JP6051835B2 - Video output apparatus, video output method, and program - Google Patents

Description

  The present invention relates to a technique for cutting out and outputting an image in a line-of-sight direction at a viewpoint position moving in a route from an omnidirectional image arranged on the route, and in particular, smoothing the image in the line-of-sight direction when turning a branch point. It relates to changing technology.

  In recent years, an omnidirectional image (panoramic image) having a 360-degree field of view is arranged in a route, and the user can move freely in the route where the sequence is arranged while facing an arbitrary line-of-sight direction. A panoramic image providing service that provides a panoramic image according to the field of view has been developed.

As an example of using the panoramic image providing service, there is an online map search service, and Non-Patent Document 1 is an example. Non-Patent Document 1 is a site that provides a service that allows a user to view a panoramic image taken at a point when the user clicks on a point on the map. In addition, by clicking an arrow displayed on the screen, the user can move the viewpoint to the front or near side in the panoramic photo.
Further, in Non-Patent Document 2 and Non-Patent Document 3, it is possible to view an image that the user is moving while freely changing the line-of-sight direction by joining the captured panoramic images at the time of reproduction.

“GoogleStreet View”, [online], Google, Inc, [October 17, 2012 search], Internet <http://maps.google.co.jp/intl/en/help/maps/streetview/> “Movie VR of the Month 2006 calendar using QuickTime VR”, [online], AppleComputer, Inc, [October 17, 2012 search], Internet <http://www.worldinmotionvr.com/motionvr_month /calendar.html> “360VR (Web content collection)”, [online] 360, [October 17, 2012 search], Internet <http://unimoto.sakura.ne.jp/360vr/>

  In such a system, when a path in space includes a branch point, a plurality of omnidirectional image sequences to be photographed are connected, and a plurality of omnidirectional image sequences are connected at the branch point.

In Non-Patent Document 1, when a branch point exists on a route, the user selects the next destination at the point that becomes the branch point, and there is no continuity between images displayed before and after the branch.
In Non-Patent Document 3, at the branch point on the route, the moving image of the branch destination that can be moved next is linked, and there is no continuity between the images displayed before and after the branch.
In Non-Patent Document 2, the range in which the user can move is only on a preset route, and there is no branch on the route.

In general, when two images with different camera orientations at the time of shooting are displayed continuously at the branch point of a route in space, the line-of-sight direction matches the camera direction or the angle of the route after branching changes It is conceivable to rotate the viewing direction.
However, with this method, a change in the line-of-sight direction occurs at the branch point, and the line-of-sight direction cannot be bent continuously like a change in the line-of-sight direction when a person bends in real space.

  The present invention has been made in view of the above-described problems, and the object of the present invention is to cut out an image in a line-of-sight direction at a viewpoint position moving in a route arranged in a coordinate space from an omnidirectional image. In the video output device to output, it is to provide a technique for smoothly changing the video in the line of sight when turning a branch point.

In order to solve the above-described problem, a first invention is a video output device that outputs a video in a line-of-sight direction at a viewpoint position that moves in a path arranged in a coordinate space, and includes a frame of an omnidirectional image. Storage means for storing a sequence in association with the path, input means for continuously moving the viewpoint position and the line-of-sight direction, and a second path from a first path at a branch point in the path Angle calculating means for calculating an angle when moving to the eye, gaze direction calculating means for calculating the gaze direction at the viewpoint position of the first path based on the calculated angle and the viewpoint position, and Output means for cutting out and outputting the video in the line-of-sight direction at the viewpoint position from the omnidirectional image, and the path includes a node and a directed branch, and the omnidirectional image A sequence of frames is associated with each directed branch, and the line-of-sight direction calculating means calculates the line-of-sight direction at the viewpoint position of the first branch with the angle calculated by the angle calculating means, The video output device is characterized in that the product is a product of a progress rate to the branch point in one branch .
According to the first invention, when moving from the first route to the second route at a branch point in the route, the line-of-sight direction at the viewpoint position of the first route is based on the angle and the viewpoint position when moving. Therefore, the video cut out from the omnidirectional image can be smoothly changed, and a high sense of presence can be produced.
In addition, this makes it possible to express a route as a directed graph composed of nodes and directed branches (directed edges), and to make a sequence composed of frames of omnidirectional images correspond to the directions of the directed branches.
In addition, this allows the line-of-sight direction to be linearly changed according to the viewpoint position so that the line-of-sight direction becomes the direction of the branch at the branch point when the viewpoint position advances toward the branch point. The visual field image in the line-of-sight direction cut out from the omnidirectional image at the position can also be changed smoothly, and a high presence can be produced.

