JP2002296019A - Three-dimensional shape measuring system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To measure a three-dimensional shape by a simple system structure. SOLUTION: This three-dimensional shape measuring system comprises an elastic net N closely covering a tested object T and forming a lattice pattern on the surface of the object T, cameras C for imaging the object T covered with the net N from at least two points so as to produce overlap portions, and a processing unit 10 for calculating three-dimensional lattice information comprising the three-dimensional coordinates of intersections of the lattice pattern from information on a plurality of two-dimensional picture images of the overlap portions imaged by the cameras C.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a three-dimensional shape measuring system for measuring a three-dimensional shape of an object in a non-contact manner, and more particularly to a three-dimensional shape measuring system for measuring a partial shape of a human body.

[0002]

2. Description of the Related Art Conventionally, as a three-dimensional shape measurement system, a slit light beam is projected onto a subject with a laser or white light, and the external shape of an object is measured from the shape of the slit.
As a specific example of the three-dimensional shape measurement system, for example, as described in Japanese Patent No. 2961264,
The external shape of the subject is grasped from a plurality of stereo images obtained based on the same principle as triangulation.

[0003]

The conventional three-dimensional shape measuring system uses precise instruments such as a laser, so that the instrument adjustment and the design of peripheral devices are required to have high precision, and the system can be easily expanded. There is a problem that you can not. Further, when a laser is used, there is a problem that a black object or a metal object cannot be measured due to absorption and reflection of the laser. Further, when measuring the entire circumference of the subject, the measurement is usually carried out by placing the measurement target on a turntable. However, for example, there is a problem that it is not easy to put a subject on a turntable to measure a partial shape of a human body.

The present invention has been made in view of such a problem, and provides a three-dimensional shape measuring system for measuring a three-dimensional shape with a simple system configuration.

[0005]

A technical means of the present invention for solving such a problem is to provide a three-dimensional shape for calculating coordinate data relating to the three-dimensional shape of the subject without touching the subject. In a measurement system, an expandable and contractible net that is coated in close contact with the subject and forms a lattice pattern on the surface of the subject and an image of the subject that is covered with the net are captured from at least two or more points so that overlapping portions occur. And a processing device for calculating three-dimensional grid information consisting of three-dimensional coordinates of intersections of a grid pattern from a plurality of pieces of two-dimensional image information of overlapping portions captured by the camera.
Using the two-dimensional image information from two points, the three-dimensional coordinates of the intersection are obtained from the three-dimensional coordinates of the intersection of the grid pattern of the net covering the object, and the three-dimensional shape of the object is obtained from the three-dimensional coordinates of the plurality of intersections. Be recognized. In addition, in order to provide a reference point for identifying a duplicated portion of the two-dimensional image information as necessary, a configuration is provided with a mark attached to the lattice pattern. In a plurality of two-dimensional image information, the same point on the subject can be recognized, and the corresponding intersection between the two-dimensional image information can be easily identified. Further, the above-mentioned sign is colored as required. Visually, it is easy to recognize the sign.

Further, if necessary, the above processing device
Lattice pattern information extracting means for extracting lattice pattern information from the two-dimensional image information; cross point coordinate calculating means for calculating cross point coordinates of the lattice pattern information extracted by the extracting means; And a three-dimensional coordinate calculation means for calculating three-dimensional coordinates of the one intersection from the plurality of intersection coordinates calculated by the intersection coordinate calculation means. The lattice pattern information extracting means extracts only the lattice pattern information from the two-dimensional image information including image information other than the lattice pattern, and gives the intersection points of the lattice pattern information two-dimensional coordinates by the intersection coordinate calculating means. The three-dimensional coordinate calculation means calculates three-dimensional coordinates of the same crossing point using a plurality of two-dimensional coordinates of the same crossing point. Further, as required, the lattice pattern information extraction means has a function of binarizing the two-dimensional image information and thinning the lattice pattern information. When the grid pattern information is extracted from the two-dimensional image information, the two-dimensional image information is converted into, for example, a binary value indicating white and black, thereby simplifying the two-dimensional image, and adjusting the two-dimensional image to a grid pattern and other information. . Therefore, the lattice pattern can be represented by one value. Since the grid pattern has a line width and binarization alone cannot specify the cross point of the grid pattern, the grid pattern is thinned to make it easy to specify the cross point. Further, if necessary, the crossing point coordinate calculating means has a function of patterning the shape of the crossing point of the thinned grid pattern information and calculating the crossing point coordinates according to the pattern. The shape of the intersection of the grid pattern thinned by the grid pattern information extracting means forms a predetermined pattern due to the shape deviation. Therefore, by determining the position of the intersection for each pattern, the two-dimensional coordinates of the intersection can be easily obtained.

