JP2019032292A - Symmetry visualization device, symmetry visualization method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To visualize the symmetry of a measurement target. A symmetry visualization device 100 has a first shape information acquisition unit 101 that acquires measurement target surface shape information including three-dimensional coordinate data of the measurement target surface, and an arrow shape of the three-dimensional coordinate data of the measurement target surface. The second shape information acquisition unit 104 that acquires the reflection symmetry information including the reflection symmetry 3D coordinate data having a mirror image relationship with the 3D coordinate data with respect to the surface, and the 3D coordinate data of the measurement target surface are described above. It includes a deviation distribution acquisition unit 105 that acquires the distribution of deviations from the reflection symmetric three-dimensional coordinate data, and an output control unit 108 that outputs the distribution of the deviations. [Selection diagram] Fig. 1

Description

  The present invention relates to a symmetry visualization apparatus, a method thereof, and a program.

  It is ideal that many parts of the human body are symmetric in nature, and by monitoring the symmetry, it may be possible to know physical condition judgments and signs of disease. For example, in treatments such as manipulative treatment, symptoms are often improved by taking strain of the body, but the degree of strain can be quantitatively confirmed, the effect of treatment before and after treatment, It is important to confirm the changes in distortion.

  Therefore, various systems for supporting the determination of distortion have been proposed.

  As a method therefor, there is a method of making a diagnosis using a three-dimensional CT (Computed Tomography) image, but generally there is a demand to avoid exposure as much as possible, and this method is not used in manipulative treatment.

  Further, as a method for monitoring a person's back shape, a moire method has been used in which a back surface shape is displayed as a contoured stripe image using light interference fringes. When the subject's spine has an asymmetry, an asymmetrical distortion appears in the acquired fringe image. Therefore, the asymmetry can be found by tracking the fringe information.

  However, in order to determine symmetry, it is necessary to track fringe information appearing in the fringe image, which requires human judgment. In addition to the time and effort required to make a decision, there was a problem that the results depended on the person who made the decision. In order to solve these problems, a system has been proposed in which asymmetry is quantified using a feature quantity that can be read by image processing such as density and periodicity appearing in a striped image. (Patent Document 1)

JP2011-250998A

  However, since the system described in Patent Document 1 uses density information of the acquired fringe image, the density measurement is performed after preprocessing such as filter processing is performed on the fringe image. It is difficult to quantify symmetry with good reproducibility because it is easily affected by camera image quality, environmental noise, the subject's clothing situation, skin color, and the like.

  Therefore, even with the system described in Patent Document 1, it is difficult to quantitatively grasp the symmetry without being influenced by the environment and the photographing conditions. In particular, if you want to check the subject's changes over time and changes before and after treatment and training, you need to monitor subtle differences. It becomes difficult.

  Further, in the system described in Patent Document 1, since the fringe image is acquired based on the moire method, for example, asking the subject to undress, and regarding the placement and posture of the subject, the reference position In addition, problems inherent in the moire method such as a long measurement time due to a strict match with the body posture are inherent.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a device that outputs a numerical value of symmetry of a measurement target and visualizes numerical information as a color image.

  The symmetry visualization apparatus according to the present invention includes a first shape information acquisition unit that acquires measurement target surface shape information including three-dimensional coordinate data of a measurement target surface, three-dimensional coordinate data of the measurement target surface, and the three-dimensional A second shape information acquisition unit that acquires reflection symmetry information including reflection symmetry three-dimensional coordinate data having a mirror image relationship with the three-dimensional coordinate data with respect to the sagittal plane of the coordinate data; and the acquired measurement target surface surface For three-dimensional coordinate data, a deviation distribution acquisition unit that acquires a distribution of deviation from the acquired reflection-symmetric three-dimensional coordinate data, and an output control unit that outputs the acquired distribution of deviation.

  According to the present invention, since a shape information acquisition device that acquires three-dimensional data of a measurement target surface such as a 3D scanner is used, there are few restrictions on the state of the measurement target surface such as requiring undressing. In addition, since the entire three-dimensional shape of the surface to be measured is based on a mathematical method for obtaining a deviation distribution from the three-dimensional shape having a mirror image relationship with respect to the sagittal plane of the three-dimensional shape, the reproduction is performed. The deviation distribution can be output numerically with good performance. Thereby, a trainer, a doctor, etc. can comprehensively confirm local distortion at a glance about the whole surface of the measuring object by referring to the distribution of deviation displayed on the display unit. As described above, since it is possible to instantly identify the presence or absence of a local distortion and its location, it is possible to support the determination of a training policy and a treatment policy.