A second invention is a video output device that outputs a video in a line-of-sight direction at a viewpoint position that moves in a path arranged in a coordinate space, and associates a sequence composed of frames of omnidirectional images with the path Storage means, input means for continuously moving the viewpoint position and the line-of-sight direction, and an angle at the time of moving from the first path to the second path at a branch point in the path An angle calculating means for calculating the gaze direction at the viewpoint position of the first path based on the calculated angle and the viewpoint position, and an image of the gaze direction at the viewpoint position. Output means for cutting out from the omnidirectional image and outputting, and the path is composed of a node and a directed branch, and the sequence of frames of the omnidirectional image is In addition, a first progress rate of the viewpoint position in the first branch is calculated for each directed branch, and a position where the first progress rate first exceeds a threshold is set as a reference position. A determination unit, wherein the line-of-sight direction calculation unit calculates the line-of-sight direction at the viewpoint position from the reference position of the first branch to the branch point, the angle calculated by the angle calculation unit, and the reference position The video output apparatus is characterized in that the product is a product of the second rate of progress from to the branch point.
According to the second invention, when moving from the first route to the second route at the branch point in the route, the line-of-sight direction at the viewpoint position of the first route is based on the angle and the viewpoint position when moving. Therefore, the video cut out from the omnidirectional image can be smoothly changed, and a high sense of presence can be produced.
In addition, this makes it possible to express a route as a directed graph composed of nodes and directed branches (directed edges), and to make a sequence composed of frames of omnidirectional images correspond to the directions of the directed branches.
This also changes the line-of-sight direction linearly according to the viewpoint position from the reference position to the branch point so that the line-of-sight direction becomes the direction of the branch at the branch point when the viewpoint position advances toward the branch point. Therefore, the visual field image in the line-of-sight direction cut out from the omnidirectional image at the viewpoint position can be smoothly changed from before the branch point, and a high sense of reality can be produced.

The angle calculation means according to the first aspect of the present invention uses the angle when moving from the first branch to the second branch at the branch point in the route as the angle formed by the second branch with respect to the first branch. It is desirable to calculate.
Thus, the line-of-sight direction can be calculated based on the angle formed by the second branch with respect to the first branch.

According to a third aspect of the present invention, there is provided a computer that outputs an image in a line-of-sight direction at a viewpoint position that moves in a path arranged in a coordinate space, and stores a sequence of frames of omnidirectional images in association with the path. And a storage unit that performs the input step of continuously moving the viewpoint position and the line-of-sight direction, and when moving from the first route to the second route at a branch point in the route. An angle calculating step for calculating an angle; a line-of-sight direction calculating step for calculating the line-of-sight direction at the viewpoint position of the first path based on the calculated angle and the viewpoint position; and the line-of-sight at the viewpoint position An output step of cutting out and outputting a video of a direction from the omnidirectional image, and the path is composed of a node and a directed branch; A sequence composed of frames of the omnidirectional image is associated with each directed branch, and the line-of-sight calculation step calculates the line-of-sight direction at the viewpoint position of the first branch by the angle calculation step. The video output method is characterized in that the product of an angle and a progress rate to the branch point in the first branch .
According to a fourth aspect of the present invention, there is provided a computer for outputting an image in a line-of-sight direction at a viewpoint position moving in a path arranged on a coordinate space, and storing a sequence of frames of omnidirectional images in association with the path. And a storage unit that performs the input step of continuously moving the viewpoint position and the line-of-sight direction, and when moving from the first route to the second route at a branch point in the route. An angle calculating step for calculating an angle; a line-of-sight direction calculating step for calculating the line-of-sight direction at the viewpoint position of the first path based on the calculated angle and the viewpoint position; and the line-of-sight at the viewpoint position An output step of cutting out and outputting a video of a direction from the omnidirectional image, and the path is composed of a node and a directed branch; A sequence composed of frames of the omnidirectional image is associated with each directed branch, further calculates a first progress rate of the viewpoint position in the first branch, and the first progress rate is a threshold value. A step of determining a position that first exceeds a reference position as the reference position, and the step of calculating the line-of-sight direction includes calculating the angle of the line-of-sight direction at the viewpoint position from the reference position of the first branch to the branch point. In the video output method, the product of the angle calculated in the step and a second progress rate from the reference position to the branch point is obtained.

A fifth invention is a program for causing a computer to function as a video output device that outputs a video in a line-of-sight direction at a viewpoint position that moves in a path arranged in a coordinate space, and the computer is an omnidirectional image. Storage means for storing a sequence of frames in association with the path, input means for continuously moving the viewpoint position and the line-of-sight direction, and a branch point in the path from the first path to the second path. Angle calculating means for calculating an angle when moving to the path, gaze direction calculating means for calculating the gaze direction at the viewpoint position of the first path based on the calculated angle and the viewpoint position, Functioning as an output means for cutting out and outputting the video in the line-of-sight direction at the viewpoint position from the omnidirectional image , and the path is a node and a directed branch A sequence of frames of the omnidirectional image is associated with each directed branch, and the line-of-sight direction calculating unit determines the line-of-sight direction at the viewpoint position of the first branch as the angle. The program is characterized in that the product of the angle calculated by the calculating means and the rate of progress to the branch point in the first branch .
A sixth invention is a program for causing a computer to function as a video output device that outputs a video in a line-of-sight direction at a viewpoint position that moves in a path arranged in a coordinate space, and the computer is an omnidirectional image. Storage means for storing a sequence of frames in association with the path, input means for continuously moving the viewpoint position and the line-of-sight direction, and a branch point in the path from the first path to the second path. Angle calculating means for calculating an angle when moving to the path, gaze direction calculating means for calculating the gaze direction at the viewpoint position of the first path based on the calculated angle and the viewpoint position, Functioning as an output means for cutting out and outputting the video in the line-of-sight direction at the viewpoint position from the omnidirectional image, and the path is a node and a directed branch And a sequence composed of frames of the omnidirectional image is associated with each directed branch, further calculates a first progress rate of the viewpoint position in the first branch, and A determination unit that uses a position where the progression rate of the first exceeds a threshold as a reference position, and the line-of-sight direction calculation unit includes the line-of-sight direction at the viewpoint position from the reference position of the first branch to the branch point. Is a product of the angle calculated by the angle calculation means and the second progress rate from the reference position to the branch point.

