JP2012186591A - Camera controller, camera control method, and camera control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a camera controller capable of intuitively indicating the imaging direction of a camera.SOLUTION: An angle detection part 105 detects the direction of a camera controller as a control angle with respect to a first reference position. A control part 106 transmits information of the control angle to a camera thereby to perform control to allow the imaging direction of the camera to move to the position of the control angle with respect to a second reference position set in the camera. The control part 106 allows the angle detection part 105 to detect the direction of the camera controller when the camera is moved in a first specific direction as a first angle, allows the angle detection part to detect the direction of the camera controller when the camera controller is moved in a second specific direction as a second angle, acquires a difference between the first angle and the second angle as a calibration angle, subsequently defines an angle obtained by adding the calibration angle to the control angle as a new control angle, and transmits information of the new control angle to the camera.

Description

  The present invention relates to a camera control device, a camera control method, and a camera control program that control the imaging direction of a camera.

  A monitoring system that can control a camera with a pan head that changes the imaging direction by horizontal rotation (pan) or vertical rotation (tilt) to monitor a wide monitoring location is known. It has been. In general, a camera with a pan head has a function of setting a zero position (hereinafter referred to as a reference position) which is a reference for indicating a horizontal angle, but the reference position is set while the camera is installed. It is uncertain which direction it is facing. Therefore, if you want to capture the target subject, the operator who operates the surveillance system uses the remote control to instruct the camera pan and tilt directions to drive the camera platform while viewing the image captured by the camera. It is necessary to perform an operation to stop the panning and tilting by canceling the instruction when the subject is imaged. As described above, in order to cause the camera to capture the target subject, several procedures are required, and it is difficult to intuitively specify the imaging direction of the camera.

  On the other hand, a surveillance camera device has been proposed that incorporates an orientation sensor and can reliably detect the orientation to be imaged (see, for example, Patent Document 1).

JP 2005-253060 A

  If the camera described in Patent Document 1 is used, the operator can cause the camera to image the target subject by instructing the orientation of the target subject. However, even in this case, the operator needs to grasp the direction of the target subject before giving the direction instruction. As described above, the conventional monitoring system has a problem that it is difficult to intuitively instruct the imaging direction of the camera.

  Therefore, the problem to be solved by the present invention is to provide a camera control device, a camera control method, and a camera control program capable of instructing an imaging direction of a camera intuitively.

In order to solve the above problems, the present invention provides the following apparatus, method and program.
1) In a portable camera control apparatus that is connected to a camera via a communication line and controls the imaging direction of the camera, angle detection that determines the direction of the camera control apparatus as a control angle with respect to a predetermined first reference position The information about the control angle detected by the angle detection unit (105) and the angle detection unit is transmitted to the camera, so that the imaging direction of the camera is moved to the control angle position with respect to the second reference position set in the camera. A control unit (106) that controls the control unit to cause the angle detection unit to detect the direction of the camera control device when the camera is moved in the first specific direction as the first angle, The direction of the camera control device when the camera control device moves in the second specific direction is detected by the angle detection unit as the second angle, and the difference between the first angle and the second angle is used as the calibration angle. Because, after obtaining the calibration angle is an angle obtained by adding the calibration angle control angle as a new control angle, the information of the new control angle, the camera control unit and transmits to the camera.
2) The control unit causes the angle detection unit to detect the direction of the camera control device as the second angle when the second specific direction is the same as the first specific direction 1) The camera control device described in 1.
3) A camera control method for use in a portable camera control device that is connected to a camera via a communication line and controls the imaging direction of the camera, wherein the direction of the camera control device is determined according to a first reference set in advance. An angle detection step obtained as a control angle for the position, and information on the control angle detected in the angle detection step is transmitted to the camera, so that the imaging direction of the camera is controlled with respect to the second reference position set in the camera. A control step for controlling to move the camera to the position of the camera, and the control step detects the direction of the camera control device when the camera is moved in a specific direction as the first angle in the angle detection step (step S403). The direction of the camera control device when the camera control device moves in a specific direction is detected as the second angle in the angle detection step. (Step S406) After obtaining the difference between the first angle and the second angle as the calibration angle and obtaining the calibration angle, the angle obtained by adding the calibration angle to the control angle is set as a new control angle, and this new A camera control method characterized by transmitting control angle information to a camera.
4) A camera control program for use in a portable camera control device that is connected to a camera via a communication line and controls the imaging direction of the camera, wherein the direction of the camera control device is determined based on a predetermined first reference. An angle detection function obtained as a control angle for the position, and information on the control angle detected by the angle detection function is transmitted to the camera, so that the imaging direction of the camera is controlled with respect to the second reference position set in the camera. And a control function for controlling the camera to move to the position of the camera. The control function uses the direction of the camera control device when the camera is moved in the first specific direction as the first angle for the angle detection function. And the direction of the camera control device when the camera control device moves in the second specific direction is detected as the second angle by the angle detection function, and the first After obtaining the difference between the angle and the second angle as the calibration angle, and obtaining the calibration angle, the angle obtained by adding the calibration angle to the control angle is taken as the new control angle, and information on this new control angle is sent to the camera. A camera control program characterized by transmitting.