Furthermore, if necessary, the three-dimensional coordinate calculating means has a function of calculating three-dimensional coordinates by triangulation. The two-dimensional coordinates of the same intersection of a plurality of two-dimensional image information are obtained, and the three-dimensional grid coordinates of the same intersection can be calculated based on the principle of triangulation. Therefore, the shape of the overlapping portion is grasped by calculating the three-dimensional lattice coordinates of the intersection of the overlapping portion. Further, if necessary, the processing apparatus is provided with a connecting means for connecting three-dimensional grid information including coordinates of intersections of the same intersections adjacent to the subject. If the three-dimensional coordinates are made the same at the same intersection, continuous three-dimensional grid information is formed. Furthermore,
A configuration having a function of converting the three-dimensional grid information including the crossing point coordinates of the same crossing point adjacent to the subject into a global coordinate system as necessary, and averaging the same crossing point coordinates. And After converting the continuous three-dimensional grid information into the global coordinate system, a desired same cross point among the same cross points of the overlapping portions of the adjacent three-dimensional grid information is matched, and the other same cross points are averaged and unified. And connect the three-dimensional grid information. If necessary, the connecting means may superimpose each plane formed from the coordinates of the intersections of at least three identical intersections of the three-dimensional grid information such that the normal vectors of the planes coincide with each other. The configuration provided with a function of converting the coordinate system into the other coordinate system. The three-dimensional grid information can be connected to a specific surface without performing coordinate conversion for each intersection point coordinate.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A three-dimensional shape measuring system according to an embodiment of the present invention will be described below with reference to the accompanying drawings. As shown in FIG. 1, the three-dimensional shape measurement system S
When calculating coordinate data relating to the three-dimensional shape of the subject T without contacting the subject T, a stretchable net N which is coated in close contact with the subject T and forms a lattice pattern on the surface of the subject T And a camera C that images the subject T covered with the net N from at least two or more points so that an overlapping portion occurs, and a crossing point of a grid pattern of the overlapping portion from a plurality of two-dimensional image information captured by the camera C. And a processing device 10 for calculating three-dimensional grid information composed of three-dimensional coordinates. The net N may be a lattice pattern itself, or a lattice pattern may be drawn on the covering fabric, and has a bag-like shape that wraps the subject T from a desired direction. Further, the net N has various sizes according to the size of the subject T, and also has various types of lattice sizes of the lattice pattern. The lattice pattern is preferably black, which is easy to identify. Marks m can be attached at predetermined grid intervals at intersections of the grid pattern of the net N.
It is preferable that the sign m be colored or have a characteristic shape so as to be visually recognized as a reference point in the lattice pattern. As the camera C, a digital camera C was used for data processing. The two-dimensional image information taken by the digital camera C can be directly transferred to the processing device 10.

The processing device 10 includes a lattice pattern information extracting means for extracting lattice pattern information from the two-dimensional image information, an intersection coordinate calculating means for calculating intersection coordinates of the lattice pattern information extracted by the extracting means, A three-dimensional coordinate calculating means for calculating three-dimensional coordinates of one crossing point from a plurality of crossing point coordinates calculated by the crossing point coordinate calculating means at the one crossing point, and a display means. The lattice pattern information extraction means binarizes the two-dimensional image information to simplify it. Binarization is performed by setting a threshold for a predetermined color gradation. Therefore, the lattice pattern can be extracted with one value (black) as the lattice pattern and the other two-dimensional image information (white) as the background. Further, the lattice pattern information extracting means has a function of thinning the binarized lattice pattern information. Thinning is a process necessary for easily converting a grid pattern into a coordinate.
Convert to pixels. Since the binarized grid pattern width is not constant, it is not possible to perform batch processing of thinning. So 2
It is desirable to expand the pixels of the valued grid pattern to a certain line width before thinning. By expanding the pixels, a continuous grid pattern having a constant line width is obtained.