  With the video output device of the present invention, when the viewpoint position advances toward the branch point, the line-of-sight direction can be smoothly changed according to the viewpoint position so as to be the direction of the branch at the branch point. Therefore, the visual field image in the line-of-sight direction cut out from the omnidirectional image at the viewpoint position can be changed smoothly, and a high sense of presence can be produced.

1 is a block diagram showing a hardware configuration example of a video output apparatus according to the present embodiment The top view which shows the example in the facility where the viewpoint position which concerns on this embodiment moves The figure which shows the example of the data structure which a video output device hold | maintains Diagram showing an example of an omnidirectional image The figure which shows the correspondence of the sequence which consists of the branch and the frame of the omnidirectional picture The figure which shows the example of the path | route represented on XY two-dimensional coordinate The figure which shows the example which converted the path | route shown in FIG. 6 into node information and branch information Flowchart of line-of-sight direction changing process of video output apparatus according to first embodiment The figure which shows the example of the holding | maintenance data which the video output device which concerns on 1st Embodiment hold | maintains. Schematic diagram of progress rate etc. in the target branch where the viewpoint position is located The figure which shows the example of the user input screen Diagram showing an example of an input controller The figure explaining the angle of the movement destination branch with respect to the target branch The figure which shows the example of the relationship between the 1st and 2nd progress rate, and a gaze direction The figure which shows the example of the change of the gaze direction to the branch point which concerns on 1st Embodiment. The figure explaining the example which cuts out the visual field image of a gaze direction from the omnidirectional image according to a viewpoint position Flowchart (1) of the line-of-sight direction changing process of the video output device according to the second embodiment Flowchart (2) of the line-of-sight direction changing process of the video output device according to the second embodiment The figure which shows the example of the holding | maintenance data hold | maintained at the video output device which concerns on 2nd Embodiment. The figure which shows the example of the change of the gaze direction to the branch point which concerns on 2nd Embodiment.

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

  FIG. 1 is a hardware configuration diagram of a computer that implements a video output apparatus 1 according to an embodiment of the present invention. As shown in FIG. 1, the computer includes a control unit 11, a storage unit 12, a media input / output unit 13, a communication control unit 14, an input unit 15, a display unit 16, a peripheral device I / F unit 17, and the like. 18 is connected.

The control unit 11 includes a CPU (Central Processing Unit) and a ROM (Read
It is composed of an only memory (RAM), a random access memory (RAM), and the like.
The CPU calls and executes a program stored in the storage unit 12, ROM, storage medium, or the like to the work memory area on the RAM, and drives and controls each device connected via the bus 18. The process to be described later is realized. The ROM is a non-volatile memory and permanently holds a computer boot program, a program such as BIOS, data, and the like. The RAM is a volatile memory, and temporarily holds a loaded program, data, and the like, and includes a work area used by the control unit 11 to perform each process.

The storage unit 12 is an HDD (Hard Disk Drive) or the like, and includes a program executed by the control unit 11, data necessary for program execution, an OS (Operating).
System) and the like are stored. These program codes are read by the control unit 11 as necessary, transferred to the RAM, and read and executed by the CPU.

The media input / output unit 13 is a media input / output device such as a CD drive, a DVD drive, an MO drive, and a floppy (registered trademark) disk drive, and inputs / outputs data such as moving images.
The communication control unit 14 includes a communication control device, a communication port, and the like, and is a communication interface that mediates communication between a computer and a network, and performs communication control between other devices via the network.

The input unit 15 performs data input and includes, for example, a controller (see FIG. 9) having a lever and a button that moves up and down, left and right, a pointing device such as a keyboard and a mouse, and an input device such as a numeric keypad. The input data is output to the control unit 11.
The display unit 16 includes, for example, a display device such as a CRT monitor or a liquid crystal panel, and a logic circuit (a video adapter or the like) for executing display processing in cooperation with the display device, and is input under the control of the control unit 11. The displayed display information is displayed on the display device.

The input unit 15 and the display unit 16 may be, for example, a display with a touch panel in which those functions are integrated.
The peripheral device I / F unit (interface) 17 is a port for connecting a peripheral device to the computer, and the computer transmits and receives data to and from the peripheral device via the peripheral device I / F unit 17. The peripheral device I / F unit 17 is configured by USB, IEEE 1394, RS-232C, or the like, and usually includes a plurality of peripheral devices I / F. The connection form with the peripheral device may be wired or wireless.
The bus 18 is a path that mediates transmission / reception of control signals, data signals, and the like between the devices.

FIG. 2 is a plan view showing an example in a facility where the viewpoint position moves according to the present embodiment.
The video output apparatus 1 according to the present embodiment cuts out a visual field image in an arbitrary line-of-sight direction viewed from a viewpoint position that continuously moves in a route modeled in such a facility as a directed graph from an omnidirectional image. To display.

  For example, an example in which a facility having the floor plan 20 shown in FIG. 2 is presented to the user will be described. The video output device 1 outputs a frame image constituting a video of a facility that has been captured in advance as a moving image based on the viewpoint position and the line-of-sight direction input by the user. The video output device 1 allows the user to experience the actual walking around the facility by presenting the video in the facility while freely moving the viewpoint position and the line-of-sight direction. It becomes possible.

  As shown in FIG. 2, the route in the floor plan 20 is constituted by a node 21 and a branch 22. The node 21 is a path joint, and the branch 22 (generally also referred to as an edge) is a unit path that connects the node 22 and the node 22. In the example shown in FIG. 2, seven nodes N1 to N7 and six branches B1 to B6 are defined.

  Each branch 22 is represented by a directed line segment, and the direction of the arrow of each branch is a node 22 (hereinafter referred to as a start point node) in which the starting point of the arrow represents the starting point, and the end point of the arrow represents the end point. 22 (hereinafter referred to as an end point node). That is, the branch is a directed branch, and when the start node and the end node are specified, the branch is specified. The direction of the branch is the direction of the traveling direction when the inside of the facility is photographed along the route when the omnidirectional image stored in the storage unit 12 is generated.

  It is up to the designer of the data of this device to determine the position of the node on the route, but in general, the end point (dead end), the turning point (point representing the turning angle), and the branch on the route Define a node for the point. In the example shown in FIG. 2, N3, N4, N5, and N7 are nodes indicating end points on the route, and N6 is a node indicating a turning point on the route (hereinafter referred to as a turning point node or a turning point). N1 and N2 are nodes indicating branch points on the route (hereinafter referred to as branch point nodes or branch points).

  FIG. 3 is a diagram illustrating an example of a data structure stored in the storage unit 12 of the video output device 1. The storage unit 12 of the video output device 1 stores (a) node information 25, (b) branch information 26, and (c) video information 27.

The node information 25 shown in (a) is information relating to each node existing on the path where the viewpoint position is movable, and includes “node ID”, “position information X”, “position information Y”, and “attribute”. Composed.
“Position information X” and “Position information Y” are position information of the node, and store “X coordinate value” and “Y coordinate value” when the node is represented on XY two-dimensional coordinates, respectively. The actual distance between the nodes can be calculated by multiplying the coordinate distance between the nodes by the actual distance unit.

  The “attribute” is the degree on the path of the node, and is a value indicating the number of branches derived from each node. For example, “1” is stored if the node is at an end point (dead end) on the route, “2” is stored if the node is at a turning point on the route, and “3” is stored if the node is on a trifurcation on the route. If the node is on a crossroad on the route, “4” is stored. That is, a node whose value stored in “attribute” is “3” or more indicates a branch point node.

The branch information 26 shown in (b) is information relating to each branch connecting the starting point node and the ending point node, and includes “branch ID”, “starting node”, “ending point node”, and “video ID”.
The “starting node” stores the node ID on the shooting start side among the end points of the branch, and the “end node” stores the node ID on the shooting end side among the end points of the branch. The direction from the start node to the end node is defined as the branch direction. The “video ID” stores the video ID of the omnidirectional image sequence corresponding to the branch.

  The video information 27 shown in (c) is information relating to a sequence of omnidirectional images taken in an actual facility corresponding to each branch, and includes “video ID”, “image data”, and “number of frames”. Composed.

  The “image data” stores a sequence of omnidirectional videos. As shown in FIG. 4, the omnidirectional image 50 is an image obtained by photographing the surroundings using an omnidirectional camera at a point in an actual facility corresponding to a predetermined interval point on the branch. The omnidirectional image sequence is a sequence of image data composed of continuous frames with the omnidirectional image as a frame.

  This structure is shown in FIG. As shown in FIG. 5, when an omnidirectional image is taken while moving at a constant speed between points corresponding to the start node N1 and the end node N2, a fixed interval between the start node N1 and the end node N2 is obtained. The omnidirectional images 50a, 50b, 50c,..., 50i are taken at points corresponding to the points N1, M1, M2,. Each omnidirectional image is a frame 51, and a sequence 52 of these frames 51 is an omnidirectional image sequence 52 corresponding to the branch 22 (video ID thereof).

  Returning to FIG. 3, the “number of frames” stores the number of frames constituting the omnidirectional image sequence.

  FIG. 6 is a diagram illustrating an example in which a route according to the present embodiment is represented on XY two-dimensional coordinates. A pair of coordinates indicated by parentheses in the symbols of the nodes N1 to N4 are the X coordinate value and the Y coordinate value of the node. As shown in the figure, the angle formed by the branch B1 with respect to the X axis is 0 °, the angle formed by the branch B2 with respect to the X axis is 60 ° counterclockwise, and the branch B3 is formed with respect to the X axis. The angle formed is -60 ° counterclockwise.

FIG. 7 is a diagram showing node information 25a and branch information 26a for storing the route shown in FIG.
As shown in FIG. 7A, x1 is stored in the position coordinate X of the node N1, y1 is stored in the position coordinate Y, and 3 which is the number of branches derived from the node N1 is stored in the attribute. . X2 is stored in the position coordinate X of the node N2, y1 is stored in the position coordinate Y, and 3 which is the number of branches derived from the node N2 is stored in the attribute. X3 is stored in the position coordinate X of the node N3, y3 is stored in the position coordinate Y, and 1 which is the number of branches derived from the node N3 is stored in the attribute. X4 is stored in the position coordinate X of the node N4, y4 is stored in the position coordinate Y, and 1 which is the number of branches derived from the node N4 is stored in the attribute.

  As shown in FIG. 7B, the video ID of branch B1 stores A1, which is the video ID corresponding to branch B1, N1 is stored in the start node, and N2 is stored in the end node. A2 which is a video ID corresponding to the branch B2 is stored in the video ID of the branch B2, N2 is stored in the start node, and N3 is stored in the end node. The video ID of branch B3 stores A3, which is the video ID corresponding to branch B3, N2 is stored in the start node, and N4 is stored in the end node.

[Gaze direction changing process of the video output device according to the first embodiment]
Subsequently, the line-of-sight direction changing process according to the first embodiment will be described with reference to FIGS. FIG. 8 is a flowchart showing the line-of-sight direction changing process of the video output device 1 according to the first embodiment.

  The line-of-sight direction changing process performed by the video output device 1 is a branch for a branch having a viewpoint position (hereinafter, referred to as a target branch) when the viewpoint position is in front of a branch point (may be a turning point) on the route. A relative angle of a branch destination point (hereinafter referred to as a destination branch) is calculated, and the line-of-sight direction is changed as the viewpoint position advances to the branch point so that the line-of-sight direction at the branch point becomes the calculated relative angle. This is a process that changes smoothly. Thereby, the video output apparatus 1 can smoothly change the visual field image in the line-of-sight direction cut out from the omnidirectional image at the viewpoint position.

  The line-of-sight direction changing process in the first embodiment changes the line-of-sight direction from the node that is the end point of the target branch having the viewpoint position. On the other hand, the line-of-sight direction changing process in the second embodiment to be described later changes the line-of-sight direction after the viewpoint position has advanced to a predetermined reference position in the target branch having the viewpoint position.

  It is assumed that (a) node information 25, (b) branch information 26, and (c) video information 27 shown in FIG. 3 are stored in the storage unit 12 of the video output device 1 in advance.

FIG. 9 is a diagram illustrating an example of retained data 31 retained by the video output device 1 in the line-of-sight direction changing process according to the first embodiment. Since the value shown in FIG. 9 is updated each time the line-of-sight direction change process is executed, it is preferable not to store the data in the storage unit 12 of the video output device 1 but to store it in the RAM of the control unit 11.
FIG. 10 is a schematic diagram of the progress rate P and the like in the target branch where the viewpoint position is located, and will be described together.

  The branch ID of the target branch is the branch ID of the branch where the viewpoint position is located. The branch ID of the target branch is updated only when the viewpoint position moves to the next branch. As an initial state, the branch ID of any branch constituting the route is stored in advance as the branch ID of the target branch.

The progress rate P is a value that specifies the position of the viewpoint position in the target branch. Since each branch is a directed branch, if the starting node of the directed branch is “0” and the end node is “1”, the position in the branch is represented by one-dimensional normalized coordinates [0 to 1]. Is done. The progress rate P is this normalized coordinate of the viewpoint position in the target branch (see FIG. 10). As an initial state, a value such as “0” is stored in advance as the progress rate P, for example.
The viewpoint position is determined by the branch ID of the target branch and the progress rate P.

The traveling direction D is a value indicating whether the viewpoint position is moving toward the starting node or the ending node in the target branch, and is 0 or 1, respectively. As an initial state, for the traveling direction D, for example, a value such as “1” is stored in advance. In the example shown in FIG. 10, assuming that the traveling direction D is toward the end node, D = 1.
The traveling direction D is a direction in which the viewpoint position moves when a forward button 45a on a user input screen 41 (see FIG. 11) described later is pressed.

As shown in FIG. 10, the line-of-sight direction θ corresponds to a vector (hereinafter referred to as a progression vector) having a node 21 in the traveling direction D starting from the viewpoint position 60 and ending in the target branch 22 having the viewpoint position 60. This is the angle formed by the vector 61 indicating the line-of-sight shift. The line-of-sight direction θ is measured counterclockwise with respect to this traveling vector, and the range is [−90 ° to 90].
The line-of-sight direction θ can be identified with the vector 61 indicating the line-of-sight shift shown in FIG.
As an initial state, for the line-of-sight direction θ, for example, a value such as “0” is stored in advance.

  The node ID in the traveling direction is the node ID of the node (starting node or ending node) corresponding to the traveling direction D in the target branch where the viewpoint is located.

The branch angle θ ₁ of the target branch is a vector having an end point (start node or end node) opposite to the travel direction D of the target branch as a start point and an end point (start node or end node) in the travel direction D as an end point Is an angle made with the X axis, and counterclockwise is positive.
In FIG. 10, since the traveling direction D = 1 in the target branch 22, the end point opposite to the traveling direction D is a starting point node, and the end point in the traveling direction D is an end point node. The angle formed by the vector toward the node and the X axis is the branch angle θ ₁ of the target branch 22.

  The branch ID of the destination branch is that when the node in the travel direction D in the target branch is a branch point node or a turning point node, the viewpoint position with the node as an end point (starting node or end point node) is moved next Branch ID of the branch to be executed (hereinafter referred to as the destination branch).

  The movement destination node ID of the movement destination branch is a node ID of an end point (hereinafter referred to as a movement destination node) different from the node in the traveling direction D of the target branch among the end points of the movement destination branch.

The branch angle θ _{2 of the} destination branch is a vector whose starting point is a node in the traveling direction D of the target branch (this is the end point of the destination branch) and whose destination is the destination node of the destination branch. This is the angle between the axis and counterclockwise is positive.