  According to the camera control device, the camera control method, and the camera control program of the present invention, it is possible to instruct the imaging direction of the camera intuitively.

It is a block block diagram of the camera control terminal which is one Embodiment of the camera control apparatus of this invention. It is an example of the block block diagram of the camera controlled with a camera control terminal. It is one Example of the monitoring system using a camera control terminal. It is a flowchart which shows the example of the calibration in a camera control terminal. It is an example of control of the angle of the vertical direction of a camera by a camera control terminal.

Hereinafter, a camera control terminal which is an embodiment of a camera control device of the present invention will be described with reference to the accompanying drawings.
[Camera control terminal configuration]
FIG. 1 is a block diagram of a camera control terminal 10 which is an embodiment of the camera control apparatus of the present invention. The camera control terminal 10 is a tablet-type communication terminal that can be carried, for example, and has a communication function and a screen display function. The operator performs various operations of the camera control terminal 10 while holding the camera control terminal 10 by hand while looking at the displayed screen.

  The communication unit 101 communicates with a communication unit 30 described later. Communication with the communication unit 30 is performed, for example, by a wireless LAN (Local Area Network) of IEEE (The Institute of Electrical and Electronics Engineers, Inc.) 802.11n standard. Communication with the communication unit 30 is not limited to a wireless LAN, and a mobile phone line or another communication line may be used. The communication unit 101 transmits a control signal for controlling the monitoring camera 20 described later to the communication unit 30 and receives an image captured by the monitoring camera 20 from the communication unit 30. The surveillance camera 20 is assumed to transmit a captured image by compressing the digital image according to a standard such as JPEG (Joint Picture Expert Group) or MPEG (Moving Picture Expert Group) -4.

  The decoding unit 102 decodes the compressed digital image of the standard such as JPEG or MPEG-4 received by the communication unit 101 and sends the decoded digital image to the display unit 103.

  The display unit 103 is a liquid crystal monitor provided on the surface of the camera control terminal 10 and displays an image captured by the monitoring camera 20.

  The calibration button 104 is a button exposed on the surface of the camera control terminal 10. The calibration button 104 may be a button in which a button is displayed on the screen using the display unit 103 as a touch panel type liquid crystal monitor. Moreover, it is good also as a structure which consists of two buttons of a calibration start and a calibration end.

  The control unit 106 receives angle data sent from the azimuth sensor 105 and detects an operation in which the operator presses or releases the calibration button 104. Thereby, the control unit 106 writes and reads data necessary for control to the memory 107, generates a control signal for controlling the monitoring camera 20, and sends the generated control signal to the communication unit 101. . A method for generating the control signal will be described later.