The intersection coordinate calculating means has a function of patterning the shape of the intersection of the thinned grid pattern information and calculating the intersection coordinates according to the pattern. The thinned grid pattern information can be classified into a predetermined pattern by simplifying the two-dimensional shape of the intersection. The patterning is performed based on the state near 8 pixels forming the intersection. Specifically, the pixels constituting the cross-pattern information are patterned by the number of pixels (8 neighborhood information) constituting the cross-pattern information in contact with the pixel. Patterning is performed by setting, as a pixel value, the sum total of eight pixels in the vicinity of the pixels forming the intersection. A pixel to be an intersection can be specified and coordinated from eight pieces of neighborhood information of a plurality of pixels constituting the intersection. The three-dimensional coordinate calculation means has a function of calculating three-dimensional coordinates by triangulation. By capturing the same grid pattern with a plurality of cameras C, a plurality of the same cross point coordinates in the same grid pattern can be obtained for each camera C. Therefore, the three-dimensional coordinates of the same cross point are calculated by triangulation. Here, 3 of the obtained intersections
A set of dimensional coordinates is called three-dimensional lattice information. In addition, the processing device 10 includes a connection unit that connects three-dimensional grid information including the intersection coordinates of the same intersection that is adjacent to the subject T. If you connect 3D grid information,
The entire appearance of the subject T can be recognized. For example, when a function is provided in which three-dimensional grid information including the crossing point coordinates of the same crossing point adjacent to the subject T is converted into a global coordinate system and the same crossing point coordinates are averaged. Is the 3 that occurs when placing in the global coordinate system.
The deviation (coordinates of coordinates) of the coordinates of the connection point of the dimensional lattice information is adjusted by unifying the average value of the coordinates.
Also, a function of converting one coordinate system to the other coordinate system by superimposing planes formed from intersection coordinates of at least three identical intersection points of the three-dimensional grid information so that the normal vectors of the planes coincide with each other. Is provided, the other coordinate can be indicated by a normal vector with respect to the plane to be superimposed, and the connection operation is easily performed.

Therefore, according to the three-dimensional shape measuring system S according to the embodiment of the present invention, the three-dimensional shape of the subject T is measured according to the flow shown in FIG. Here, the subject T is a leg of a part of a human body, and a sock (net N) on which a lattice pattern is formed is put on the leg. At the intersections of the lattice pattern, a plurality of markers m each having a different color are provided at predetermined lattice intervals. (A: Imaging Process) In order to obtain the three-dimensional grid coordinates on the left side and the three-dimensional grid coordinates on the right side of the subject T, the subject T was imaged by a total of four cameras C on the left and right. At this time, the overlapped portions of the images captured by the two cameras C on the right and left sides respectively cover the entire left and right side surfaces of the subject T. Since the captured image obtained by each camera C is two-dimensional information, the three-dimensional information of the overlapping portion of the captured image was obtained as follows.

(B: Binarization) In order to extract a lattice pattern from each captured image, the captured image is converted into binary (white or black) by a predetermined threshold value (determining a color gradation to be a reference). . The threshold value may be a condition that makes the lattice pattern clear from the background by binarization. Data other than the lattice pattern obtained by the binarization processing, and the same value as the value representing the lattice pattern (for example, black) is converted to a value not representing the lattice pattern (white). In this way, only the grid pattern can be represented by one value. Specifically, binarization is performed as shown in FIG. FIG. 3A shows two-dimensional image information before binarization processing. By performing a binarization process on the two-dimensional image information, a lattice pattern is extracted as shown in FIG.

