Point cloud data processing method and point cloud data processing device

A point cloud data processing device comprising:

• a trajectory calculating unit configured to calculate a trajectory of an inertial measuring device in a plane rectangular coordinate system as a trajectory of a measuring device based on satellite positioning data and inertial positioning data acquired by the measuring device, the measuring device including a GNSS device for acquiring satellite positioning data, an inertial measuring device for acquiring inertial positioning data, and a laser scanner configured to scan the entire circumference to acquire three-dimensional point cloud data, the measuring device installed on a moving body moving along a measuring route;
• a primary point cloud data generating unit configured to convert the three-dimensional point cloud data of the measuring route into primary point cloud data in the plane rectangular coordinate system;
• an extraction region setting unit configured to, on a vertical plane orthogonal to the trajectory,
• designate predetermined extraction angular widths about an intersection of the trajectory and the vertical plane as a extraction angle range based on a perpendicular drawn down to a horizontal plane from the intersection, and a range of predetermined extraction distance widths based on the position of a predetermined extraction reference distance in the direction of the perpendicular from the intersection point as an extraction distance range, to identify an area defined by the extraction angle range and the extraction distance range as a two-dimensional figure, and
• set a region obtained by extending the two-dimensional figure along the trajectory as an extraction region, and
• an extracted point cloud data generating unit configured to extract the primary point cloud data in the extraction region as extracted point cloud data.