The orientation sensor 105 outputs an orientation that is an absolute angle in the horizontal direction. FIG. 3 shows an example of a monitoring system using a camera control terminal. The operator can change the direction of the camera control terminal 10 while holding the camera control terminal 10 by hand. An arrow A is the direction of the front of the operator when the operator is holding the camera control terminal 10 with his hand to view or operate the screen. The direction of this arrow A is the direction of the camera control terminal 10, and the direction is the direction of the camera control terminal 10. The direction sensor 105 outputs, to the control unit 106, angle data from 0 ° to 360 ° in a clockwise direction with the magnetic north as a reference position (0 °) as the direction of the camera control terminal 10.
[Configuration of surveillance camera]
FIG. 2 is an example of a block configuration diagram of the monitoring camera 20 controlled by the camera control terminal 10. In this embodiment, the monitoring camera 20 is a network camera, and transmits a captured image via the network or changes the imaging direction according to a control signal received via the network.

  The imaging unit 201 captures a surrounding subject and sends the captured image to the compression unit 202. The compression unit 202 compresses a digital image of the image captured by the imaging unit 201 in accordance with a standard such as JPEG or MPEG-4 as described above, and sends the compressed image to the communication unit 203.

  The communication unit 203 is connected to the communication unit 30 via a LAN cable, and communicates with the communication unit 30 via the LAN cable. The communication unit 203 transmits the compressed digital image compressed by the compression unit 202 to the communication unit 30. The communication unit 203 also receives a control signal transmitted from the communication unit 30 and sends it to the control unit 204.

  The control unit 204 sends a control signal for causing the pan / tilt head driving unit 205 to perform panning and tilting based on the control signal received by the communication unit 203.

  The pan / tilt head driving unit 205 changes the imaging direction of the imaging unit 201 in accordance with a control signal sent from the control unit 204.

The angle sensor 206 outputs angle data in the horizontal direction of the imaging direction of the imaging unit 201 to the control unit 204. It is assumed that the angle sensor 206 outputs the horizontal angle of the current imaging direction as a value of 0 ° to 360 ° clockwise from the reference position. The angle sensor 206 is provided with, for example, a plurality of angle detection slits and magnetized portions in a portion that rotates together with the imaging unit 201, and the optical sensor or the magnetic sensor counts this. Similarly, a reference position detecting slit and a magnetized portion are provided in a portion that rotates together with the imaging unit 201, and this is detected by an optical sensor or a magnetic sensor for detecting the reference position. The surveillance camera 20 pans once at the time of activation and detects the reference position. After detecting the reference position, the angle sensor 206 thereafter calculates and outputs the angle by counting the number of slits and magnetized portions from 0 ° with the reference position set to 0 °.
[Monitoring system configuration]
A monitoring system using such an embodiment of the camera control terminal 10 will be described with reference to FIG.

  The communication unit 30 is a wireless LAN access point in this embodiment. As described above, the communication unit 30 communicates with the camera control terminal 10 by the wireless LAN of the IEEE 802.11n standard. The communication unit 30 and the monitoring camera 20 are connected by a LAN cable, and communicate with each other via the LAN cable. Communication between the communication unit 30 and the monitoring camera 20 is not limited to communication via a LAN cable, and may be other communication such as a wireless LAN or a mobile phone line. Further, direct communication may be performed between the camera control terminal 10 and the monitoring camera 20 without using the communication unit 30.

  The surveillance camera 20 is attached to a high place such as a ceiling so that the inside of the store can be seen. The camera control terminal 10 may be installed in the same store as the monitoring camera 20, or may be installed in a security guard room or the like. Since the communication unit 30 is connected to the monitoring camera 20 with a LAN cable, it is often installed in a store relatively close to the monitoring camera 20. However, when the camera control terminal 10 is installed in a remote place, it is preferable to install the communication unit 30 in the vicinity of the camera control terminal 10 so that the camera control terminal 10 can communicate with the camera control terminal 10.