(C: Thinning) The grid pattern obtained by the binarization processing has a portion where the line width is not uniform as shown in FIG. 3 (2), so that the line width is made uniform (one pixel). A thinning process is performed. First, as shown in FIG. 3 (3), the grid pattern obtained by the binarization processing is expanded with pixels to make the line width uniform, and the grid pattern disconnected by the binarization processing is connected. What is necessary is just to make the line width uniform to the maximum line width of the lattice pattern obtained by the binarization processing. Then, FIG.
As shown in (4), the line width of the lattice pattern with the pixels expanded is 1
The pixels are formed into a grid pattern having a uniform line width. By making the line width of the grid pattern one pixel, it becomes easier to specify the intersection of the grid. At this time, the location of the sign m is identified according to the size of the sign m. The identification is performed by recognizing a boundary between the lattice pattern and the sign m, for example, a difference between the color of the lattice pattern and the sign. In this case, the marker m is provided with the coordinates of both ends of the X coordinate and the coordinates of both ends of the Y coordinate at the boundary as identification information.

(D: Calculation of Intersection Point Coordinates) The intersection points of the thinned grid pattern are specified to determine the two-dimensional coordinates of the intersection points.
The specification of the intersection is easy in determining the same point of the lattice pattern on the subject T. As shown in FIG.
In many cases, the intersection t of the thinned lattice pattern is composed of a plurality of pixels (distortion), and the intersection is specified only by the thinned lattice pattern information, and the intersection coordinates cannot be uniquely determined. . Therefore, in order to determine the coordinates of the intersection, the distortion correction of the intersection t was performed as follows. First, a raster scan is performed on the thinned grid pattern information. The raster scan obtains (patterns) the pixel values of the pixels constituting the grid pattern information in the vicinity of 8 (up, down, left, right, diagonal) of the pixels constituting the grid pattern information. Therefore, a pixel value is added to the pixels constituting the grid pattern information. For example, since the pixels forming the straight line portion of the lattice pattern include pixels constituting the lattice pattern information before and after, the pixel value of this pixel is “2”. The pixel values of the pixels constituting the intersection t of the lattice pattern are values other than 2 depending on the intersection state. An example is shown in FIG. If the crossing point is ideally one pixel,
As shown in (a), the pixel value of the pixel forming the grid pattern in the vicinity of the intersection and the vicinity of the intersection 8 is “4”, and the pixel value of the intersection 8
The pixel value of the pixel adjacent to the vicinity is “2”. here,
“3” and “4” are assigned to the pixel values of the pixels forming the intersection t.
If there is, it means that not a crossing point but a plurality of T-shaped crossing points where the crossing point is deformed as shown in (b) and (c). Therefore, a process of erasing pixels having pixel values other than “2” and forming a crossing point t so that a new crossing point occurs is performed. However, at the intersection t where the intersection t is a single T-shaped intersection, a T-shaped intersection is formed.

FIG. 5 shows distortion correction when the crossing point t is in a cross state. In the case of cross intersection, four end points (a, b, c, d) of a line segment are generated as shown in FIG. 5A by deleting the intersection t shown in FIG. 4A. The inclination of the line segment including the end point a can be obtained by going back the line segment including the end point a at the selected one end point (for example, a) by a predetermined distance Y. Next, as shown in FIG. 5 (2), the line segment is extended from the end point a in accordance with the obtained inclination, and the pixel value of the end point Z is obtained along with the extension.
As shown in (3), it can be connected to the end point c (the pixel value of the end point Z only needs to be “2”). FIG.
As shown in (4), a line segment is similarly formed at the other end point (c or d). In this way, a new intersection point is re-formed by connecting the end points (a and c, b and d) facing each other. The reshaping of the crossing point determines the crossing point of one pixel, and gives the crossing point two-dimensional coordinates. The re-forming of the crossing point can also be performed as follows. First,
A combination of two end points is selected from the end points (a, b, c, d) of the line segment generated by eliminating the intersection t, and an equation of two straight lines including the selected two points is obtained. Next, the intersection is calculated from the simultaneous equations of the obtained straight line equations, and it is checked whether or not the intersection coordinates exist in the intersection t. Since there is only one combination of the end points where the intersection coordinates exist at the intersection point t, the intersection is determined by determining the combination, and the two-dimensional coordinates are given to the intersection. In this way, the two-dimensional coordinates of the intersection can be obtained when obtaining the combination of the end points. The above processing was performed on the grid pattern information captured by one camera C.
The following processing was performed to make the dimension.

