JP2013038689A - Imaging apparatus, image processor, and control method and control program of imaging apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an imaging apparatus for obtaining depth information on a subject and a background, which are displayed in a generated image, with a simple structure, and for generating image information by photoelectric conversion.SOLUTION: A digital camera 1 includes an image generating section 102 for generating image information in response to an electric signal outputted from CCD 16 and generates the image information in accordance with an imaging operation of a user. The digital camera includes: a Z information control section 16 for allowing the image generation section 102 to generate other viewpoint image information in response to the electric signal outputted from the CCD 16 to obtain the information when displacement of the digital camera 1 is determined after an acquisition processing of the other viewpoint image information being image information at a viewpoint different from the image information generated in accordance with the imaging operation is started, and for calculating Z information in response to the image information generated in accordance with the imaging operation and the other viewpoint image information; and a storage medium control section 103 for storing the image information generated in accordance with the imaging operation in association with the Z information in a storage medium.

Description

  The present invention relates to an imaging apparatus, an image processing apparatus, a control method for the imaging apparatus, and a control program, and more particularly, to acquisition of depth information of a subject and a background included in an image generated by imaging.

  Various methods have been proposed for acquiring information (hereinafter referred to as Z information) about the distance between a subject or background, a photographer, and a shooting position for an image shot and generated by a digital camera or the like. As one of such methods, there has been proposed a method of calculating depth information from a plurality of images using a stereo camera that captures and generates images of a plurality of viewpoints at once (see, for example, Patent Document 1).

  Further, in order to determine a depth map from images obtained from a plurality of different orientations, a method using a set of matching windows for points of an image whose depth is to be determined has been proposed (for example, Patent Document 2). reference). In the method disclosed in Patent Document 2, a temporary depth map is generated in which two or more candidate depth values are assigned to points of an image whose depth is to be determined, and then, for each point, candidates for neighboring points are generated. Minimize at least the z component of the norm of the sum of unit vectors from the disparity value toward that point.

JP 2008-259155 A Special table 2010-502945

  However, since the technique disclosed in Patent Document 1 requires an expensive stereo camera, it is difficult for a general user to easily use the technique. Further, the technique disclosed in Patent Document 2 is based on the premise that images are obtained from a plurality of different orientations, and a method for obtaining such a plurality of images is not considered.

  The present invention has been made in consideration of the above circumstances, and in an imaging apparatus that generates image information by photoelectric conversion, information on the subject and background depth displayed in the generated image can be obtained with a simple configuration. The purpose is to acquire.

  In order to solve the above problems, one embodiment of the present invention includes a photoelectric conversion unit that outputs an electrical signal according to received light and an image information generation unit that generates image information based on the output electrical signal. An imaging apparatus, an imaging instruction unit that generates the image information according to a user's imaging operation, and other viewpoint image information that is image information at a different viewpoint from the image information generated according to the imaging operation. Based on the other viewpoint image information acquisition processing unit that executes the acquisition process according to the imaging operation, the image information generated according to the imaging operation and the other viewpoint image information, and generated according to the imaging operation A distance information calculation unit that calculates distance information that is information on a distance to a target displayed in the image information, the image information generated according to the imaging operation, and the calculated distance information are stored in association with each other. A storage processing unit to be stored in the body, and the other viewpoint image information acquisition processing unit starts the acquisition process of the other viewpoint image information and then determines that the imaging device has been displaced, The other viewpoint image information is generated on the basis of the electrical signal output from the photoelectric conversion unit.

  Another aspect of the present invention is included in an imaging apparatus including a photoelectric conversion unit that outputs an electrical signal according to received light and an image information generation unit that generates image information based on the output electrical signal. An image processing apparatus, an imaging instruction unit that generates the image information according to a user's imaging operation, and other viewpoint image information that is image information at a different viewpoint from the image information generated according to the imaging operation The other viewpoint image information acquisition processing unit that executes the acquisition process according to the imaging operation, and the image information generated according to the imaging operation and the other viewpoint image information. A distance information calculation unit that calculates distance information that is information on the distance to the target displayed in the image information, and the image information generated according to the imaging operation and the calculated distance information are associated with each other. A storage processing unit to be stored in a storage medium, and the other viewpoint image information acquisition processing unit starts the acquisition process of the other viewpoint image information and then determines that the imaging device has been displaced, The other-viewpoint image information is generated based on the electrical signal output from the photoelectric conversion unit.

  Still another aspect of the present invention provides a control of an imaging apparatus including a photoelectric conversion unit that outputs an electrical signal according to received light and an image information generation unit that generates image information based on the output electrical signal. Other viewpoint image information which is a method, the image information generating unit generating the image information according to a user's imaging operation, and image information at a different viewpoint from the image information generated according to the imaging operation After starting the acquisition process, the image information generation unit generates other viewpoint image information based on the electrical signal output from the photoelectric conversion unit, and acquires the image information generation unit. Based on the image information generated according to the imaging operation and the other viewpoint image information, distance information that is information on the distance to the target displayed in the image information generated according to the imaging operation is calculated. , Serial in association with the image information generated by the information of the calculated distance according to the imaging operation, characterized in that in the storage medium.

  Still another aspect of the present invention provides a control of an imaging apparatus including a photoelectric conversion unit that outputs an electrical signal according to received light and an image information generation unit that generates image information based on the output electrical signal. The other viewpoint, which is a program, which causes the image information generation unit to generate the image information according to a user's imaging operation, and image information at a different viewpoint from the image information generated according to the imaging operation After starting the acquisition process of image information, when it is determined that the imaging device has been displaced, the image information generation unit generates other viewpoint image information based on the electrical signal output from the photoelectric conversion unit. A distance to the target displayed in the image information generated in accordance with the imaging operation and the image information generated in response to the imaging operation based on the image information generated in response to the imaging operation and the other viewpoint image information Causing the imaging device to execute a step of calculating distance information, which is information, and a step of associating the image information generated in response to the imaging operation and the information of the calculated distance in a storage medium. Features.

  According to the present invention, in an imaging device that generates image information by photoelectric conversion, it is possible to acquire information on the subject and the depth of the background displayed in the generated image with a simple configuration.

It is a block diagram which shows the hardware constitutions of the digital camera which concerns on embodiment of this invention. It is a figure which shows the function structure of the digital camera which concerns on embodiment of this invention. It is a figure which shows the example of the distance information acquired by the digital camera which concerns on embodiment of this invention. It is a figure which shows typically the specification aspect of the digital camera which concerns on embodiment of this invention. 3 is a flowchart showing an operation of the digital camera according to the embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the present embodiment, a digital camera as an imaging device that generates image information by photoelectric conversion will be described as an example. The digital camera according to the present embodiment acquires image information from a viewpoint different from the first shooting by moving the digital camera for a predetermined period after shooting by the specification mode of a normal digital camera, Based on a plurality of pieces of image information having different viewpoints, Z information that is depth information of the subject and background of the image information generated by the first shooting is calculated. Note that the Z information is information indicating the distance to the object displayed in each part of the image information, and can also be referred to as distance information.

  FIG. 1 is a block diagram showing a hardware configuration of a digital camera 1 according to the present embodiment. As shown in FIG. 1, the digital camera 1 according to the present embodiment has a configuration similar to that of an information processing terminal such as a general server or a PC (Personal Computer), and realizes a function as a digital camera. Includes devices.

  That is, the digital camera 1 according to the present embodiment includes a CPU (Central Processing Unit) 10, a RAM (Random Access Memory) 11, a ROM (Read Only Memory) 12, a memory card 13, a display unit 14, an operation unit 15, and a CCD ( Charge-Coupled Device) is connected via the bus 17.

  The CPU 10 is a calculation means and controls the operation of the entire digital camera 1. The RAM 11 is a volatile storage medium capable of reading and writing information at high speed, and is used as a work area when the CPU 10 processes information. The ROM 12 is a read-only nonvolatile storage medium and stores a control program such as firmware and application programs. The memory card 13 is a non-volatile storage medium capable of reading and writing information, and stores image information generated by imaging.

  The display unit 14 is a visual user interface for the user to check the state of the image forming apparatus 1 and is implemented by including an LCD (Liquid Crystal Display), an LED (Light Emitting Diode), and the like. The operation unit 15 is a user interface for the user to operate the digital camera 1, and includes a switch, a slide bar, a dial, a touch panel configured in the display unit 14, and the like. The CCD 16 is a photoelectric conversion unit that receives light imaged by the imaging lens and converts optical information into an analog electrical signal.

  In such a hardware configuration, a program stored in a recording medium such as the ROM 12 is read out to the RAM 11, and the software control unit is configured by the CPU 10 performing calculations according to the program. A functional block that realizes the functions of the digital camera 1 according to the present embodiment is configured by a combination of the software control unit configured as described above and hardware.

  Next, a functional configuration of the digital camera 1 according to the present embodiment will be described with reference to FIG. FIG. 2 is a block diagram showing a functional configuration of the digital camera 1 according to the present embodiment. As shown in FIG. 2, the digital camera 1 according to the present embodiment includes a controller 100 configured by a combination of a software control unit and hardware as described above, in addition to the hardware described in FIG. 1.

  As shown in FIG. 2, the controller 100 includes a CCD control unit 101, an image generation unit 102, a storage medium control unit 103, an operation control unit 104, a display control unit 105, and a Z information control unit 106. The CCD control unit 101 controls the CCD 16 and acquires an electrical signal output from the CCD 16 based on an operation signal input from the operation control unit 104.

  The image generation unit 102 performs image processing and the like based on the electrical signal acquired by the CCD control unit 101 to generate image information. The image information generated by the image generation unit 102 is image information generated by photographing. That is, the CCD control unit 101 and the image generation unit 102 work together to function as an image information generation unit that generates image information based on an electrical signal output from the CCD 16 that is a photoelectric conversion unit. The storage medium control unit 103 controls writing of information to the memory card 13 and reading of information from the memory card 13. The operation control unit 104 outputs an operation signal in response to a user operation on the operation unit 15. The display control unit 15 causes the display unit 14 to display an image corresponding to the operating state of the digital camera 1.

  The Z information control unit 106 is a configuration according to the gist of the present embodiment, and generates Z information of the subject and background displayed in the image for the image information generated by the image generation unit 102. In addition to the image information, the Z information control unit 106 uses image information generated by shooting from another viewpoint, and generates Z information based on a plurality of pieces of image information generated by shooting from different viewpoints. The Z information generated by the Z information control unit 106 is stored in the memory card 13 together with the image information by the storage medium control unit 103.

  Here, an example of Z information generated in the present embodiment will be described with reference to FIG. As shown in FIG. 3, the Z information according to the present embodiment includes “u” (pixel) which is a horizontal coordinate and “v” (pixel) which is a vertical coordinate in the image information generated by the above photographing. In addition, the depth of the subject or background displayed at the position on the image specified by “u” and “v”, that is, the horizontal distance “Z” (mm) from the origin is included.

  In other words, the depth information included in the Z information is associated with the distance from the object displayed at the respective coordinates on the image of the image information generated by photographing. Such information makes it possible to recognize the distance in the actual space of the subject or background displayed in the image generated by shooting. In the present embodiment, the origin is a light receiving point of the CCD 16.

  In addition to the configuration shown in FIG. 2, the digital camera 1 according to the present embodiment has lenses for forming an image on the CCD 16, a mechanism for operating these lenses, and the mechanism for operating the operation unit 15. It has a general configuration that should be provided as a digital camera, such as a control unit that performs control accordingly.

  When normal shooting is performed with the digital camera 1 according to the present embodiment, when the digital camera 1 is turned on, the CCD 16 photoelectrically converts received light information and outputs an electrical signal. The CCD control unit 101 inputs an electrical signal acquired from the CCD 16 to the image generation unit 102. The image generation unit 102 generates image information based on the electrical signal input from the CCD control unit 101 and inputs the image information to the display control unit 105. The image information that the image generation unit 102 inputs to the display control unit 105 is image information that is reduced or thinned out according to the screen size of the display unit 14.

  The display control unit 105 causes the display unit 14 to display the image information acquired from the image generation unit 102. Accordingly, the user can visually recognize an image of a subject to be imaged, a background, a landscape, and the like via the display unit 14. When the user determines a shooting target based on the image displayed on the display unit 14, determines the zoom magnification by operating the operation unit 15, and presses the release switch included in the operation unit 15, the operation control unit 104 inputs a control signal to the CCD control unit 101 in response to a user operation on the operation unit 15, and the CCD control unit 101 performs electronic shutter control. That is, the operation control unit 104 functions as an imaging instruction unit. Hereinafter, pressing the release switch by the user is referred to as an imaging operation or a shutter operation.

  In the electronic shutter control, the CCD control unit 101 resets the electric charge accumulated by the photoelectric conversion of the CCD 16, and acquires the electric charge accumulated in the CCD 16 as an electric signal during a shutter period that is a predetermined period after the reset. The electrical signal acquired by the CCD control unit 101 in the electronic shutter control is input to the image generation unit 102, and the image generation unit 102 generates image information based on the electrical signal.

  Image information generated by the image generation unit 102 is stored in the memory card 13 by the storage medium control unit 103. By such an operation, the normal imaging operation by the digital camera 1 according to the present embodiment is completed, and the image information generated by the imaging is stored in the memory card 13. The storage destination of the image information generated by imaging may be a storage medium built in the digital camera 1 in addition to the memory card 13.

  Next, a usage method and operation according to the gist of the digital camera 1 according to the present embodiment will be described. FIG. 4 is a diagram schematically illustrating a usage method of the digital camera 1 according to the present embodiment. As described above, when shooting with the digital camera 1 according to the present embodiment, the user presses the release switch to perform shooting in the same manner of use as that of a normal digital camera, that is, the normal shooting operation described above. After that, the digital camera 1 is moved for a predetermined period. The operation of moving the digital camera 1, as shown in FIG. 4, is an operation of moving the hand holding the digital camera 1 with the light receiving unit of the digital camera 1 facing the direction of the imaging target. It is the operation of shaking the digital camera.

  As illustrated in FIG. 4, when the user moves the hand holding the digital camera 1, the digital camera 1 according to the present embodiment has the first information in addition to the image information generated by the first normal imaging operation. Image information of an image based on light incident on the CCD 16 at a position different from the position in the imaging operation is generated. Thereby, the digital camera 1 acquires the other viewpoint image information imaged from the viewpoint different from the first imaging operation, and generates the Z information based on the plurality of image information. Hereinafter, the operation of the digital camera 1 according to the present embodiment will be described with reference to FIG.

  As shown in FIG. 5, first, the controller 100 operates in response to the shutter operation by the user, that is, the release switch is pressed, and the image generation unit 102 generates image information (S501). The image generation unit 102 inputs the generated image information to the storage medium control unit 103 and stores it in the memory card 13 and also inputs it to the Z information control unit 106. As a result, the Z information control unit 106 starts counting and the display control unit 105 turns on the LED to notify the user that the other viewpoint image information is being acquired (S502).

  That is, the Z information control unit 106 functions as an other viewpoint image information acquisition processing unit that executes an acquisition process of other viewpoint image information in accordance with an imaging operation by the user, and the display control unit 105 It functions as a notification unit that notifies the user that acquisition processing is in progress. The LED may be turned on not by the display control unit 105 but by the Z information control unit 106, and may be blinking instead of lighting.

  When the count value reaches a predetermined value (S503 / YES), the Z information control unit 106 outputs a signal similar to the shutter signal output by the operation control unit 104 in response to pressing of the release switch, to the CCD control unit 101. Output to. As a result, the CCD control unit 101 performs the electronic shutter control described above, acquires an electrical signal, and inputs it to the image generation unit 102. When the image generating unit 102 generates other viewpoint image information based on the electrical signal acquired according to the shutter signal from the Z information control unit 106 (S504), the other viewpoint image information is input to the Z information control unit 106.

  The Z information control unit 106 repeats the count until a predetermined number of other viewpoint image information is acquired (S505 / NO). When a predetermined number of other viewpoint image information is acquired (S505 / YES), the display control unit 105 controls to turn off the LED that was turned on in S502 in order to notify the user that acquisition of the other viewpoint image information has been completed. To do. Then, the Z information control unit 106 calculates Z information based on the first acquired image information and other viewpoint image information. That is, the Z information control unit 106 functions as a distance information calculation unit. Then, the Z information control unit 106 inputs the generated Z information to the storage medium control unit 103 and stores it in the memory card 13 in association with the image information stored in S501 (S506). That is, the storage medium control unit 103 functions as a storage processing unit. By such processing, the operation of the digital camera 1 according to the present embodiment is completed.

  Note that the calculation of Z information in S506 can be realized by using a known method as a calculation method of Z information based on images from a plurality of different viewpoints. For example, the Z information control unit 106 extracts a common point between the image information acquired by the first imaging (hereinafter referred to as main image information) and the other viewpoint image information, so that pixels in each of the two pieces of image information are obtained. A table showing the correspondence relationship between the image, the position on the image is converted to a real space position based on internal parameters such as the focal length and optical axis shift of the digital camera 1, and the main image is calculated by calculation based on triangulation The Z information for each pixel of information can be calculated.

  As described above, in the digital camera 1 according to the present embodiment, a plurality of different viewpoints can be obtained by controlling the configuration mounted on the existing digital camera without adding special hardware such as a stereo camera. Can be easily acquired, and Z information of each pixel constituting the acquired main image information can be calculated. Therefore, it is generated in an imaging device that generates image information by photoelectric conversion. Information about the subject and the depth of the background displayed in the image can be acquired with a simple configuration.

  In the above embodiment, when acquiring the other viewpoint image information, the timing at which the CCD control unit 101 acquires the electrical signal and the image generation unit 102 generates the image information, that is, the digital camera 1 performs the first imaging. As a criterion for determining that the position has been displaced from the position of Z, the Z information control unit 106 has been described as an example in which the timing at which the timer counter reaches a predetermined count value is used.

  In addition, when determining the displacement of the digital camera 1, the sensor output of an acceleration sensor or the sensor output of a position sensor such as GPS (Global Positioning System) can be used. In the case of using an acceleration sensor, the Z information control unit 106 detects that the digital camera 1 has started moving in a certain direction based on the acceleration detection signal, or detects the acceleration again after a predetermined period has elapsed. The timing at which the digital camera 1 is detected to be stopped based on the signal can be used.

  As shown in FIG. 4, when a user takes a plurality of images while shaking the digital camera 1, the count value reaches a predetermined value at a timing at which the position of the digital camera 1 does not change much from the imaging position of the main image. There may be cases. As a result, the viewpoint of the image acquired as the other viewpoint image information may not be much different from the viewpoint of the main image. On the other hand, in the case of the aspect using an acceleration sensor, since it can detect with high precision that the digital camera 1 is located ahead of the displacement, the said subject can be solved.

  Further, when using the position sensor, the Z information control unit 106 can use a timing separated from the position of the digital camera 1 when the main image information is generated based on the sensor output of the position sensor. As a result, as in the case of using the acceleration sensor, it is possible to detect with high accuracy that the digital camera 1 is at a position different from the imaging position of the main image, and the above problem can be solved. Further, as one aspect of calculating Z information from images of a plurality of viewpoints, there is an aspect in which the position of the viewpoint is used as a parameter. Therefore, the position detection signal by the position sensor can also be used for the Z information calculation process by the Z information control unit.

  Further, in the above-described embodiment, in order to acquire a plurality of other viewpoint image information in addition to the main image information, the digital camera 1 is used after imaging for generating the main image information as shown in FIG. The case where it is displaced left and right has been described as an example. However, calculation of Z information based on images taken from a plurality of different viewpoints is possible if there are images taken from at least two viewpoints, and there is one other viewpoint image information in addition to main image information. Is possible.

  Therefore, as a method of using the digital camera 1 according to the present embodiment, the digital camera 1 may be panned or tilted in one direction instead of being displaced left and right as shown in FIG. Thereby, at least one image of a viewpoint different from the viewpoint at the time of capturing the main image information can be acquired, and the Z information can be calculated.

1 Digital camera 10 CPU
11 RAM
12 ROM
13 Memory Card 14 Display 15 Operation Unit 16 CCD
17 bus 100 controller 101 CCD control unit 102 image generation unit 103 storage medium control unit 104 operation control unit 105 display control unit 106 Z information control unit

Claims (9)

An imaging apparatus including a photoelectric conversion unit that outputs an electrical signal according to received light and an image information generation unit that generates image information based on the output electrical signal,
An imaging instruction unit that generates the image information in response to a user's imaging operation;
An other viewpoint image information acquisition processing unit that executes an acquisition process of other viewpoint image information that is image information at a different viewpoint from the image information generated according to the imaging operation, according to the imaging operation;
A distance for calculating distance information, which is information on a distance to a target displayed in the image information generated in response to the imaging operation, based on the image information generated in response to the imaging operation and the other viewpoint image information. An information calculation unit;
A storage processing unit that associates the image information generated according to the imaging operation with the calculated distance information and stores the information in a storage medium;
When the other viewpoint image information acquisition processing unit starts the acquisition process of the other viewpoint image information and determines that the imaging device is displaced, the other viewpoint image information acquisition processing unit outputs the image information generation unit to the image information generation unit. An imaging apparatus that generates other-viewpoint image information based on an electrical signal.   The other-viewpoint image information acquisition processing unit determines that the imaging device has been displaced when a count value of a count started in response to the start of the other-viewpoint image information acquisition process reaches a predetermined value. The imaging apparatus according to claim 1. An acceleration sensor for detecting movement of the imaging device;
The imaging apparatus according to claim 1, wherein the other-viewpoint image information acquisition processing unit determines a displacement of the imaging apparatus in response to detection of a movement of the imaging apparatus by the acceleration sensor. A position detection sensor for detecting the position of the imaging device;
The imaging apparatus according to claim 1, wherein a displacement of the imaging apparatus is determined according to detection of a position of the imaging apparatus by the other viewpoint image information acquisition processing unit and the position detection sensor.   The distance information calculation unit is configured to determine, from the position detection sensor, the position of the imaging device when the image information is generated according to the imaging operation and the position of the imaging device when the other viewpoint image information is generated. The imaging apparatus according to claim 4, wherein the imaging apparatus is acquired and used for calculation of the distance information.   An imaging apparatus, further comprising: a notification unit that notifies the user that the other viewpoint image information acquisition process is being executed. An image processing apparatus included in an imaging apparatus including a photoelectric conversion unit that outputs an electrical signal according to received light and an image information generation unit that generates image information based on the output electrical signal,
An imaging instruction unit that generates the image information in response to a user's imaging operation;
An other viewpoint image information acquisition processing unit that executes an acquisition process of other viewpoint image information that is image information at a different viewpoint from the image information generated according to the imaging operation, according to the imaging operation;
A distance for calculating distance information, which is information on a distance to a target displayed in the image information generated in response to the imaging operation, based on the image information generated in response to the imaging operation and the other viewpoint image information. An information calculation unit;
A storage processing unit that associates the image information generated according to the imaging operation with the calculated distance information and stores the information in a storage medium;
When the other viewpoint image information acquisition processing unit starts the acquisition process of the other viewpoint image information and determines that the imaging device is displaced, the other viewpoint image information acquisition processing unit outputs the image information generation unit to the image information generation unit. An image processing apparatus that generates other viewpoint image information based on an electrical signal. A control method of an imaging apparatus including a photoelectric conversion unit that outputs an electrical signal according to received light and an image information generation unit that generates image information based on the output electrical signal,
In response to a user's imaging operation, the image information generation unit generates the image information,
The image information generation is performed when it is determined that the imaging device has been displaced after starting acquisition processing of other viewpoint image information that is image information at a different viewpoint from the image information generated according to the imaging operation. To obtain other viewpoint image information based on the electrical signal output from the photoelectric conversion unit to the unit,
Based on the image information generated according to the imaging operation and the other viewpoint image information, distance information that is information on the distance to the target displayed in the image information generated according to the imaging operation is calculated,
A control method for an imaging apparatus, wherein image information generated in response to the imaging operation and information on the calculated distance are associated with each other and stored in a storage medium. A control program for an imaging apparatus including a photoelectric conversion unit that outputs an electrical signal according to received light and an image information generation unit that generates image information based on the output electrical signal,
Causing the image information generation unit to generate the image information in response to a user's imaging operation;
The image information generation is performed when it is determined that the imaging device has been displaced after starting acquisition processing of other viewpoint image information that is image information at a different viewpoint from the image information generated according to the imaging operation. Generating the other viewpoint image information based on the electrical signal output from the photoelectric conversion unit to the unit,
A step of calculating distance information that is information on a distance to a target displayed in the image information generated in response to the imaging operation based on the image information generated in response to the imaging operation and the other viewpoint image information. When,
A control program for an imaging apparatus, characterized by causing the imaging apparatus to execute a step of associating and storing image information generated in response to the imaging operation and the calculated distance information in a storage medium.

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