[Camera control method by camera control terminal]
In such a monitoring system, a control method in which the camera control terminal 10 controls the imaging direction of the monitoring camera 20 will be described below. In this embodiment, it is assumed that the communication unit 101 transmits an instruction value for the angle in the horizontal direction as a control signal for the monitoring camera 20.

  The direction sensor 105 of the camera control terminal 10 outputs angle data of the direction of the camera control terminal 10. Assume that the angle data output from the azimuth sensor 105 is p.

  The memory 107 stores a correction value poff, and stores poff = 0 as an initial value before performing calibration described later. The control unit 106 corrects the angle data p according to the following equation (1), calculates a horizontal angle instruction value P, and sends it to the communication unit 101.

P ′ = p + poff
If P ′> 360, P = P′−360
When P ′ <0, P = P ′ + 360
In other cases, P = P ′ (1)
Now, since poff = 0, P = p. The control unit 106 sends the angle data p as it is to the communication unit 101 as the horizontal angle instruction value P. The communication unit 101 transmits the instruction value P for the angle in the horizontal direction to the communication unit 30.

  The communication unit 30 transmits the instruction value P of the horizontal angle transmitted from the communication unit 101 of the camera control terminal 10 to the monitoring camera 20 via the LAN cable. The communication unit 203 of the monitoring camera 20 receives the instruction value P transmitted from the communication unit 30 and sends it to the control unit 204. Upon receiving the horizontal angle instruction value P, the control unit 204 drives the camera platform driving unit 205 so that the angle data output from the angle sensor 206 coincides with the horizontal angle instruction value P. 201 is rotated in the horizontal direction to change the imaging direction.

  Since the instruction value P is the same as the azimuth angle data p of the camera control terminal 10, the angle data output from the angle sensor 206 coincides with the azimuth angle data of the camera control terminal 10.

Here, when the installer installs the monitoring camera 20 on the ceiling, the direction of the monitoring camera 20 is not normally adjusted to the direction. Therefore, it is uncertain which direction the reference position of the horizontal angle of the monitoring camera 20 is directed in the attached state. Therefore, even if the angle data output from the angle sensor 206 matches the angle data of the orientation of the camera control terminal 10, the direction of the camera control terminal 10 and the imaging direction of the imaging unit 201 do not always match. Therefore, prior to operating the monitoring system, calibration is performed as follows so that the direction of the camera control terminal 10 and the imaging direction of the imaging unit 201 are the same.
[Calibration method]
A calibration method in the system of this embodiment will be described with reference to the flowchart of FIG. The subject of the operation in the flowchart of FIG. 4 is the control unit 106 unless otherwise specified.

  When performing calibration, the operator determines a conspicuous subject that can be easily identified visually and on the screen as a calibration reference subject to be used for calibration. The operator holds the camera control terminal 10 in his hand and changes the direction of the camera control terminal 10. Thereby, the imaging direction of the imaging unit 201 of the monitoring camera 20 is changed as described above. Therefore, the operator looks at the image captured by the monitoring camera 20 displayed on the display unit 103, and as the first specific direction, the camera control terminal 10 in the direction in which the subject to be calibrated is displayed on the display unit 103. Stop.

  When the imaging direction of the imaging unit 201 is determined, the operator presses the calibration button 104 of the camera control terminal 10 as the first operation. When the control unit 106 confirms that the calibration button 104 has been pressed (step S401), the control unit 106 stops transmitting the instruction value of the angle in the horizontal direction to the monitoring camera 20 (step S402). Alternatively, a command for maintaining the orientation of the monitoring camera 20 may be transmitted so that the imaging direction of the monitoring camera 20 does not change.

  Further, the control unit 106 stores the angle data p of the direction sensor 105 when the calibration button 104 is pressed in the memory 107 as the first angle p1 (step S403).