It is a figure which shows the functional structure of the symmetry visualization apparatus which concerns on one embodiment of this invention. It is a figure which shows the functional structure of the 1st shape information acquisition part which concerns on embodiment. It is a figure which shows the functional structure of the matching part which concerns on embodiment. It is a flowchart which shows the flow of the symmetry visualization process which concerns on embodiment of this invention. It is a flowchart which shows the flow of the 1st shape information acquisition process which concerns on embodiment. It is a flowchart which shows the flow of the deviation distribution acquisition process which concerns on embodiment. It is a flowchart which shows the flow of the matching process which concerns on embodiment. It is a flowchart which shows the flow of the attitude | position adjustment process which concerns on embodiment. It is a deviation distribution color map image of a person's back which has asymmetric distortion. It is a deviation distribution color map image of a person's back which does not have left-right asymmetric distortion. It is a deviation distribution color map image on the back side of a human foot. It is a figure which shows the example of the physical structure of the symmetry visualization apparatus which concerns on one embodiment of this invention.

  An embodiment of the present invention will be described with reference to the drawings.

  Embodiments of the present invention will be described with reference to the drawings.

  The symmetry visualization apparatus 100 according to the embodiment of the present invention is an apparatus for displaying a color map of the degree of symmetry of a measurement target surface shape such as a human being or an economic animal. Functionally, the symmetry visualization apparatus 100 includes a first shape information acquisition unit 101, a spindle acquisition unit 102, a sagittal plane acquisition unit 103, a second shape information acquisition unit 104, as shown in FIG. A deviation distribution acquisition unit 105 and an output display control unit 108 are provided.

  The first shape information acquisition unit 101 acquires measurement target surface shape information. The measurement target surface information is information indicating the three-dimensional shape of the measurement target surface. The measurement target surface shape information according to the present embodiment indicates point cloud data having three-dimensional coordinates. The measurement target surface is typically an area that is desirably symmetrical in nature, and examples thereof include a human face, back, chest, and buttocks.

  Specifically, as shown in FIG. 2, the first shape information acquisition unit 101 includes an entire visual field data acquisition unit 112, a region setting unit 113, a cutout unit 114, and a smoothing unit 115.

  The entire visual field data acquisition unit 112 acquires the entire visual field data including the measurement target data. The total visual field data is all 3D data and color image data acquired by the total visual field data acquisition unit 112. The measurement target data is 3D data obtained by cutting out only a region to be measured from the entire visual field data. The 3D data includes RGB color information as well as three-dimensional coordinate information.

  The 3D data is three-dimensional point group data indicating a three-dimensional shape to be measured with a plurality of points, and is generated by, for example, a 3D scanner. The 3D scanner is an apparatus that detects unevenness on the surface of a measurement target and generates three-dimensional data indicating the detection result. The color image data is data indicating a color image to be measured, and may be generated by a camera, for example, or may be generated simultaneously with scan data by an RGB-D camera that simultaneously acquires a color image and a depth image. Good. Since the 3D scanner can acquire 3D data having a sufficient density with a general one-shot type 3D scanner, the measurement time can be instantaneous (within 0.1 second).

  The area setting unit 113 automatically or manually sets a measurement target area based on the 3D data and color image data of the entire visual field acquired by the entire visual field data acquisition unit 112.

  The region setting unit 113 extracts measurement target data from the entire visual field data.

  For example, the region is set by comparing the entire visual field data acquired by the entire visual field data acquiring unit 112 with a predetermined hue threshold. When scanning with a 3D scanner or shooting with a camera is performed according to a rule that a measurement target wears a blue shirt, the region setting unit 113 can extract a measurement target region by specifying a blue region. That is, for example, a hue value corresponding to blue is set as the hue threshold.

  As another example, a region that can be regarded as one body with 3D data including a specific region, for example, the central portion of the field of view, of the entire field of view data acquired by the entire field of view data acquisition unit 112 can be extracted as a measurement target region. .

