. As a method of performing the alignment, the following two methods are possible (# 6). According to the determined parameters, the second 3
The coordinate conversion is performed on the dimensional data (# 7), and the initial alignment is completed (# 8). Fine adjustment is performed by ICP in order to perform positioning with higher accuracy (# 9).

The ICP is a method of setting the closest point as a corresponding point and minimizing the total distance between the corresponding points.
For information on ICP, see "A method of regi
station of 3-D shapes. "
(P. Besl and N. McKay., IEEE.
E Transactions on Pattern
Analysis and Machine Inte
lligence, 12 (2): 239-256,19
92. ) Can be referred to.

Next, two methods for performing the alignment described in (# 6) will be described. [First Positioning Method] The following parameters are used in the description.

Pt: Viewpoint position when creating guide image GP Vt: Viewing direction when creating guide image GP Ut: Upward vector when creating guide image GP Ft: Focal length when creating guide image GP St: Creating guide image GP Distance to the gazing point at the time Fa: focal length at the time of shooting Sa: shooting distance Pa: viewpoint position at the time of shooting Va: gaze direction at the time of shooting Ua: upward direction vector at the time of shooting Pa ': after coordinate conversion Viewpoint position Va ′: gaze direction after coordinate conversion Ua ′: upward vector after coordinate conversion In the method described here, the viewpoint position Pa at the time of shooting is
Is obtained and alignment is performed. When creating the guide image GP displayed on the finder 21, the viewpoint position Pt and the line-of-sight direction Vt are set.

The line-of-sight direction Va and the viewpoint position Pa when photographing the subject Q by superimposing the monitor image QP on the guide image GP on the finder 21 are as follows. That is, the line-of-sight direction Va is the same direction as the line-of-sight direction Vt [Equation (3) below], and the viewpoint position Pa is a position moved back and forth in the same direction as the line-of-sight direction Vt.

Here, since the lens information (focal length) at the time of photographing is obtained, the photographing distance Sa is determined so that the image magnification becomes the same as that of the guide image GP, so that it can be obtained before and after the visual line direction Va (= Vt). Can be calculated (St-Sa), and the viewpoint position Pa is obtained as in the following equation (4). That is, since Ft / St = Fa / Sa (1), the photographing distance Sa is expressed by the following equation (2).

Sa = (Fa × St) / Ft (2) Further, since Va = Vt, Ua = Ut (3), the viewpoint position Pa at the time of photographing is given by the following (4).
It looks like an expression.

Pa = Pt + (St-Sa) × Vt (4) The three-dimensional data obtained from each direction is translated based on the viewpoint position Pa, and is rotationally moved based on the line-of-sight direction Va, thereby providing guidance. It is possible to convert the image GP into the coordinate system of the original three-dimensional data created. The parallel movement amount T for coordinate conversion for converting the original three-dimensional data into the coordinate system is expressed by the following equation (5).

T = Pa′−Pa (5) The line-of-sight direction Va ′ after the coordinate transformation and the upward vector Ua ′ after the coordinate transformation are represented by
Using a and Ua, they are expressed as the following equations (6) and (7), respectively.

Va ′ = R × Va (6) Ua ′ = R × Ua (7) Coordinates of the original three-dimensional data based on the three-dimensional data obtained from each direction by the translation amount T and the rotation matrix R The alignment is performed by converting the data into system data.

By performing the superposition, the relative movement amount between the three-dimensional camera 2 and the subject Q can be obtained. The three-dimensional data input from a plurality of positions is converted into data in a coordinate system at the time of the first shooting based on the movement amount.
Thereby, alignment can be performed.

As described above, the three-dimensional data input from a plurality of positions is input in a state where the monitor image QP and the guide image GP have been accurately positioned by superimposition. Therefore, there is no need to perform positioning afterwards, which is easy.

The bonding process is performed by the host 3 on the basis of the three-dimensional data from a plurality of positions that have been accurately positioned as described above. Therefore, the bonding process in the host 3 can be performed at high speed and with high accuracy. [Second Positioning Method] In this method, positioning is performed by utilizing the fact that the overlapping portion of three-dimensional data is known.

The following parameters are used for the description. Pti: Corresponding point of data photographed first Pai: Corresponding point of data photographed by aligning on the finder T: Parallel movement amount R: Rotation matrix showing rotational movement Point group in overlapping area on finder 21 Against
The closest point on the two-dimensional image is defined as a corresponding point. Positioning is performed by performing coordinate conversion such that the distance in three dimensions of the corresponding point is minimized. In the coordinate transformation that minimizes the distance of the corresponding point, the amount of parallel movement is determined so that the position of the center of gravity of the corresponding point coincides, and then the rotational movement can be obtained by using the least square method or the like. At this time, the following equations (8) and (9) are used.