  Next, the operator points the camera control terminal 10 in the direction of the calibration reference subject as the second specific direction while pressing the calibration button 104. In this embodiment, the first specific direction and the second specific direction are the same. At this time, since the transmission of the instruction value of the angle in the horizontal direction is stopped in step S402, the imaging direction of the monitoring camera 20 does not change. Therefore, the calibration reference subject is still displayed on the display unit 103. If the camera control terminal 10 and the installation location of the monitoring camera 20 are close to each other, the operator can directly view the calibration reference subject. In this case, the camera control terminal 10 can be directed toward the calibration reference subject while comparing the image displayed on the display unit 103 with the actual calibration reference subject.

  Note that it is not always necessary to stop the transmission of the angle instruction value in step S402. If the transmission is not stopped, the imaging direction of the monitoring camera 20 changes when the operator changes the direction of the camera control terminal 10, so that the target subject is not displayed on the display unit 103. In this case, the operator points the camera control terminal 10 toward the target subject regardless of the display unit 103. As a result, the operability is slightly inferior, but the calibration step can be reduced by one.

  When the direction of the camera control terminal 10 is determined, the operator releases the calibration button 104 as the second operation. When confirming that the calibration button 104 has been released (step S404), the control unit 106 stores the angle data p of the azimuth sensor 105 at that time in the memory 107 as the second angle p2 (step S405). Further, the control unit 106 stores the difference p1-p2 between the first angle p1 and the second angle p2 in the memory 107 as the calibration angle poff (step S406). This completes the calibration.

  When the calibration is completed, the control unit 106 uses the calibration angle poff stored in the memory 107 to correct the orientation angle data p of the camera control terminal 10 output from the orientation sensor 105 according to the above equation (1). Then, the command value P of the angle in the horizontal direction is transmitted from the communication unit 101 to the communication unit 30.

  After the calibration is performed in this way, for example, when the camera control terminal 10 is pointed at the calibration reference subject, the azimuth sensor 105 outputs p2 as angle data as described in step S405. Since poff = p1−p2 now, as a result of the correction of equation (1), the control unit 106 outputs p1 as the instruction value P of the angle in the horizontal direction. Thereby, the surveillance camera 20 changes the imaging direction to a direction in which the angle data output from the angle sensor 206 is p1. As described in step S <b> 403, when the angle data is p <b> 1, the monitoring camera 20 captures an image of a calibration reference subject. Therefore, the camera control terminal 10 of the present embodiment can change the imaging direction of the monitoring camera 20 to the calibration reference direction if the direction of the camera control terminal 10 is the calibration reference direction. That is, it is possible to intuitively instruct the imaging direction of the camera.

  It is also conceivable that once calibration is performed and the calibration angle poff is set, calibration is performed again. Considering such a case, that is, a case where the calibration angle poff is not 0 at the time of starting calibration, it is more preferable to perform step S403 as follows.

  When the angle data output from the azimuth sensor 105 when the calibration button 104 is pressed is p, the control unit 106 overwrites and stores p + poff in the memory 107 as the first angle p1 (step S403).

  The subsequent steps are the same as steps S404 to S406. Thus, even when the control unit 106 has already corrected the instruction value P of the horizontal angle to the monitoring camera 20 with the calibration angle poff, the control unit 106 overwrites the first angle p1 with a value obtained by canceling the calibration angle poff. Since it is memorized, calibration can be performed again.

  In the calibration, it has been described that the camera control terminal 10 and the monitoring camera 20 are set in the direction of the same calibration reference subject, but the two calibration reference directions are not necessarily the same. The direction may not be. For example, there is a system in which a classroom recording camera is provided in a classroom, and a camera control terminal provided in an operation console in a separate room is operated to switch the camera to record the class or send it to a remote place. In such a system, the front of the console is set as the reference direction for calibration of the camera control terminal (first specific direction), and the front of the classroom is set as the reference direction for calibration of the camera imaging direction (second specific direction). It is also preferable to set the direction. That is, the operator changes the direction of the camera control terminal 10 so that the imaging direction of the camera is directed to the front of the classroom, and the calibration button 104 is pressed. Next, the operator points the camera control terminal 10 toward the front of the console and releases the calibration button 104. After performing the calibration in this way, if the camera control terminal 10 is directed to the front of the console, the surveillance camera 20 images the front of the classroom. That is, it is possible to intuitively instruct the imaging direction of the camera.

