Shape measuring apparatus, shape measuring method, non-transitory computer readable medium storing program

A shape measuring method comprising:

• causing an imaging unit to acquire a two-dimensional image of an object over a plurality of frames, the object being held by a hand of a user that performs a measurement;
• causing a distance image sensor unit to acquire a distance image of the object over the plurality of frames, the distance image of the object being three-dimensional point cloud data including coordinates of pixels on a two-dimensional plane and the distances at the coordinates;
• causing a processing apparatus to:
• detect a feature point of the object from the distance image of each of the plurality of frames that has been acquired by the user moving the object;
• write the detected feature point in a coordinate system set for the object;
• and
• delete data of the hand of the user from the distance image of the object;
• and
• causing a division processing unit to divide a three-dimensional model obtained from the distance image, wherein
• the processing apparatus deletes the feature point that has been detected a small number of times as the hand of the user from the data that has been acquired by performing a plurality of detections while the user changes a holding position of the object, and
• the division processing unit obtains an area of a cross-section of the three-dimensional model sequentially selected at a predetermined pitch along a predetermined axis and divides the three-dimensional model by either of a currently selected cross-section or an adjacent cross-section selected just before the currently selected cross-section when an area difference between the currently selected cross-section and the adjacent cross-section is larger than a predetermined threshold value
• wherein at least one predetermined threshold value in three predetermined threshold values respectively corresponding to the three axes is different from the other predetermined threshold values.

A non-transitory computer readable medium storing a shape measuring program that causes a computer to execute:

• acquiring a two-dimensional image of an object over a plurality of frames, the object being held by a hand of a user that performs a measurement;
• acquiring a distance image of the object over the plurality of frames, the distance image of the object being three-dimensional point cloud data including coordinates of pixels on a two-dimensional plane and the distances at the coordinates;
• detecting a feature point of the object from the distance image of each of the plurality of frames that has been acquired by the user moving the object;
• writing the detected feature point in a coordinate system set for the object;
• deleting data of the hand of the user from the distance image of the object;
• dividing a three-dimensional model obtained from the distance image, wherein
• the feature point that has been detected a small number of times is deleted as the hand of the user from the data that has been acquired by performing a plurality of detections while the user changes a holding position of the object, and
• an area of a cross-section of the three-dimensional model sequentially selected at a predetermined pitch along a predetermined axis is obtained and the three-dimensional model is divided by either of a currently selected cross-section or an adjacent cross-section selected just before the currently selected cross-section when an area difference between the currently selected cross-section and the adjacent cross-section is larger than a predetermined threshold value
• wherein at least one predetermined threshold value in three predetermined threshold values respectively corresponding to the three axes is different from the other predetermined threshold values.