JP6436743B2 - Image information processing apparatus, image information processing method and program, and imaging apparatus - Google Patents

Description

  The present invention relates to an image processing apparatus that generates three-dimensional information of a subject, and more particularly, to an image information processing apparatus that generates three-dimensional information of a subject suitable for performing three-dimensional modeling of a subject with a three-dimensional modeling system.

  2. Description of the Related Art Conventionally, there is a camera system that acquires three-dimensional information of a subject by photographing the subject from a plurality of directions. In Patent Document 1, shooting is performed while moving a camera, and three-dimensional information of a subject is constructed by matching feature points of each image. Further, in Patent Document 2, a method of acquiring distance information of a subject by projecting a pattern onto a subject to construct three-dimensional information, or a subject distance using a phase difference of subject images having different parallaxes. Various methods such as a method for acquiring information are disclosed.

  On the other hand, there is known a three-dimensional object forming apparatus that forms a three-dimensional object by scanning while hardening a modeling material to form a cured layer and sequentially stacking the layers. In Patent Literature 3, a three-dimensional object is formed by sequentially curing a resin material that is photocured by irradiating the light-curing resin material by scanning with a light beam, and sequentially laminating resin-cured layers. In addition, various methods are known, such as a method of scanning a molten thermoplastic resin while extruding it from a head, and a method of spraying a powder material from a nozzle and bonding and laminating.

JP 2011-85971 A Japanese Patent Laid-Open No. 09-14531 JP 2004-122501 A

  However, the conventional techniques disclosed in the above-mentioned patent documents have the following problems. In the case of modeling a three-dimensional object using three-dimensional information constructed by photographing with the camera shown in Patent Documents 1 and 2, the three-dimensional information coordinate system and the scanning direction and the stacking direction of the three-dimensional object modeling apparatus shown in Patent Document 3 If is not appropriate, the following problems occur. If the ridge line portion of the subject is not substantially parallel to the scanning direction of the light beam of the three-dimensional object modeling apparatus, the ridge line of the three-dimensional object to be modeled becomes discontinuous and the modeling accuracy decreases. In addition, when the coordinate system of the three-dimensional information and the coordinate system in the stacking direction of the three-dimensional object shaping apparatus are not appropriate, depending on the three-dimensional object shaping method, together with a hardening material that temporarily forms the three-dimensional object to support the three-dimensional object It is conceivable that an extra support material to be cured is required. On the other hand, it is complicated for the user to set a coordinate system suitable for the method of the three-dimensional object shaping apparatus for the three-dimensional information obtained by photographing.

  Accordingly, an object of the present invention is to provide an image information processing apparatus and an image information processing method capable of constructing highly accurate three-dimensional information of a three-dimensional structure while simplifying a user's work.

  In order to achieve the above object, according to the present invention, an image information processing apparatus obtains a plurality of pieces of image information obtained by photographing a subject from different viewpoint positions, and a three-dimensional image of the subject using a plurality of pieces of image information. 3D information generating means for generating information, memory means for storing information related to the configuration of the 3D modeling apparatus for generating a 3D object using 3D information, and a coordinate system for determining the coordinate system of 3D information Coordinate system determining means for determining the coordinate axes of the three-dimensional information based on the three-dimensional information and the information related to the configuration.

  According to the present invention, it is possible to provide an image information processing apparatus and an image information processing method capable of constructing highly accurate three-dimensional information of a three-dimensional structure while simplifying a user's work.

A diagram schematically showing the shooting position of a three-dimensional subject and camera 1 is a block diagram of a camera as an imaging apparatus to which an image information processing apparatus according to a first embodiment of the present invention is applied. The figure for demonstrating the three-dimensional molded item at the time of three-dimensional modeling when a different coordinate system is set The figure which shows the flowchart of the three-dimensional information production | generation operation | movement concerning 1st Example of this invention. The figure for demonstrating the concept of the linear component detection concerning 1st Example of this invention. The figure for demonstrating the display of the display part in the other method of determining a coordinate system

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  A camera as an imaging apparatus to which the image information processing apparatus according to the first embodiment of the present invention is applied will be described below with reference to FIGS.

