Point cloud data processing device, point cloud data processing method, and point cloud data processing program

A point cloud data processing program for processing point cloud data including points of non-plane areas and plane areas of an object, which allows a computer to execute steps comprising:

• a non-plane removing step for removing the points of the non-plane areas from the point cloud data;
• a plane labeling step for adding identical labels to points in the same planes other than the points removed by the non-plane removing step so as to segment the planes;
• a three-dimensional edge extracting step for extracting three-dimensional edges based on at least one of lines of intersections of the segmented planes and convex lines that convexly cover the segmented planes;
• a two-dimensional edge extracting step for extracting two-dimensional edges from within the segmented planes;
• and
• an edge integrating step for integrating the three-dimensional edges and the two-dimensional edges.

A point cloud data processing method for processing point cloud data including points of non-plane areas and plane areas of an object, the method comprising:

• a non-plane removing step for removing the points of the non-plane areas from the point cloud data;
• a plane labeling step for adding identical labels to points in the same planes other than the points removed by the non-plane removing step so as to segment the planes;
• a three-dimensional edge extracting step for extracting three-dimensional edges based on at least one of lines of intersections of the segmented planes and convex lines that convexly cover the segmented planes;
• a two-dimensional edge extracting step for extracting two-dimensional edges from within the segmented planes;
• and
• an edge integrating step for integrating the three-dimensional edges and the two-dimensional edges.

A point cloud data processing device for processing point cloud data including points of non-plane areas and plane areas of an object, the device comprising:

• a non-plane removing unit for removing the points of the non-plane areas from the point cloud data;
• a plane labeling unit for adding identical labels to points in the same planes other than the points removed by the non-plane removing unit so as to segment the planes;
• a three-dimensional edge extracting unit for extracting at least one of lines of intersections of the segmented planes and convex lines that convexly cover the segmented planes, as three-dimensional edges;
• a two-dimensional edge extracting unit for extracting two-dimensional edges from within the segmented planes;
• and
• an edge integrating unit for integrating the three-dimensional edges and the two-dimensional edges.

A point cloud data processing device for processing point cloud data including points of non-plane areas and plane areas of an object, the device comprising:

• a non-plane removing unit for removing the points of the non-plane areas from the point cloud data;
• a plane labeling unit for adding identical labels to points in the same planes other than the points removed by the non-plane removing unit so as to segment the planes;
• a three-dimensional contour extracting unit for extracting three-dimensional contours of the object based on at least one of lines of intersections of the segmented planes and convex lines that convexly cover the segmented planes;
• a two-dimensional contour extracting unit for extracting two-dimensional contours from within the segmented planes;
• and
• a contour integrating unit for integrating the three-dimensional contours and the two-dimensional contours.