  Further, the calibration angle poff may be written in the memory 107 in advance without performing the calibration in steps S401 to S406. In that case, the calibration angle corresponding to the installation state of the monitoring camera 20 is checked and written in the memory 107 of the camera control terminal 10 as an initial setting. Thereby, it is possible to intuitively instruct the imaging direction of the camera without providing a calibration button.

  In the above-described example, an example in which there is one monitoring camera is shown, but there may be a plurality of monitoring cameras without being particular about this. In order to monitor many places, there are many surveillance systems in which a plurality of surveillance cameras are installed and the surveillance cameras connected by the camera control terminal are switched and controlled. When there are a plurality of monitoring cameras, the calibration as described above is performed for each of the plurality of monitoring cameras, and the calibration angle poff is also stored for each of the plurality of monitoring cameras. When one of the plurality of monitoring cameras is selected, the calibration angle poff of the selected monitoring camera is read and corrected, and the corrected instruction value may be transmitted to the selected monitoring camera.

  In the above example, the control of the angle in the horizontal direction has been described, but the present invention can also be applied to the control of the angle in the vertical direction. An example in which the camera control terminal 10 controls the vertical imaging direction of the monitoring camera 20 will be described.

  In the case of controlling the angle in the vertical direction, the camera control terminal 10 is provided with an absolute angle sensor that outputs angle data of the absolute angle in the vertical direction instead of the azimuth sensor 105. For example, a triaxial acceleration sensor can be used as the absolute angle sensor in the vertical direction. If the direction of gravitational acceleration is measured with a three-axis acceleration sensor, the angle in the vertical direction from the vertical direction can be calculated. A value obtained by correcting the angle data output from the absolute angle sensor by calibration is output as an indication value of the angle in the vertical direction of the camera.

  Specifically, in FIG. 5, the vertical direction of the camera control terminal 10 is the direction in which the display unit faces each other, that is, the directions of arrows B and D in FIG. Is output. Also, the angle data of the absolute angle in the vertical direction is defined to be directly below, that is, 0 ° in the vertical direction and 90 ° in the horizontal direction. Assume that the monitoring camera 20 performs monitoring in a range where the vertical imaging direction is 0 ° to 90 °. Further, it is assumed that the calibration angle poff is −45 as a result of the calibration.

  When such correction is performed, if the vertical direction of the camera control terminal 10 is the direction of arrow B in FIG. 5, that is, the absolute angle is 135 °, the vertical imaging direction of the monitoring camera 20 is the direction of arrow C, that is, the absolute The angle is 90 ° (horizontal). If the vertical direction of the camera control terminal 10 is an arrow D direction, that is, a direction with an absolute angle of 45 °, the vertical imaging direction of the surveillance camera 20 is an arrow E direction, that is, an absolute angle of 0 ° (directly below). Therefore, if the camera control terminal 10 is moved between an absolute angle of 45 ° and 135 °, the imaging direction of the monitoring camera 20 can be moved within an absolute angle range of 0 ° to 90 °. Since there is no need to direct the screen of the camera control terminal 10 directly above or below, it is possible to perform monitoring in a state where the screen of the camera control terminal 10 is easy to see and in a state where the camera control terminal 10 can be easily operated. That is, the visibility and operability of the camera control terminal 10 can be improved.

  According to the invention described in Patent Document 1, it is necessary to provide an absolute angle detection means such as a magnetic azimuth sensor for detecting an absolute angle in the camera. In many cases, a plurality of cameras are used in the surveillance system. However, if the surveillance camera device described in Patent Document 1 is used in such a surveillance system, the absolute angle detection means is required for each of the plurality of cameras, so the cost of the surveillance system is increased. Will increase.