The angle θ ₀ of the destination branch with respect to the target branch is an angle obtained by subtracting the branch angle θ ₁ of the target branch from the branch angle θ _{2 of the} destination branch. If the angle of the branch with respect to the X axis is an absolute angle, θ ₀ can be said to be a relative angle since it is the angle of the branch with respect to the target branch.

The first progress rate P _1, the viewpoint position in the subject branch, a value representing how much advanced toward the traveling direction D, represented by one-dimensional normalized coordinates [0-1]. That is, the first progress rate P ₁ is determined by using the progress rate P, P ₁ = P when the travel direction D = 1, and P ₁ = 1−P when the travel direction D = 0. is there.

  Returning to the description of FIG. The control unit 11 of the video output device 1 outputs the user input screen 41 to the display unit 16 (step S11).

  FIG. 11 is a diagram illustrating an example of the user input screen 41. On the user input screen 41, a route display area 42, a visual field image area 43, and an input reception area 44 are displayed. In the visual field image region 43, a visual field image 53 corresponding to the user's viewpoint position 60 and the line-of-sight direction 61 is displayed.

In the route display area 42, a floor plan in the facility, a route 62 in which the user's viewpoint position 60 can move, and a line-of-sight direction index 61 a representing the line-of-sight direction 61 at the current viewpoint position 60 are displayed. In the illustrated example, a double circle is drawn as the viewpoint position 60, and a sector is drawn as the line-of-sight direction indicator 61a.
The path 62 along which the user's viewpoint position 60 can move is a path 62 constituted by the node 21 stored in the node information 25 and the branch 22 stored in the branch information 26.

  The user moves the viewpoint position 60 from the input reception area 44 based on the visual field image 53 displayed in the visual field image area 43, the viewpoint position 60 on the path 62 displayed in the path display area 42, and the line-of-sight direction indicator 61a. And an instruction regarding movement in the line-of-sight direction 61 are input.

  In the input reception area 44, when the viewpoint position 60 is moved, when the line-of-sight direction 61 is moved, various changing operations (for example, changing the moving speed, the viewing angle of the viewing image 53 displayed in the viewing image area 43). The symbol printed on the key top of a keyboard (not shown) pressed by the user is displayed. The functions of various buttons displayed in the input reception area 44 are assigned to any key of the keyboard.

  Here, the forward button 45a and the backward button 45b are used to input movement of the viewpoint position 60. While the forward button 45a is pressed, the progress rate is increased or decreased so that the viewpoint position 60 moves at a predetermined speed in the traveling direction on the route. Further, while the backward button 45b is pressed, the progress rate is increased or decreased so that the viewpoint position 60 moves at a predetermined speed in the direction opposite to the traveling direction on the route. Here, the predetermined speed is, for example, a speed suitable for the speed at which the user walks. The predetermined speed is stored in the storage unit 12 in advance, and can be changed according to a user instruction. In the present embodiment, the case where the forward button 45a and the backward button 45b perform this operation will be described.

  As another method, while the forward button 45a is pressed, the progress rate is increased or decreased so that the viewpoint position 60 moves at a predetermined speed in the traveling direction on the route, and when the backward button 45b is pressed, the progress proceeds. The direction may be reversed.

  As another method, the forward button 45a and the backward button 45b are used only to reverse the traveling direction on the path along which the viewpoint position 60 moves, and the viewpoint position 60 always moves at a predetermined speed in the traveling direction. It may be set to. In this case, the movement of the viewpoint position 60 is stopped by pressing the stop button 45c.

  On the other hand, the right-pointing button 46b and the left-pointing button 46d are used for an operation of inputting movement in the line-of-sight direction 61. While the right-pointing button 46b is pressed, the line-of-sight direction 61 moves rightward with respect to the traveling direction at a predetermined speed. As shown, the line-of-sight direction θ is decreased. Further, while the left button 46d is being pressed, the line-of-sight direction θ is increased so that the line-of-sight direction 61 moves leftward with respect to the traveling direction at a predetermined speed.

  The up button 46a and the down button 46c are used when changing the angle in the Z-axis direction of the visual field image 53 displayed in the visual field image region 43, but details are omitted in this embodiment.

For example, functions such as changing the moving speed and changing the viewing angle of the view image 53 displayed in the view image area 43 are assigned to the change operation button 47. When making the change, a key on a keyboard (not shown) corresponding to the change operation button 47 is pressed by the user.
In addition, there may be an end button (not shown).

FIG. 12 shows an example of the controller 48 having functions of various buttons displayed in the input reception area 44 of the user input screen 41 shown in FIG.
The controller 48 can proceed in the direction desired by the user, and can freely change the line-of-sight direction 61 at the user's viewpoint position 60.

  When the movement of the viewpoint position 60 and the line-of-sight direction 61 is input from the controller 48, the user input screen 41 in which the input receiving area 44 is not arranged is displayed, and the user is arranged in the controller 48 instead of the keyboard (not shown). Input operation from various buttons. In practice, various other types of devices can be used as the controller. The controller 48 includes the forward button 45a, the backward button 45b, the stop button 45c, the upward button 46a, the right button 46b, the downward button 46c, the left button 46d, and the change operation button 47 described with reference to FIG.

  Returning to the description of FIG. The control unit 11 of the video output apparatus 1 receives input of movement of the viewpoint position and movement of the line of sight (step S12).