  FIG. 1 is a diagram for explaining a positional relationship at the time of shooting between the camera 2 and the three-dimensional object that is the subject 1. FIG. 1A shows the relationship between the viewpoint position and the subject 1 at the time of each photographing by the camera 2, FIGS. 1B, 1C and 1D are three views of the subject 1, and FIG. FIG. 1C is a side view and FIG. 1D is a front view.

  As shown in FIG. 1A, when the camera 2 takes a picture of the subject 1 while moving the viewpoint positions 3a, 3b, 3c, and 3d as shown by the locus 2a, a plurality of pieces of image data and subject distance information are obtained as camera acquisition information. Is obtained. As shown in FIGS. 1B, 1C, and 1D, the subject 1 has a subject shape that is unknown only by shooting from one viewpoint position, so the camera 2 is moved to change the viewpoint position. In the camera 2, the three-dimensional information of the subject 1 is constructed using the camera acquisition information, and then a three-dimensional modeled object imitating the subject 1 is generated based on the three-dimensional information in a three-dimensional modeling apparatus (not shown).

  FIG. 2 is a block diagram illustrating a configuration of a camera as an imaging apparatus to which the image information processing apparatus according to the present embodiment is applied. In addition, the same code | symbol is attached | subjected and shown to the part similar to FIG.

  In the figure, reference numeral 221 denotes a camera system control unit which controls each unit of the camera 2 by executing a program stored in a built-in memory (not shown) and controls the operation of each processing unit in the camera 2. The light beam from the subject that has passed through the lens 222 is focused on the position of the light receiving surface of the image sensor 223. In the image sensor 223, the optical image of the formed subject is converted into an electric signal by photoelectric conversion, quantized by an A / D converter (not shown), and then sent to the image processor 224. The image processing unit 224 includes a white balance circuit, a gamma correction circuit, an interpolation calculation circuit, and the like, and processes the imaging signal output from the imaging element 223 to generate image data. Image data generated by the image processing unit 224 is recorded in the memory unit 225. The memory unit 225 includes a processing circuit necessary for recording in addition to the actual recording unit. On the other hand, the subject distance generation unit 226 generates subject distance information from the image data. The subject distance is a distance from the camera 2 to the subject, and is depth information of the details of the subject as seen from the camera 2. The imaging element 223 is provided with a microlens array that divides the pupil of the optical system in front of the light receiving surface, and can acquire a plurality of parallax images by one shooting. By detecting the phase difference between the plurality of parallax images, it is possible to obtain subject distance information. Since the detailed configuration of the image sensor 223 and the distance information generation operation based on the phase difference of the parallax images are well-known techniques, description thereof is omitted. The distance information of the subject is recorded in the memory unit 225 together with the image data generated by the image processing unit 224.

  The posture detection sensor 229 is a sensor that detects the direction of gravity, and includes an acceleration sensor or the like. The detection result of the posture detection sensor 229 is recorded in the memory unit 225 together with the image data generated by the image processing unit 224. The straight line component detection unit 230 detects a straight line component from the three-dimensional information obtained by the three-dimensional information generation unit 227. That is, the ridge line of the subject is detected, and a three-dimensional vector component of each ridge line is generated.

  The three-dimensional information generation unit 227 generates three-dimensional information that is a three-dimensional shape of the subject using the subject distance information obtained by a plurality of shootings. For example, by searching for a common shooting range and depth information position by matching a plurality of subject distance information, the three-dimensional information of the subject is generated. In the three-dimensional information generation unit 227, the coordinate system determination unit 228 generates three-dimensional information in an appropriate coordinate system. The generated three-dimensional information is recorded in the memory unit 225.

  The coordinate system of the three-dimensional information determined by the coordinate system determination unit 228 is used when modeling with the three-dimensional object modeling apparatus. The X-axis direction is set corresponding to the main scanning direction for scanning the cured material, the Y-axis direction is set corresponding to the sub-scanning direction that moves after one main operation, and the Z-axis direction is set for the cured material. It is set corresponding to the normal direction of the laminated surfaces to be sequentially laminated. Further, the layers are set so as to be sequentially laminated in the positive direction of the Z axis. The scanning direction and the stacking direction of the cured material of such a three-dimensional object formation apparatus are stored in the memory unit 225 as information related to the configuration of the three-dimensional object formation apparatus. Detailed operations of the coordinate system determination unit 228 and the linear component detection unit 230 will be described later.