  Note that the processing executed by the area specifying unit 113 may be manually performed by the user using an input unit (not shown) or the like.

  The cutout unit 114 cuts out a plurality of points indicating the shape of the measurement target from the scan data acquired by the entire visual field data acquisition unit 112 based on the measurement target region set by the region setting unit 113.

  The smoothing unit 116 performs smoothing processing such as median filter processing and moving average filter processing on the measurement target data cut out by the cut-out unit 114.

Please refer to FIG. 1 again.
The spindle acquisition unit 102 performs principal component analysis on the measurement target data indicated by the measurement target shape information acquired by the first shape information acquisition unit 101. Thereby, the main axis acquisition unit 102 obtains three main axes of the point group constituting the measurement target data.

  The three principal axes of the point group constituting the measurement object data are the first principal axis, the second principal axis, and the third principal axis of the measurement object in the space where the point group constituting the measurement object data indicated by the measurement object surface shape information exists. This is a spindle corresponding to each spindle of the spindle. The first main axis, the second main axis, and the third main axis of the measurement target are main axes that are parallel to the vertical direction, the left-right direction, and the front-rear direction of the measurement target.

  The sagittal plane acquisition unit 103 obtains the measurement target data sagittal plane indicated by the measurement target surface shape information acquired by the first shape information acquisition unit 101. Here, the measurement target data sagittal plane is an example of a three-dimensional shape sagittal plane indicated by the measurement target surface shape information, and the measurement target arrow in the space where the point cloud constituting the measurement target data exists. It is a surface corresponding to the shape surface.

  Specifically, the sagittal plane acquisition unit 103 determines the sagittal plane of the measurement target data based on the three main axes obtained by the main axis acquisition unit 102.

  Note that the sagittal plane acquired by the sagittal plane acquiring unit 103 may be manually set by the user using an input unit (not shown).

  The second shape information acquisition unit 104 acquires reflection symmetry information. The reflection symmetry information is information indicating the measurement target data and a three-dimensional shape having a mirror image relationship with respect to the sagittal plane of the measurement target data.

  Specifically, the second shape information acquisition unit 104 includes the measurement target data indicated by the measurement target surface shape information acquired by the first shape information acquisition unit 101 and the arrow of the measurement target data obtained by the sagittal plane acquisition unit 103. The reflection symmetry information is acquired based on the surface. The reflection symmetry information according to the present embodiment indicates reflection symmetry data. The reflection symmetric data is 3D data having a mirror image relationship with the measurement target data with reference to the sagittal plane of the measurement target data. The 3D data includes three-dimensional coordinate information and RGB color information.

  The deviation distribution acquisition unit 105 includes measurement target data indicated by the measurement target surface shape information acquired by the first shape information acquisition unit 101, and reflection symmetry data indicated by the reflection symmetry information acquired by the second shape information acquisition unit 104. Get the distribution of deviations.

  Specifically, the deviation distribution acquisition unit 105 includes a matching unit 106 and a deviation acquisition unit 107, specifies a plurality of corresponding points in the entire measurement target data and the reflection symmetric data, and between these corresponding points. Each distance is obtained as a distribution of deviations.

  The matching unit 106 matches the positional relationship between the measurement target data and the reflection symmetry data. The measurement object data and the reflection symmetry data whose positional relationship is matched by the matching unit 106 are those acquired by the first shape information acquisition unit 101 and the second shape information acquisition unit 104, respectively.

  More specifically, the matching unit 106 includes a posture adjusting unit 117 and a data adjusting unit 118 as shown in FIG.

  The posture adjustment unit 117 specifies a plurality of specific points (for example, three specific points) in each of the measurement target data and the reflection symmetry data. Then, the posture adjustment unit 117 adjusts the positional relationship between the measurement target data and the reflection symmetry data so that the three specific points match. Thereby, the positional relationship between the measurement object data and the reflection symmetry data is roughly matched.

  More specifically, the posture adjustment unit 117 includes a first independent point specifying unit 119, a second independent point specifying unit 120, and an independent point adjusting unit 121.

  The first independent point specifying unit 119 specifies a plurality of specific points on the measurement target data. For example, the first independent point specifying unit 119 specifies, as the specific points, points whose approximate absolute curvature is equal to or greater than a predetermined threshold on the measurement target data and that are separated from each other by a predetermined distance. .

  The second independent point specifying unit 120 specifies a plurality of specific points on the reflection symmetry data. For example, the second independent point specifying unit 120 specifies, as specific points, points whose approximate absolute curvature is greater than or equal to a predetermined threshold on the reflection symmetry data and separated from each other by a predetermined distance or more. .

  Note that one or both specific points of the measurement target data and the reflection symmetry data may be designated by the user by an input unit (not shown) or the like.

  The independent point adjustment unit 121 converts the position and orientation of the measurement target surface shape information so that the plurality of specific points specified by each of the first independent point specifying unit 119 and the second independent point specifying unit 120 coincide with each other. To do.

  The data adjustment unit 118 uses the ICP (Interactive Closest Point) method to match the positional relationship between the measurement target data whose positional relationship is roughly matched by the adjustment by the posture adjusting unit 117 and the reflection symmetry data. Thereby, the positional relationship between the measurement target data and the reflection symmetry data is more accurately matched.

  By acquiring the deviation distribution after matching the measurement object data and the reflection symmetry data using the ICP method, the problem that the data is not reproduced due to the difference in posture such as the inclination of the measurement object can be largely avoided. Therefore, for example, the strictness of posture setting when a person is a measurement object can be relaxed.

Please refer to FIG. 1 again.
The deviation acquisition unit 107 obtains a distribution of deviations from the reflection symmetry data with respect to the entire measurement target data whose positional relationship with the reflection symmetry data is matched by the matching unit 106.

  Specifically, the deviation acquisition unit 107 specifies a plurality of corresponding points in the measurement target data and the reflection symmetry data whose positional relationships are matched by the matching unit 106, and sets each distance between the corresponding points as a deviation. Obtained as a distribution.

  More specifically, the deviation acquisition unit 107 specifies a combination of points that are closest to each other in the measurement target data and the reflection symmetry data as a plurality of corresponding points. In the present embodiment, a combination of a plurality of vertices located closest among a plurality of vertices included in the measurement target data and the reflection symmetry data is specified as a plurality of corresponding points.

  And the deviation acquisition part 107 calculates | requires each distance between the specified several corresponding points as distribution of deviation.

  The output control unit 108 outputs the distribution of the deviation obtained by the deviation acquisition unit 107.

  The file output unit 109 outputs the deviation distribution obtained by the deviation acquisition unit 107 to a file as numerical data.

  For example, the file is output as a format such as a text format or a CSV format.

  The display control unit 110 causes the display unit 111 to display information on the distribution of the deviation obtained by the deviation acquisition unit 107. The display unit 111 displays an image under the control of the display control unit 110.

  For example, the display control unit 110 causes the display unit 111 to display the distribution of the deviation acquired by the deviation acquisition unit 107, for example, using a color map image. The color map image is an image in which the three-dimensional shape of the surface to be measured is colored with a predetermined color according to the deviation.

  Further, for example, the display control unit 110 causes the display unit 111 to display a frame designated by the user on the color map image using an input unit (not shown) or the like. Further, the vertex coordinate information of the frame may be displayed on the display unit 111.

  The display control unit 110 is an example of the output control unit 108, and the display unit 111 is an example of image output. For example, the image output is a display, a printer, a communication interface for transmitting data to another device, or the like.

  So far, the configuration of the symmetry visualization apparatus 100 according to Embodiment 1 of the present invention has been described. From here, the example of operation | movement of the symmetry visualization apparatus 100 which concerns on this Embodiment is demonstrated.

  The symmetry visualization apparatus 100 executes the symmetry visualization process shown in FIG. The symmetry visualization process is a process for visualizing the symmetry of the measurement target surface. The symmetry visualization process is started, for example, in response to a user operating a input unit (not shown) to give a predetermined instruction. Here, the input unit is a part that is operated by the user for input, and includes a button or the like.

  The first shape information acquisition unit 101 acquires measurement target surface shape information (step S101).

  Specifically, as shown in FIG. 5, the entire visual field data acquisition unit 112 acquires the entire visual field data including the 3D scan data to be measured and the color image data (step S111).

  The region setting unit 113 sets a region of interest corresponding to the measurement target in the color image of the entire visual field data acquired in step S111 (step S112).