  Specifically, the control unit 11 of the video output device 1 accepts an input of movement of the viewpoint position by the user pressing the forward button 45a and the backward button 45b, and the right button 46b and the left button 46d are By being pressed, an input of movement in the line of sight is received.

  Next, the control unit 11 of the video output device 1 updates the viewpoint position by calculating the progress rate P in the branch at the viewpoint position (target branch) (step S13).

Specifically, the control unit 11 of the video output device 1 increases the progress rate P by a predetermined amount if the forward direction D is 1 and the forward direction button 45a is pressed in step S12. If 0, the progress rate P is decreased by a predetermined amount. The control unit 11 of the video output apparatus 1 reduces the progress rate P by a predetermined amount if the traveling direction D is 1 and the traveling direction D is 0 when the backward button 45b is pressed in step S12. The progress rate P is increased by a predetermined amount.
By doing so, the control unit 11 of the video output device 1 updates the viewpoint position determined by the branch ID of the target branch and the progress rate P.
Note that the control unit 11 of the video output apparatus 1 holds the progress rate P as held data 31.

  Next, the control unit 11 of the video output device 1 calculates the traveling direction D (step S14).

  Specifically, the control unit 11 of the video output device 1 does not reverse the traveling direction D when only the forward button 45a or the backward button 45b is pressed in step S12.

On the other hand, the control unit 11 of the video output device 1 reverses the traveling direction D when the line-of-sight direction θ becomes larger than 90 ° due to the left button 46d being pressed in step S12. Similarly, the control unit 11 of the video output apparatus 1 reverses the traveling direction D when the line-of-sight direction θ becomes smaller than −90 ° due to the right button 46b being pressed in step S12.
Note that the control unit 11 of the video output apparatus 1 holds the traveling direction D as the holding data 31.

  Next, the control unit 11 of the video output device 1 calculates the line-of-sight direction θ (step S15).

  Specifically, when the left button 46d is pressed in step S12, the control unit 11 of the video output device 1 increases the line-of-sight direction θ by a predetermined amount. At this time, when the line-of-sight direction θ is greater than 90 °, the control unit 11 of the video output apparatus 1 subtracts −180 ° (θ = θ−180) because the line-of-sight direction D is reversed. The direction θ is corrected.

In addition, when the right button 46b is pressed in step S12, the control unit 11 of the video output device 1 decreases the line-of-sight direction θ by a predetermined amount. At this time, when the line-of-sight direction θ is smaller than 90 °, the control unit 11 of the video output device 1 adds 180 ° (θ = θ + 180) to the line-of-sight direction θ. Make corrections.
Note that the control unit 11 of the video output apparatus 1 holds the viewing direction θ as the holding data 31.

  Next, the control unit 11 of the video output device 1 determines whether or not the node in the traveling direction D is a branch point (or a turning point) (step S16).

Specifically, the control unit 11 of the video output device 1 determines the branch information 26 (depending on whether the traveling direction D is a start node (D = 0) or an end node (D = 1). From FIG. 3B, the node ID of the start node or the node ID of the end node corresponding to the branch ID of the target branch is acquired as the node ID in the traveling direction D. Then, the control unit 11 of the video output device 1 acquires the attribute of the node having the node ID from the node information 25 (FIG. 3A). Then, the control unit 11 of the video output device 1 determines whether this attribute is 2 or more.
The node ID in the traveling direction D is retained as retained data 31.

  When the node in the traveling direction D is a branch point (or a turning point) (Yes in Step S16), the control unit 11 of the video output device 1 proceeds to Step S17, and otherwise (No in Step S16). Advances to step S21.

  Next, the control unit 11 of the video output device 1 determines a branch (movement destination branch) at the branch point (or turning point) (step S17).

  Specifically, the control unit 11 of the video output apparatus 1 is a branch having the node ID in the traveling direction D acquired in step S16 in the starting node or the ending node and not the target branch. Search from FIG.

  When the node in the traveling direction D is a turning point (the attribute acquired in step S16 is 2), the control unit 11 of the video output device 1 can uniquely determine the branch to move to. Let one branch be the destination branch.

On the other hand, when the node in the traveling direction D is a branch point (the attribute acquired in step S16 is 3 or more), the control unit 11 of the video output device 1 cannot uniquely determine the destination branch. Therefore, for example, the control unit 11 of the video output device 1 displays an arrow or the like corresponding to each searched branch on the user input screen 41 (not shown), and is selected by the user with the left button 46d or the right button 46b. The selected branch is set as the destination branch.
Note that the control unit 11 of the video output device 1 may select the destination branch according to the line-of-sight direction θ, for example, regardless of the user's selection.
Note that the control unit 11 of the video output apparatus 1 holds the branch ID of the destination branch as the holding data 31.

  Next, the control unit 11 of the video output device 1 calculates the angle (relative angle) of the destination branch with respect to the target branch (step S18).

Specifically, as illustrated in FIG. 13, the control unit 11 of the video output apparatus 1 is opposite to the coordinate N2 (x2, y2) of the node ID in the traveling direction D of the target branch and the traveling direction D of the target branch. The node ID coordinates N1 (x1, y1) of the node in are obtained from the node information 25 and the branch information 26 (FIG. 3). Then, the control unit 11 of the video output apparatus 1 calculates the branch angle θ ₁ of the target branch as an angle between the X axis and the vector having N1 as the starting point and N2 as the ending point.