  The image display unit 231 displays image data processed by the image processing unit 224, three-dimensional information, and the like to the user. The operation unit 232 receives a shooting command from the user and a command such as display switching, and sends the command to the camera system control unit 221.

  Next, the influence on the accuracy of the three-dimensional object formation by the three-dimensional object formation apparatus by the way of taking the coordinate system of the three-dimensional information will be described with reference to FIG.

  FIG. 3 is an example of a three-dimensional modeled object generated by a three-dimensional modeled apparatus using three-dimensional information of a certain coordinate system obtained from the subject 1 shown in FIG. In the figure, parts similar to those in FIG.

  FIG. 3A shows an example of a three-dimensional object and a three-dimensional object forming process when the Z axis is set in an inappropriate direction. Since the X axis is set to the Z axis as shown in FIG. 1 in a direction different from that in FIG. 1, a large number of support materials 31 that support a three-dimensional object during modeling are required. The hatched portion indicates the support material 31. When a three-dimensional object is modeled while being sequentially stacked in the Z-axis direction, a support material is required to support the three-dimensional model object upright depending on the position and orientation. The portion of the support material is removed after the three-dimensional model is completed. However, if a large amount of support material is used, the removal work becomes complicated. On the other hand, if the coordinate system of the three-dimensional information is set like the coordinate system shown in FIG. 1, the subject is in an upright posture with respect to the ground plane in the state of FIG. Objects can easily stand upright and the amount of support material can be reduced.

  FIG. 3B shows an example of the three-dimensional structure 30 when the X axis is set in an inappropriate direction, and the direction parallel to the ridge line 1a of the subject in FIG. 1 is set as the X axis. FIG. 3C is an enlarged view of a range 32 shown in FIG. 3B in which a linear component that is not parallel to the X axis is included, and 33 schematically shows a cured material that is cured by the three-dimensional modeling apparatus. . Although the cured material 33 is scanned in the X-axis direction, since the cured material 33 has a certain width, it becomes a discrete ridgeline with respect to the straight line of the original three-dimensional information indicated by the dotted line 34, and the accuracy of the three-dimensional object is reduced. Will occur.

  FIG. 3D shows an example of the three-dimensional structure 30 when the X axis is set in an appropriate direction, and the X axis is set in a direction parallel to the ridge line 1c of the subject in FIG. FIG. 3 (e) is an enlarged view of the range 35 shown in FIG. 3 (d), which is the same range as the range 32 shown in FIG. 3 (b), and schematically illustrates the cured material 33 as in FIG. 3 (c). Is shown. Unlike FIG.3 (c), since the linear component of the ridgeline 1c and the scanning direction of the hardening material of a three-dimensional modeling apparatus are parallel, the three-dimensional molded item is produced | generated accurately.

  The only linear component parallel to the ridge line 1a shown in FIG. 1 is the ridge line 1b, whereas the ridge line 1c oblique to the X axis in FIG. 3B is the ridge lines 1d, 1e, 1f. 1g and 1h, and there are more linear components than lines parallel to the ridge line 1a. Therefore, when a direction with a large amount of linear components is set as the X axis of the three-dimensional information, the ridge line is accurately reproduced when the three-dimensional object is formed, so that the modeling accuracy of the three-dimensional object is improved as a whole.

  As described above, it is important to appropriately set the coordinate system of the three-dimensional information of the subject when creating a three-dimensional model of the photographed subject. Although it is conceivable for the user to set the coordinate system using another software, setting the appropriate coordinate system has a large work load on the user. Therefore, in the present invention, the coordinate system of the three-dimensional information is appropriately determined using the camera acquisition information acquired at the time of photographing with the camera and the information related to the configuration of the three-dimensional object formation apparatus stored in the memory unit 225.

  First, the gravitational direction of the subject 1, that is, the installation state is detected by detecting the weight direction of the camera 2 from the position and orientation of the camera 2 by the posture detection sensor 229 disposed in the camera 2. Then, when generating the three-dimensional information using the acquired distance information, the coordinate system determination unit 228 determines the opposite direction of the gravity direction as the positive direction of the Z axis, and then sets the temporary XY axis in an appropriate direction. To generate 3D information. Next, when it is determined that the information from the entire periphery of the three-dimensional information has been prepared by photographing a plurality of times, the vector of the linear component is detected by detecting the edge line of the three-dimensional information. For each obtained linear component, the sum of the linear component vectors of the linear components parallel to each other is obtained. Then, in the direction substantially orthogonal to the set Z-axis direction, the direction having the largest scalar component sum of the linear component vectors is determined as the X-axis, and the direction orthogonal to the set X and Z-axis is determined as the Y-axis. To determine the coordinate system of the three-dimensional information. Details of the operation of the coordinate system determination unit 228 will be described later.