  The cutout unit 114 cuts out a plurality of points indicating the surface shape of the measurement target from the 3D scan data acquired in step S111 based on the region of interest set in step S112 (step S113).

  For example, the cutout unit 114 acquires measurement target data indicating the region of interest set by the region setting unit 113. The cutout unit 114 extracts points included in the region indicated by the acquired measurement target region information from the 3D scan data among the plurality of points included in the 3D scan data.

  The smoothing unit 116 performs a smoothing process on the measurement target data generated in step S113 (step S114).

  The smoothing unit 116 outputs surface shape information of the measurement target indicating the measurement target data subjected to the smoothing process (step S115).

  The spindle acquisition unit 102 performs principal component analysis on the measurement target data acquired in step S101, thereby obtaining three spindles of the measurement target data (step S102).

  For example, the main axis acquisition unit 102 obtains three main axes of the measurement target data by performing principal component analysis on the point group of the measurement target data.

  Specifically, for example, the principal axis acquisition unit 102 obtains eigenvectors of the variance-covariance matrix as three principal axes for the coordinate values of a plurality of points on the measurement target data.

  The coordinate range on the measurement target data is usually wide in the order of up and down direction, left and right direction, and front and rear direction.

  Therefore, the vector corresponding to the largest eigenvalue among the eigenvalues of the variance-covariance matrix is obtained as the main axis corresponding to the first main axis of the measurement target in the space where the point group constituting the measurement target data exists. Of the eigenvalues of the variance-covariance matrix, a vector corresponding to the second largest eigenvalue is obtained as the main axis corresponding to the second main axis of the measurement object in the space where the point group constituting the measurement object data exists. Of the eigenvalues of the variance-covariance matrix, a vector corresponding to the smallest eigenvalue is obtained as a principal axis corresponding to the third principal axis of the measurement object in a space where the point group constituting the measurement object data exists.

  The spindle acquisition unit 102 only needs to obtain at least two spindles corresponding to the first spindle and the third spindle. In this case, the sagittal plane acquisition unit 103 may determine the sagittal plane of the measurement target data based on the two main axes obtained by the main axis acquisition unit 102. As a result, the amount of calculation is smaller than in the case of obtaining three axes, so that the processing can be accelerated.

  The sagittal plane obtaining unit 103 obtains the sagittal plane of the measurement target data based on the three main axes obtained in step S102 (step S103).

  The sagittal plane may be manually set by the user using an input unit (not shown).

  The second shape information acquisition unit 104 acquires reflection symmetry information indicating reflection symmetry data based on the measurement target data acquired in step S101 and the sagittal plane obtained in step S103 (step S104). .

  For example, the second shape information acquisition unit 104 creates reflection symmetry data by performing mirror image conversion of the measurement target data on the sagittal plane.

  In addition, for example, when there is no point corresponding to the direction perpendicular to the coronal plane in the reflection symmetry data and the measurement target data, and as a result, the point corresponding to the measurement target data cannot be specified on the reflection symmetry data, the reflection symmetry The data may be expanded by extrapolation completion or the like.

  The deviation distribution acquisition unit 105 acquires a distribution of deviation from the reflection symmetry data indicated by the reflection symmetry information acquired in step S104 for the entire measurement target data indicated by the measurement target surface shape information acquired in step S101. (Step S105).

  Specifically, as shown in FIG. 7, the matching unit 106 matches the positional relationship between the measurement target data and the reflection symmetry data indicated by the information acquired in steps S <b> 101 and S <b> 104. (Step S121).

  More specifically, as shown in FIG. 8, the posture adjustment unit 117 adjusts the postures of the measurement target data and the reflection symmetry data based on a plurality of specific points in each of the measurement target data and the reflection symmetry data. (Step S131).

  More specifically, as shown in FIG. 9, the first independent point specifying unit 119 specifies, for example, three specific points in the measurement target data (step S141). Further, the second independent point specifying unit 120 specifies, for example, three specific points in the reflection symmetry data (step S142). The independent point adjustment unit 121 adjusts the postures of the measurement target data and the reflection symmetry data so that the positions of the respective points specified in step S141 and step S142 coincide (step S143).