(E: Calculation of three-dimensional grid coordinates) There are a plurality of two-dimensional coordinates (the number of cameras C used) at the same intersection point of the overlapping portion.
Therefore, the three-dimensional coordinates of the same intersection can be easily calculated based on the principle of triangulation. The three-dimensional grid information is formed as a set of three-dimensional coordinates of the intersections of the overlapping portions. (F: Connection of three-dimensional grid information)
When the three-dimensional grid information is obtained, the data of the external shape of the subject T is integrated by connecting the three-dimensional grid information. Here, in order to connect the three-dimensional grid information, it is necessary that both connected three-dimensional grid information include common three-dimensional coordinates indicating the same intersection point. The determination of the existence of the common three-dimensional coordinates can be determined from the degree of grid overlap. FIG. 6 shows a method of determining the existence of common three-dimensional coordinates. Signs m1 and m2 (separate signs provided with different color information) are attached at predetermined intervals to predetermined two pieces of three-dimensional grid information Z1 and Z2 (here, left and right sides of the three-dimensional grid information). It is assumed that they are connected, and the same applies to the case where they are connected on the upper and lower sides.) Therefore, the number of intersections Q of the grid rows between the markers m1 and m2
(Here, 5), the three-dimensional grid information Z
In step 1, the number of crossings Q1 on the marker m1 side from the marker m1
(Here, 3) and the sign m2 in the three-dimensional grid information Z2
By examining the number of intersections Q2 (here, 4) on the marker m1 side from FIG. 2, the degree of grid overlap (Q1 + Q2-Q = 2) can be found, and a common three-dimensional coordinate area representing the same intersection can be identified.

When actually connecting the three-dimensional grid information,
As shown in FIG. 7A, three-dimensional grid information Z1, Z2, Z3 obtained by imaging so as to include a marker m for connecting to a common three-dimensional grid information area is converted into a global coordinate system. First. Three-dimensional grid information Z1, Z2, Z
3 uses an arbitrary coordinate system, so that by converting to a global coordinate system, a relative position in common coordinates is determined, and connection of three-dimensional grid information becomes possible. FIG.
(2) shows a connection form between the three-dimensional lattice information Z1 and Z2. The connection is performed by matching the marker line L connecting the marker m existing in the common three-dimensional lattice information area with the respective three-dimensional lattice information Z1 and Z2. By matching with the marker line L, the three-dimensional coordinates of both ends of the three-dimensional lattice information deviating from the marker line L were cut. Also, the marker line L
In some places, the three-dimensional coordinates of the same intersection (S1, S2) in the respective three-dimensional grid information Z1, Z2 may exist in two values. This is because the three-dimensional coordinates of the same crossing point at the crossing point t are shifted due to an error during imaging or the like. In that case, the three-dimensional coordinates of the same intersection are unified by using the average value of the three-dimensional coordinates.