[0060]

(Equation 1)

The rotation matrix R is determined so as to minimize J.

[0062]

(Equation 2)

This calculation method is described in the document “Faug
eras and Hebert, 1986 O.M. Fa
ugeras and M.A. Hebert. Ther
presentation, recognition
and locati ngof 3-D object
ts. International Journal
of Robotics Research 5
(3): 27-52, 1986. Can be referred to.

The translation amount T obtained as described above
And the coordinate transformation of each point Pi of the second three-dimensional data using the rotation matrix R and the following equation (10). P′i = R × (Pi-T) (10) By performing the above-described coordinate conversion, the first three-dimensional data and the second three-dimensional data can be aligned.

In the above-described embodiment, the guide image GP and the monitor image QP are displayed on the viewfinder 21 integrated with the three-dimensional camera 2. 3
It is also possible to display in b.

In the above embodiment, a see-through display device using a half mirror or the like may be used as the finder 21. Thereby, the power consumption of the three-dimensional camera 2 can be saved.

In the above-described embodiment, since the guide image GP is generated based on the three-dimensional data of the photographed subject Q, it is not necessary to prepare the guide image GP in advance, and the guide image GP is stored. Memory is minimal.

In the above embodiment, the configuration, shape, arrangement, circuit, processing mode, and the like of each part or the whole of the measurement system 1 and the three-dimensional camera 2 can be appropriately changed in accordance with the gist of the present invention.

[0069]

According to the present invention, it is possible to input three-dimensional data of a subject easily, quickly, and accurately, and to easily obtain a composite image of the subject around the entire circumference or in a predetermined range without any loss. It becomes possible.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a measurement system using a three-dimensional camera according to the present invention.

FIG. 2 is a diagram illustrating an appearance of a three-dimensional camera.

FIG. 3 is a block diagram illustrating a functional configuration of a three-dimensional camera.

FIG. 4 is a diagram showing a specific method for inputting three-dimensional data of the entire circumference or a predetermined range of a subject by a three-dimensional camera.

FIG. 5 is a diagram for explaining a process of generating a monitor image and a guide image by a superimposed image generation unit.

FIG. 6 is a diagram showing a monitor image and a guide image of a subject displayed on a finder.

FIG. 7 is a flowchart showing an input operation and processing of three-dimensional data.

FIG. 8 is a diagram illustrating an input principle of a three-dimensional camera to which a slit light projection method is applied.

[Explanation of symbols]

 2 Three-dimensional camera (three-dimensional data input device) 21 Viewfinder (monitor screen) 63 Memory (storage means) 73 Center of gravity calculation circuit (three-dimensional shape model image generation means) 76 Display control unit (display instruction means) Q subject GP guide image QP monitor image (image)

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Koichi Shiono Inventor, Osaka International Building Minolta 2-3-1-13, Chuo-ku, Osaka-shi, Osaka (72) Yuichi Kawakami Yuichi Kawakami Azuchi-cho, Chuo-ku, Osaka-shi, Osaka chome No. 3 No. 13 Osaka International building Minolta Co., Ltd. in the F-term (reference) 2F065 AA04 AA06 AA53 BB05 BB29 DD03 DD06 FF09 FF44 FF67 GG06 GG16 HH05 JJ03 JJ26 LL06 LL12 LL30 LL46 MM06 MM16 PP22 QQ03 QQ13 QQ21 QQ24 QQ32 SS13 UU01 5C061 AB06

Claims (2)

[Claims] 1. A monitor screen for confirming an object, wherein the image of the object is captured by
A three-dimensional data input method in a three-dimensional data input device configured to perform input of three-dimensional data, the image of a three-dimensional shape model corresponding to a shape based on three-dimensional data input from a part of the subject Is generated, and the image of the three-dimensional shape model is displayed on the monitor screen as a framing guide image, and framing is performed so that the guide image and the image corresponding to the guide image among the images of the subject overlap each other. 3. A method for inputting three-dimensional data, wherein the subject is photographed in a state where the framing is performed. 2. A monitor screen for confirming an object, wherein the image of the object is photographed, and the monitor screen is displayed.
A three-dimensional data input device configured to input three-dimensional data, the three-dimensional data input device being configured to generate an image of a three-dimensional shape model corresponding to the shape based on three-dimensional data input from a part of the subject Model image generating means; display instructing means for displaying the image of the three-dimensional shape model on the monitor screen as a framing guide image; and storage for storing three-dimensional data input by photographing the framed subject. Means, and a three-dimensional data input device, comprising: