1. 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 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 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.