FIG. 8 shows that in the connection processing of the three-dimensional shape measuring system S according to the above embodiment, at least three identical pieces of three-dimensional grid information are used instead of converting the three-dimensional grid information into a global coordinate system. An example is shown in which planes formed from the intersection point coordinates of the intersection points are overlapped so that the normal vectors of the planes coincide, and one coordinate system is converted to the other coordinate system and connected. When connecting the three-dimensional grid information Z2 to the three-dimensional grid information Z1 shown in FIG. 8A, the common three-dimensional coordinate area (see FIG. 6) P is planarized and overlapped. The plane is formed by selecting predetermined coordinates p1, p2, and p3 of the three-dimensional coordinate area P of the three-dimensional grid information Z1.
Also in the three-dimensional grid information Z2, a plane is formed by coordinates p1 ', p2', p3 'corresponding to the coordinates p1, p2, p3. The coordinates other than the common three-dimensional coordinate area of the three-dimensional grid information Z2 are represented by normal vectors on a plane on which the coordinates are formed. Next, as shown in FIG. 8B, the plane formed by the three-dimensional lattice information Z1 is extended. Since the plane formed by the three-dimensional grid information Z1 and the plane formed by the three-dimensional grid information Z2 are the same plane, the coordinates other than the common three-dimensional coordinate area of the three-dimensional grid information Z2 are the normals on the extended plane. It can be represented as a vector. Therefore, as shown in FIG. 8C, the three-dimensional grid information Z2 is converted into the coordinate system of the three-dimensional grid information Z1, and the three-dimensional grid information Z1 and Z2 are connected.

[0019]

As described above, according to the three-dimensional shape measuring system of the present invention, a stretchable net that is covered in close contact with the subject and forms a lattice pattern on the surface of the subject is covered with the net. And a camera that images the subject from at least two points so that an overlapping portion occurs, and three-dimensional grid information including three-dimensional coordinates of intersections of a grid pattern from a plurality of pieces of two-dimensional image information of the overlapping portion captured by the camera. Since the apparatus is provided with a processing device for calculating, a three-dimensional shape can be measured with a simple system configuration. When a mark attached to a lattice pattern is provided in order to provide a reference point for identifying an overlapping portion of the two-dimensional image information, the three-dimensional image information is obtained by combining the reference points from a plurality of two-dimensional image information. Can be formed. Further, when the sign is colored, the visibility of the sign can be improved. Furthermore, the processing device includes: lattice pattern information extracting means for extracting lattice pattern information from the two-dimensional image information; intersection point coordinate calculating means for calculating intersection point coordinates of the lattice pattern information extracted by the extracting means; In the case where the apparatus is provided with three-dimensional coordinate calculating means for calculating three-dimensional coordinates of one crossing point from a plurality of crossing point coordinates calculated by the crossing point coordinate calculating means at one crossing point, a plurality of two-dimensional The three-dimensional coordinates can be calculated from the intersection points of the image information.

When the grid pattern information extracting means has a function of binarizing two-dimensional image information and thinning the grid pattern information, the grid pattern information is distinguished from its background information to unify the grid pattern information. can do. Further, when the intersection coordinate calculating means has a function of patterning the shape of the intersection of the thinned grid pattern information and calculating the intersection coordinates according to the pattern, the intersection is converged to one value. The coordinates of the intersection can be easily converted. Furthermore,
When the three-dimensional coordinate calculation means has a function of calculating three-dimensional coordinates from two-dimensional coordinates by triangulation, three-dimensional coordinate conversion can be easily performed. Also, in the processing device,
In the case where the connecting means for connecting the three-dimensional grid information including the crossing point coordinates of the same crossing point adjacent to the subject is provided, a series of appearances of the subject can be easily grasped. Further, the connecting means has a function of converting the three-dimensional grid information including the crossing point coordinates of the same crossing point adjacent to the subject into the global coordinate system and averaging the same crossing point coordinates. In this case, when connecting the three-dimensional grid information, the three-dimensional grid information can be connected while suppressing the displacement of the connection portion. Furthermore, the connecting means may be 3
When a function is provided in which planes formed from the intersection points of at least three identical intersection points of the three-dimensional grid information are overlapped so that the normal vectors of the planes coincide, and one coordinate system is converted to the other coordinate system. Since the intersection can be positioned by the normal vector on the plane, the connection process can be easily performed.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing a three-dimensional shape measurement system according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a measurement flow of the three-dimensional shape measurement system according to the embodiment of the present invention.

FIG. 3 is an explanatory diagram showing a thinning process in the three-dimensional shape measuring system according to the embodiment of the present invention.

FIG. 4 is an explanatory diagram illustrating a grid pattern intersection coordinate calculation process in the three-dimensional shape measurement system according to the embodiment of the present invention.