  Returning to the alignment process shown in FIG. 8, the data adjustment unit 118 adjusts the positional relationship between the measurement target data whose positional relationship is matched in step S131 and the reflection symmetry data by the ICP method (step S132). Thereby, the positional relationship between the measurement target data and the reflection symmetry data is more accurately matched.

  Returning to the deviation distribution acquisition process shown in FIG. 7, the deviation acquisition unit 107 obtains each deviation from the reflection symmetry data for the entire measurement target data in which the positional relationship with the reflection symmetry data is matched in step S <b> 132 ( Step S122).

  The output control unit 108 outputs the distribution of the deviation obtained in step S105. The deviation distribution is output by, for example, image output by the display unit 110 via the display control unit 110 or file output by the file output unit 109.

  The display control unit 110 causes the display unit 111 to display the deviation distribution obtained in step S105, for example, using a color map image. Thereby, the display unit 111 displays the distribution of deviations on the surface of the measurement target using a color map image. Examples of the distribution of deviation displayed thereby are shown in FIGS.

  FIG. 9 is an example in which a deviation distribution obtained by measuring the back of a person having left-right asymmetric distortion is displayed as a color map image. FIG. 10 is a color map of the deviation distribution obtained by measuring the back of a person having no left-right asymmetric distortion. FIG. 11 shows an example in which a deviation distribution obtained by measuring the back side of a person's foot is displayed as a color map image.

  As shown in FIG. 13, the symmetry visualization apparatus 100 according to the present embodiment physically includes a CPU (Central Processing Unit) 1001, a RAM (Random Access Memory) 1002, a ROM (Read Only Memory) 1003, and a flash memory. 1004, a communication I / F (Interface) 1005, a liquid crystal panel 1006, and the like, which are communicably connected via an internal bus 1007. Such a symmetry visualization device 100 is, for example, a general-purpose personal computer, a tablet terminal, or a smartphone.

  Each function provided in the symmetry visualization device 100 is realized by executing, for example, a software program (also simply referred to as “program”) in which the CPU 1001 is installed in advance using the RAM 1002 as a work space.

  The program may be distributed by being stored in a storage medium such as a flash memory, a DVD, or a CD-ROM, or may be distributed via a wired network such as the Internet, a wireless network, or a combination of these.

  Specifically, for example, the functions of the first shape information acquisition unit 101, the spindle acquisition unit 102, the sagittal plane acquisition unit 103, the second shape information acquisition unit 104, the deviation distribution acquisition unit 105, the output control unit 108, and the display control unit 110 Is realized by the CPU 1001 executing the program as described above.

  The function of the display unit 111 is realized by the liquid crystal panel 1006 or the like.

  Note that the symmetry visualization apparatus 100 may be a 3D scanner having the above-described physical configuration. In this case, the symmetry visualization apparatus 100 can acquire scan data by its own operation.

  So far, the embodiments of the present invention have been described.

  According to the present invention, the display unit 111 displays information obtained based on the deviation distribution between the three-dimensional shape of the measurement target and the three-dimensional shape having a mirror image relationship with respect to the sagittal plane of the three-dimensional shape. Let Thereby, a trainer, a doctor, etc. can observe the local distortion in the surface of a measuring object by referring to deviation distribution displayed on display part 111. FIG. As described above, since it is possible to support the detection of local distortion, it is possible to support the determination of the training policy and the early detection of the disease.

  According to the present embodiment, measurement target data indicating the three-dimensional shape of the surface of the measurement target and reflection symmetry data corresponding to the surface of the measurement target are acquired. Then, the distribution of deviation from the reflection symmetry data obtained for the entire measurement target data is displayed. Thereby, a trainer, a doctor, etc. can observe a local distortion comprehensively about a measuring object by referring to distribution of deviation displayed on a display part. Furthermore, by using the deviation distribution data output to a file, more advanced analysis can be performed.

  Further, the measurement target data can be acquired using a general 3D scanner or the like. Therefore, it is not necessary to use a large-scale device or radiation. Therefore, it is possible to provide the symmetry visualization device 100 that has a simple configuration and is less invasive.

  The deviation acquisition unit 107 specifies a plurality of corresponding points from the matched measurement target data and reflection symmetry data, and obtains each distance between the corresponding points as a deviation distribution.