  Next, an image information processing operation for generating three-dimensional information according to the present embodiment will be described with reference to FIG. FIG. 4 is a diagram illustrating a flowchart of the processing operation for generating three-dimensional information including the processing operation of the coordinate system determination unit according to the present embodiment.

  In step S401, the camera 2 performs shooting at a certain viewpoint position, and the subject distance generation unit 226 generates subject distance information.

  In step S402, using the detection result of the posture detection sensor 229 and the three-dimensional object formation apparatus information recorded in the memory unit 225, the coordinate system determination unit 228 determines the direction opposite to the gravity direction as the positive direction of the Z axis. To do. Thereby, at the time of creation of the three-dimensional modeled object by the three-dimensional modeled apparatus, the layers of the curing material are sequentially stacked from the direction of being set on the ground of the subject or the installation table.

  In step S403, provisional X and Y axes are taken in directions orthogonal to the determined Z axis and orthogonal to each other.

  In step S404, the three-dimensional information generation unit 227 generates three-dimensional information from the subject distance information obtained in step S401. At this time, since the photographing is performed only once, the three-dimensional information of the subject is incomplete expressed only by the distance from the photographing viewpoint position.

  In step S405, the camera 2 is moved from the viewpoint position in step S401, the subject is photographed in the same manner as in step 401, and subject distance information is generated.

  In step S406, matching is performed on the already generated 3D information using the distance information obtained in step S405, and the 3D information is updated to generate distance information of an incomplete part without distance information. To go.

  In step S407, shooting is performed from each viewpoint from which the camera 2 has moved, and it is determined whether or not the moving amount is a predetermined amount or more. Specifically, whether the subject was photographed from the viewpoint of the entire periphery except the lower surface, that is, whether the distance information of the entire periphery of the subject could be obtained and complete three-dimensional information was obtained. to decide. The amount of movement of the camera may be as long as it moves from the viewpoint where the image was first taken to at least 180 degrees opposite to the subject. If the movement amount of the camera 2 is greater than or equal to the predetermined amount, the process proceeds to step S408, otherwise, the process returns to step S405, and photographing at each viewpoint moved is repeated.

  Next, in step S408, the linear component detection unit 230 detects the linear component of the three-dimensional information, and the coordinate system determination unit 228 determines the XY axes using the result and the three-dimensional object shaping apparatus information. FIG. 5 is a diagram schematically showing, in the subject image, the result of extracting each linear component from the three-dimensional information by the linear component detection unit 230. The subjects in FIGS. 5 (a) and 5 (b) are illustrated. This is a subject when it is viewed from the direction of the coordinate system to be viewed. The parallel linear component vectors are shown using the same type of lines, and the thicknesses of the lines, dotted lines, and broken lines represent the differences. Since the linear components 51, 52, and 53 are substantially orthogonal to the Z axis, the sum of the linear component vectors is generated for each linear component expressed in the same manner. When the scalar quantity of the sum of the generated linear component vectors is compared, the linear component 51 is the largest, so the coordinate system determining unit 228 determines the direction of the linear component 51 as the X axis and the direction orthogonal to the X axis and the Z axis. Determine as Y-axis. Thereby, at the time of creating the three-dimensional object by the three-dimensional object forming apparatus, the main scanning of the cured material is performed in the direction parallel to the X axis, and the sub-scan is performed in the direction parallel to the Y axis.

  In step S409, the three-dimensional information in the coordinate system determined in step S408 is generated again using the distance information acquired so far by the three-dimensional information generation unit 227. And since the coordinate system of the three-dimensional information suitable for a three-dimensional object modeling apparatus was determined, the distance information acquired so far is deleted leaving the three-dimensional information generated again.

  If the camera system control unit 221 determines in step S410 that an instruction to end shooting has been issued via the operation unit 232, the flow ends. On the other hand, if the shooting end command is not issued, the process proceeds to step S411.

