Three-dimensional image processing apparatus and three-dimensional image processing system

A three-dimensional image processing system comprising:

• a plurality of range image generation devices having mutually different measurement points;
• a plurality of visible light image generation devices having mutually different image capture points;
• and
• a three-dimensional image processing apparatus,
• wherein the three-dimensional image processing apparatus includes:
• an obtainment unit that obtains range image data expressing a depth of a scene viewed from the measurement points of the plurality of range image generation devices and obtains visible light image data of the scene as viewed from the image capture points from the plurality of visible light image generation devices;
• a model generation unit that generates three-dimensional model data expressing a target contained in the scene based on the plurality of pieces of range image data;
• a setting unit that sets a point of view for the scene;
• and
• a rendering unit that renders display image data expressing the scene as viewed from the set point of view based on the three-dimensional model data and the plurality of pieces of visible light image data having mutually different image capture points, and
• wherein in the case where there are a plurality of pieces of visible light image data corresponding to a region on a surface of the target expressed by the three-dimensional model data, the rendering unit selects one of the pieces of the visible light image data in accordance with the set point of view and renders the region corresponding to the surface of the target based on the selected visible light image data and the three-dimensional model data.

A three-dimensional image processing method comprising:

• obtaining, from each of a plurality of range image generation devices having mutually different measurement points, range image data expressing a depth of a scene viewed from the measurement point, and obtaining, from each of a plurality of visible light image generation devices having mutually different image capture points, visible light image data of the scene as viewed from the image capture point;
• generating three-dimensional model data expressing a target contained in the scene based on the plurality of pieces of range image data;
• setting a point of view for the scene;
• and
• rendering display image data expressing the scene as viewed from the set point of view based on the three-dimensional model data and the plurality of pieces of visible light image data having mutually different image capture points,
• wherein in the case where there are a plurality of pieces of visible light image data corresponding to a region on a surface of the target expressed by the three-dimensional model data, one of the pieces of the visible light image data is selected in accordance with the set point of view and the region corresponding to the surface of the target is rendered based on the selected visible light image data and the three-dimensional model data.