  Specifically, the deviation acquisition unit 107 according to the present embodiment corresponds to a plurality of combinations of vertices positioned closest to each other between a plurality of vertices constituting measurement target data and a plurality of vertices constituting reflection symmetry data. Identify as a point. And the deviation acquisition part 107 calculates | requires each distance between the identified corresponding point as a distribution of deviation.

  Such a distance makes it possible to easily obtain a distribution of deviations for the entire measurement object.

  The second shape information acquisition unit 104 acquires reflection symmetry data based on the measurement target data and the sagittal plane. Thereby, it is possible to easily obtain reflection symmetry data corresponding to the measurement target data.

  The display control unit 110 displays the distribution of the deviation on the display unit 111 with a color map image obtained by coloring the image of the surface to be measured with a predetermined color according to the deviation. Thereby, a trainer, a doctor, etc. can grasp | ascertain the distortion of the three-dimensional shape of the plane of a measuring object easily.

  The first shape information acquisition unit 101 generates measurement target data by cutting out the measurement target from the 3D scan data of the measurement target based on the color image of the measurement target. Thereby, measurement object data can be acquired automatically. Since the 3D scan data and the color image can be easily obtained using a 3D scanner or a camera, it is possible to easily obtain a distribution of deviations for the entire measurement object.

  The matching unit 106 matches the positional relationship between the measurement target data and the reflection symmetry data by the ICP method after matching the positional relationship between the measurement target data and the reflection symmetry data based on the specific point. As a result, the positional relationship between the measurement target data and the reflection symmetry data can be automatically and accurately matched, so that it is possible to easily obtain a deviation distribution for the entire measurement target.

  In particular, this makes it possible to obtain an accurate deviation distribution without strictly depending on the position and orientation of the measurement target with respect to a 3D scanner or the like for acquiring measurement target data.

  Although one embodiment of the present invention has been described above, the present invention is not limited to this embodiment. For example, the present invention may be modified as follows, and includes a form in which some or all of the embodiments and the modified examples are appropriately combined, and a form in which the form is appropriately changed.

  (Modification 1)

The first shape information acquisition unit 101 may further include a second image extraction unit (not shown) that holds in advance a rectangular frame as a guide for placing the measurement target. In this case, the second image extraction unit may output information in the rectangular frame among the measurement target surface shape information output from the smoothing unit 116 as the measurement target surface shape information.
(Modification 2)

  The display control unit 110 analyzes information based on the distribution of deviations obtained by the deviation acquisition unit 107, for example, coordinate information that gives the sum of deviation amounts within a specific area, maximum or minimum deviation amounts, and coordinates of peak positions. Information or the like may be displayed on the display unit 111.

  The present invention visualizes the degree of asymmetry when asymmetric distortion of an object, such as a person's back, changes over time or before or after treatment or training. It is useful for a device for supporting.

DESCRIPTION OF SYMBOLS 100 Symmetry visualization apparatus 101 1st shape information acquisition part 102 Main axis acquisition part 103 Sagittal plane acquisition part 104 2nd shape information acquisition part 105 Deviation distribution acquisition part 106 Matching part 107 Deviation acquisition part 108 Output control part 109 File output part 110 Display control unit 111 Display unit 112 Whole field data acquisition unit 113 Area specifying unit 114 Cutout unit 115 Smoothing unit 117 Posture adjustment unit 118 Data adjustment unit 119 First independent point specifying unit 120 Second independent point specifying unit 121 Independent point adjustment Part

Claims (13)