  In step S411, as in step S405, the camera 2 is moved to perform shooting from another viewpoint, and subject distance information is generated.

  In step S412, the distance information acquired in step S411 is used to update the three-dimensional information and the distance information is deleted. Thereafter, the process returns to step S410, and the flow is repeated until a shooting end command is determined.

  As described above, in this embodiment, the coordinate system of the three-dimensional information is appropriately determined based on the information acquired from the camera and the three-dimensional object shaping apparatus information. Thereby, when generating a three-dimensional object by the three-dimensional object forming apparatus using the generated three-dimensional information, a high-precision three-dimensional object is generated without performing a complicated operation in which a user determines a coordinate system. 3D information can be constructed.

  Further, in this embodiment, after it is determined in step S407 whether the moving amount of the camera is equal to or larger than the predetermined amount, the XY coordinate system is determined and the three-dimensional information is regenerated, and then stored in the memory unit 225 until then. The distance information for each viewpoint has been deleted. In step S412, the distance information is deleted after updating the three-dimensional information using the distance information of different viewpoints newly acquired as needed. As a result, even when the shooting viewpoint reaches a large number of points, the load on the recording capacity due to the distance information can be reduced while the three-dimensional information is updated.

  In this embodiment, the XYZ axis coordinate system is automatically determined based on the acquired information of the camera, but the user may selectively determine at least one coordinate axis. For example, when the linear component is detected by the linear component detection unit 230 in step S408, some of the linear components that are orthogonal to the Z-axis and have a large vector sum are represented as X in FIG. It displays on the image display part 231 as an axis | shaft candidate. When one of the candidate X axes is selected by user input via the operation unit 232, the X axis candidate selected by the coordinate system determination unit 228 is determined as the X axis of the three-dimensional information. FIG. 6 shows the display unit 231 of the camera 2 displaying the X-axis coordinate candidates superimposed on the subject 1, and the difference between the linear component vectors can be identified by the line width and the broken line length. It shows.

  In this embodiment, the parallax image obtained from the image sensor 223 having the microlens array is used to generate the distance information of the subject, but other configurations and methods may be used. For example, the pattern projection in which the camera 2 has a light projection unit, projects a plurality of patterns such as a stripe pattern toward a subject, performs shooting, and obtains distance information based on a difference between images obtained by projecting different patterns. A technique may be used. In addition, a method may be used in which three-dimensional information is obtained by extracting feature points such as the contours of images acquired from different viewpoints and connecting the feature points regarded as the same point in a three-dimensional manner by stereo matching. This method is also effective in the case of a method for generating three-dimensional information from image information without obtaining distance information.

  The present invention can also be realized by executing the following processing. That is, the camera 2 includes at least the image sensor 223, and an information processing apparatus system to which information about the image sensor is transmitted via a network or a recording medium may include other means.

[Other Examples]
The present invention supplies a program that realizes one or more functions of the above-described embodiments to a system or apparatus via a network or a storage medium, and one or more processors in a computer of the system or apparatus read and execute the program This process can be realized. It can also be realized by a circuit (for example, ASIC) that realizes one or more functions.

  The above-described embodiments are merely examples of implementation in carrying out the present invention, and the technical scope of the present invention should not be construed as being limited thereto. That is, the present invention can be implemented in various forms without departing from the technical idea or the main features thereof.

  The present invention is useful for a camera system including a camera capable of acquiring three-dimensional information for a three-dimensional object modeling apparatus or an information processing apparatus that acquires and processes an image signal from the camera.

Claims (9)