FIG. 5 is an explanatory diagram showing a distortion correction process at a crossing point of a lattice pattern in the three-dimensional shape measurement system according to the embodiment of the present invention.

FIG. 6 is an explanatory diagram showing the degree of overlap of three-dimensional grid information in the three-dimensional shape measurement system according to the embodiment of the present invention.

FIG. 7 is an explanatory diagram showing connection processing of three-dimensional grid information in the three-dimensional shape measurement system according to the embodiment of the present invention.

FIG. 8 is an explanatory diagram showing another connection processing of the three-dimensional grid information in the three-dimensional shape measurement system according to the embodiment of the present invention.

[Explanation of symbols]

 S 3D shape measurement system T subject N net m marker C camera t crossing point L marker line 10 processing device

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI theme coat ゛ (Reference) G01B 11/24 K F term (Reference) 2F065 AA04 AA53 BB02 BB29 CC16 FF04 FF09 FF42 HH06 JJ03 JJ05 JJ26 QQ05 QQ24 QQ42 5B046 EA09 FA02 FA04 FA18 5B057 BA02 BA13 CA08 CA13 CA16 CB06 CB13 CB16 CD01 CE12 CE16 CF01 DB03 DB06 DB09 DC05 5L096 AA02 AA06 AA09 CA05 EA04 EA06 EA43 FA10 FA69

Claims (10)

[Claims] 1. The method according to claim 1, wherein the third part of the subject is not contacted with the subject.
In a three-dimensional shape measurement system for calculating coordinate data relating to a three-dimensional shape, a stretchable net that is coated in close contact with the subject and forms a lattice pattern on the surface of the subject, A camera that captures images from at least two or more locations so as to generate overlapping locations, and a process of calculating three-dimensional grid information including three-dimensional coordinates of intersections of a grid pattern from a plurality of pieces of two-dimensional image information of the overlapping locations captured by the camera A three-dimensional shape measurement system, comprising: a device; 2. The three-dimensional shape measuring system according to claim 1, further comprising a marker attached to the lattice pattern to provide a reference point for identifying a duplicated portion of the two-dimensional image information. 3. The three-dimensional shape measuring system according to claim 1, wherein the sign is colored. 4. A processing device comprising: a grid pattern information extracting unit for extracting grid pattern information from the two-dimensional image information; and a cross point coordinate calculating unit for calculating a cross point coordinate of the grid pattern information extracted by the extracting unit. And three-dimensional coordinate calculation means for calculating three-dimensional coordinates of the one intersection from the plurality of intersection coordinates calculated by the intersection coordinate calculation means at the one intersection of the overlapping portion. The three-dimensional shape measuring system according to claim 1, 2, or 3. 5. The three-dimensional shape measuring system according to claim 4, wherein the lattice pattern information extracting means has a function of binarizing the two-dimensional image information and thinning the lattice pattern information. 6. The cross point coordinate calculating means has a function of patterning the shape of the crossing point of the thinned grid pattern information and calculating the cross point coordinates according to the pattern. The three-dimensional shape measurement system according to the above. 7. The three-dimensional shape measuring system according to claim 4, wherein said three-dimensional coordinate calculating means has a function of calculating three-dimensional coordinates by triangulation. 8. The processing apparatus according to claim 1, further comprising a connection unit configured to connect three-dimensional grid information including coordinates of intersections of the same intersections adjacent to each other with respect to the subject. The three-dimensional shape measurement system according to 2, 3, 4, 5, 6, or 7. 9. The connection means converts the three-dimensional grid information including the intersection coordinates of the same intersection points adjacent to the subject into a global coordinate system, and averages the same intersection point coordinates. 9. The device according to claim 8, further comprising:
The three-dimensional shape measurement system according to the above. 10. The connecting means superimposes each plane formed from intersection coordinates of at least three identical intersections of the three-dimensional grid information so that normal vectors of the planes coincide with each other, and sets one coordinate. 9. The three-dimensional shape measurement system according to claim 8, further comprising a function of converting the system into the other coordinate system.