A first shape information acquisition unit for acquiring measurement target surface shape information including three-dimensional coordinate data of the measurement target surface;
Reflection symmetry information including three-dimensional coordinate data of the measurement target surface and reflection symmetry three-dimensional coordinate data having a mirror image relationship with the three-dimensional coordinate data on the basis of the sagittal plane of the three-dimensional coordinate data. A shape information acquisition unit;
A deviation distribution acquisition unit that acquires a distribution of deviation from the acquired three-dimensional coordinate data of reflection symmetry with respect to the acquired three-dimensional coordinate data of the measurement target surface, and an output control unit that outputs the distribution of the acquired deviation A symmetry visualizing device characterized by comprising: The symmetry visualization apparatus according to claim 1, wherein the output control unit includes a display control unit configured to display a distribution of the acquired deviation on a display unit. The symmetry visualization apparatus according to claim 1, wherein the output control unit includes a file output unit that outputs the acquired distribution of deviations as a file. The deviation distribution acquisition unit specifies a plurality of corresponding points in each of the three-dimensional shapes indicated by the acquired measurement target surface shape information and the acquired reflection symmetry information, and each between the corresponding points The symmetry visualization device according to any one of claims 1 to 3, wherein a distance is obtained as a distribution of the deviation. The deviation distribution acquisition unit includes a plurality of combinations of points located closest to each other in a plurality of points included in each of the three-dimensional shapes indicated by the acquired measurement target surface shape information and the acquired reflection symmetry information. The symmetry visualizing device according to claim 4, wherein the symmetry visualizing device is specified as a corresponding point. The deviation distribution acquisition unit includes a plurality of points on a three-dimensional shape indicated by one of the measurement target surface shape information and the reflection symmetry information, and the measurement target surface shape information and the reflection symmetry information. A combination of a plurality of points located in a direction perpendicular to the coronal plane from each of a plurality of points on the three-dimensional shape indicated by the one information on the three-dimensional shape indicated by the other information corresponds to the plurality of corresponding points. The symmetry visualization device according to claim 4, wherein the symmetry visualization device is specified as a point. A sagittal plane acquisition unit for obtaining a three-dimensional sagittal plane indicated by the acquired measurement target surface shape information;
The second shape information acquisition unit acquires the reflection symmetry information based on a three-dimensional shape indicated by the acquired measurement target surface shape information and the obtained sagittal plane. The symmetry visualization apparatus according to any one of claims 1 to 6. By performing principal component analysis on the three-dimensional shape indicated by the acquired measurement target surface shape information, the upper and lower sides of the measurement target surface in the space where the point group on the three-dimensional shape indicated by the measurement target surface shape information exists. A spindle acquisition unit for obtaining two spindles corresponding to the first spindle and the third spindle parallel to each of the direction and the front-rear direction;
The said sagittal plane acquisition part calculates | requires the sagittal plane of the three-dimensional shape which the acquired said measurement object surface shape information shows based on the calculated | required two main axes. Symmetry visualization device. The deviation distribution acquisition unit
A matching unit for matching the positional relationship of each of the three-dimensional shapes indicated by the acquired measurement target surface shape information and the acquired reflection symmetry information;
Deviation acquisition for obtaining a distribution of deviations from the three-dimensional shape indicated by the reflection symmetry information with respect to the entire three-dimensional shape indicated by the measurement target surface shape information, in which the positional relationship with the three-dimensional shape indicated by the reflection symmetry information is matched. The symmetry visualizing device according to any one of claims 1 to 8, wherein the symmetry visualizing device. The symmetry visualization device according to any one of claims 1 to 9, wherein the output control unit includes a file output unit that outputs the deviation distribution as a numerical data file. The display control unit causes the display unit to display the acquired distribution of the deviation by a color map image which is an image obtained by coloring a three-dimensional shape of the measurement target surface with a color determined in advance according to the deviation. The symmetry visualization apparatus according to any one of claims 1 to 10, wherein Obtaining measurement target surface shape information including three-dimensional coordinate data of the measurement target surface;
Obtaining reflection symmetry information including three-dimensional coordinate data of the measurement target surface and reflection symmetry three-dimensional coordinate data having a mirror image relationship with the three-dimensional coordinate data on the basis of the sagittal plane of the three-dimensional coordinate data; ,
Obtaining a distribution of deviations from the acquired reflection-symmetric three-dimensional coordinate data for the acquired three-dimensional coordinate data of the measurement target surface;
A symmetry visualization method comprising: displaying the acquired deviation distribution on a display unit. Computer
A first shape information acquisition unit for acquiring measurement target surface shape information including three-dimensional coordinate data of the measurement target surface;
Reflection symmetry information including three-dimensional coordinate data of the measurement target surface and reflection symmetry three-dimensional coordinate data having a mirror image relationship with the three-dimensional coordinate data on the basis of the sagittal plane of the three-dimensional coordinate data. Shape information acquisition unit,
A deviation distribution acquisition unit that acquires a distribution of deviation from the acquired reflection-symmetric three-dimensional coordinate data for the acquired three-dimensional coordinate data of the measurement target surface;
A program for causing a display control unit to display the acquired deviation distribution on a display unit.