Acquisition means for acquiring a plurality of pieces of image information obtained by photographing a subject from different viewpoint positions;
Three-dimensional information generation means for generating three-dimensional information of the subject using the plurality of image information;
Memory means for storing information related to a configuration of a three-dimensional modeling apparatus that generates a three-dimensional object using the three-dimensional information;
When determining the coordinate system of the three-dimensional information, the coordinate system determining means for determining the coordinate axis of the coordinate system based on the three-dimensional information and information related to the configuration;
Equipped with a,
The information related to the configuration includes information on the main scanning direction, the sub-scanning direction, and the stacking direction of the cured material in the three-dimensional modeling apparatus, and the coordinate axes of the determined coordinate system are the main scanning direction, the sub-scanning direction, and Corresponding to the stacking direction,
The coordinate system determination means has a linear component detection means for detecting a linear component from the three-dimensional information of the object, an image processing apparatus characterized that you determine the coordinate system on the basis of the line component. Means for acquiring information on the gravitational direction of the subject, wherein the coordinate system determining means determines a coordinate axis corresponding to the stacking direction in a direction parallel to the gravitational direction, and a coordinate axis corresponding to the main scanning direction; The image information processing apparatus according to claim 1 , wherein coordinate axes corresponding to the sub-scanning direction are determined to be orthogonal to each other and orthogonal to the stacking direction. The three-dimensional information generating means determines a coordinate axis corresponding to the main scanning direction in a direction having the largest number of linear components in the same direction among the linear components, and the linear component detecting means the sum to generate for each line component substantially orthogonal largest direction linear component in the same direction of the line component, claim 1, wherein the sum is the direction of the largest linear component The image information processing apparatus described. The coordinate system determining means has selection means for selecting at least one coordinate axis of the coordinate system according to user input, and the selection means has means for displaying the detected linear component in an identifiable manner. The image information processing apparatus according to claim 1 . The coordinate system determining unit determines the coordinate system for at least three-dimensional information generated from a predetermined amount of the image information, and the three-dimensional information generating unit determines the three-dimensional information based on the determined coordinate system. image information processing apparatus according to any one of claims 2, characterized in that to regenerate 4. An acquisition step of acquiring a plurality of pieces of image information obtained by photographing the subject from different viewpoint positions;
A three-dimensional information generation step of generating three-dimensional information of the subject using the plurality of image information;
A storage step of storing, in a memory, information related to a configuration of a three-dimensional modeling apparatus that generates a three-dimensional object using the three-dimensional information;
When determining the coordinate system of the three-dimensional information, a coordinate system determining step of determining the coordinate axis of the coordinate system based on the three-dimensional information and information related to the configuration;
Equipped with a,
The information related to the configuration includes information on the main scanning direction, the sub-scanning direction, and the stacking direction of the cured material in the three-dimensional modeling apparatus, and the coordinate axes of the determined coordinate system are the main scanning direction, the sub-scanning direction, and Corresponding to the stacking direction,
The coordinate system determining step includes a linear component detection step of detecting a linear component from the three-dimensional information of the object, an image processing method which is characterized that you determine the coordinate system on the basis of the line component. A program for controlling an image processing apparatus,
Computer
Acquisition means for acquiring a plurality of pieces of image information obtained by photographing a subject from different viewpoint positions;
3D information generating means for generating 3D information of the subject using the plurality of image information;
Storage means for storing, in a memory, information relating to a configuration of a three-dimensional modeling apparatus that generates a three-dimensional object using the three-dimensional information;
Determining means for determining a coordinate system of the three-dimensional information, wherein the coordinate axis of the coordinate system functions as a coordinate system determining means for determining based on the information relating to the three-dimensional information and the configuration ;
The information related to the configuration includes information on the main scanning direction, the sub-scanning direction, and the stacking direction of the cured material in the three-dimensional modeling apparatus, and the coordinate axes of the determined coordinate system are the main scanning direction, the sub-scanning direction, and Corresponding to the stacking direction,
The coordinate system determination means has a linear component detection means for detecting a linear component from the three-dimensional information of the object, the program characterized that you determine the coordinate system on the basis of the line component.   A computer-readable storage medium storing the program according to claim 7. Imaging means for capturing a subject from different viewpoint positions and generating a plurality of pieces of image information;
Three-dimensional information generation means for generating three-dimensional information of the subject using the plurality of image information;
Memory means for storing information related to a configuration of a three-dimensional modeling apparatus that generates a three-dimensional object using the three-dimensional information;
When determining the coordinate system of the three-dimensional information, the coordinate system determining means for determining the coordinate axis of the coordinate system based on the three-dimensional information and information related to the configuration;
Equipped with a,
The information related to the configuration includes information on the main scanning direction, the sub-scanning direction, and the stacking direction of the cured material in the three-dimensional modeling apparatus, and the coordinate axes of the determined coordinate system are the main scanning direction, the sub-scanning direction, and Corresponding to the stacking direction,
The coordinate system determination means has a linear component detection means for detecting a linear component from the three-dimensional information of the object, an imaging apparatus characterized that you determine the coordinate system on the basis of the line component.

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