  On the other hand, according to the present invention, it is possible to instruct the imaging direction of the camera intuitively, and it is not necessary to provide an absolute angle detection means in the camera. For a camera that often uses a large number of cameras, a general camera with a pan head can be used as it is, and the present invention can be applied to a camera control apparatus that normally has only one camera in the monitoring system. Increase in cost when viewed. Also, it is not necessary to replace a large number of cameras with an existing monitoring system, and the present invention can be applied only by replacing only one camera control device. Furthermore, in the surveillance system, the camera is often mounted at a high place such as the ceiling and the replacement work is not easy. However, the camera control device is often placed on the console of the security room and the replacement is relatively easy. Easy. Thus, the present invention can be easily applied to an existing monitoring system.

  Further, the present invention includes a program for causing a computer to realize the functions of the above-described apparatus. These programs may be read from a recording medium and loaded into a computer, or may be transmitted via a communication network and loaded into a computer.

DESCRIPTION OF SYMBOLS 10 Camera control terminal 20 Surveillance camera 30 Communication unit 101 Communication part 102 Decoding part 103 Display part 104 Calibration button 105 Direction sensor 106 Control part 107 Memory

Claims (4)

In a portable camera control device that is connected to a camera via a communication line and controls the imaging direction of the camera,
An angle detector that determines the direction of the camera control device as a control angle with respect to a predetermined first reference position;
By transmitting the control angle information detected by the angle detection unit to the camera, the imaging direction of the camera is moved to the position of the control angle with respect to the second reference position set in the camera. A control unit for controlling
The controller is
Causing the angle detection unit to detect the direction of the camera control device when the camera is moved in a first specific direction as a first angle;
Causing the angle detection unit to detect the direction of the camera control device when the camera control device moves in a second specific direction as a second angle;
Obtaining a difference between the first angle and the second angle as a calibration angle;
After obtaining the calibration angle, an angle obtained by adding the calibration angle to the control angle is set as a new control angle, and information on the new control angle is transmitted to the camera. The control unit causes the angle detection unit to detect the direction of the camera control device as a second angle when the second specific direction is the same as the first specific direction. The camera control device according to claim 1. A camera control method used in a portable camera control device that is connected to a camera via a communication line and controls the imaging direction of the camera,
An angle detection step for obtaining a direction of the camera control device as a control angle with respect to a predetermined first reference position;
By transmitting the control angle information detected in the angle detection step to the camera, the imaging direction of the camera is moved to the position of the control angle with respect to the second reference position set in the camera. A control step for controlling
The control step detects the direction of the camera control device when the camera is moved in a specific direction as the first angle in the angle detection step,
The direction of the camera control device when the camera control device moves in the specific direction is detected as the second angle in the angle detection step,
Obtaining a difference between the first angle and the second angle as a calibration angle;
After obtaining the calibration angle, a new control angle information is transmitted to the camera, with the angle obtained by adding the calibration angle to the control angle as a new control angle. A camera control program connected to a camera via a communication line and used for a portable camera control device that controls the imaging direction of the camera,
An angle detection function for obtaining the direction of the camera control device as a control angle with respect to a predetermined first reference position;
The information of the control angle detected by the angle detection function is transmitted to the camera, so that the imaging direction of the camera is moved to the position of the control angle with respect to the second reference position set in the camera. The computer realizes the control function to control
The control function causes the angle detection function to detect the direction of the camera control device when the camera is moved in a first specific direction as a first angle,
Causing the angle detection function to detect the direction of the camera control device when the camera control device is moved in a second specific direction as a second angle;
Obtaining a difference between the first angle and the second angle as a calibration angle;
After obtaining the calibration angle, a camera control program characterized in that an angle obtained by adding the calibration angle to the control angle is set as a new control angle, and information on the new control angle is transmitted to the camera.

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