Then, the control unit 11 of the video output device 1 acquires a node ID different from the node ID in the traveling direction D of the target branch from the branch information 26 using the branch ID of the movement destination branch, The coordinate N3 (x3, y3) is acquired from the node information 25. Then, the control unit 11 of the video output apparatus 1 calculates the branch angle θ ₂ of the movement destination branch as an angle formed by a vector starting from N ₂ and ending at N 3 and the X axis, using equation (2).

Then, the control unit 11 of the video output device 1 calculates the angle (relative angle) θ ₀ of the movement destination branch with respect to the target branch by the equation (3).
Note that the control unit 11 of the video output apparatus 1 holds the angle θ _{0 of the} destination branch with respect to the target branch as the holding data 31.

Returning to FIG.
Next, the control unit 11 of the video output device 1 calculates a _first progress rate P1, which is the progress rate of the viewpoint position D in the direction of travel (step S19).
Specifically, the control unit 11 of the video output device 1 uses the progress rate P to set P ₁ = P when the travel direction D is 1, and P ₁ = 1 when the travel direction D is 0. -P.
Note that the control unit 11 of the video output apparatus 1 holds the first progress rate P ₁ as the holding data 31.

Next, the control unit 11 of the image output device 1, the product of the first progress rate P ₁ and the relative angle theta ₀ and line-of-sight direction theta (step S20).

As shown in FIG. 14, the first progression rate P ₁ changes from 0 to 1 in the traveling direction D. Therefore, by setting the line-of-sight direction to θ = P ₁ × θ ₀ , the first progression rate P ₁ The line-of-sight direction θ changes from 0 to the relative angle θ ₀ depending on the rate (that is, the viewpoint position). Therefore, as shown in FIG. 15, the control unit 11 of the video output apparatus 1 can smoothly change the line-of-sight direction θ from the end point where the target branch has started to the branch point (or the turning point). When the point (or the turning point) is reached, the line-of-sight direction θ can be directed to the direction θ _{0 of the} destination branch.

  Next, the control unit 11 of the video output device 1 cuts out a visual field image in the line-of-sight direction θ from the omnidirectional image corresponding to the viewpoint position of the target branch (step S21).

  Specifically, the control unit 11 of the video output apparatus 1 acquires a video ID corresponding to the branch ID of the target branch from the branch information 26 (FIG. 3B). Then, the control unit 11 of the video output device 1 acquires the frame number N of the video ID from the video information 27 (FIG. 3C), and the product P × N of the progress rate P and the frame number N is the largest. Let the near integer k be the frame number k of the target frame. Then, the control unit 11 of the video output device 1 acquires from the video information 27 the omnidirectional image at the kth position in the omnidirectional image sequence corresponding to the video ID.

  Then, as illustrated in FIG. 16, the control unit 11 of the video output apparatus 1 cuts out a region corresponding to the cut-out angle Δ from the acquired omnidirectional image 50 as the visual field image θ as the visual field image 53. . The cutting angle Δ is a predetermined value or a value set by the user, and is 120 °, for example.

Next, the control unit 11 of the video output device 1 determines whether or not the viewpoint position has reached the end point of the target branch (step S22).
Specifically, the control unit 11 of the video output device 1 determines whether or not the progress rate P has become 0 or 1.

  If the viewpoint position has reached the end point of the target branch (Yes in Step S22), the control unit 11 of the video output device 1 proceeds to Step S23, and if not (No in Step S22), the control unit 11 returns to Step S11.

  Next, the control unit 11 of the video output device 1 updates the branch ID of the target branch with the branch ID of the destination branch, and initializes the progress rate P, the travel direction D, and the line-of-sight direction θ (step S23).

  Specifically, the control unit 11 of the video output device 1 determines that the travel rate P = 0, the travel direction D = 1, and the line-of-sight direction θ = 0 when the end point of the destination branch where the viewpoint position has arrived is the origin node. In the case of an end point node, the rate of progress P = 1, the direction of travel D = 0, and the line-of-sight direction θ = 0.

The control unit 11 of the video output device 1 returns to step S11 after step S23.
Note that the control unit 11 of the video output device 1 appropriately ends the process when an instruction to end is given by the user on the user input screen 41.
Above, description of the gaze direction change process which concerns on 1st Embodiment is completion | finish.

The line-of-sight direction changing process according to the first embodiment is not limited to this.
For example, in step S20, the line-of-sight direction θ is set to θ = P ₁ × θ ₀ using the first progression rate P ₁ and the relative angle θ ₀ of the destination branch with respect to the target branch. It is sufficient that the branching point (or turning point) is θ ₀ and smoothly (continuously) changed according to the _first progress rate P ₁ , and is generally expressed as θ = f (P ₁ , θ ₀ ).

Further, for example, any of the order of step S13, step S14, and step S15 may be performed first.
Further, for example, the determination of the destination branch in step S17 and the calculation of the relative angle in step S18 can be performed once in the target branch (while the traveling direction D is the same), so a flag or the like is provided. It is also possible to determine the destination branch and calculate the relative angle only once.
In step S18, the angle of the branch is the angle formed with the X axis, but may be the angle formed with the Y axis, for example.

[Effect of the first embodiment]
In the video output device 1 of the first embodiment, when the viewpoint position advances toward the branch point (or the turning point), the line-of-sight direction is set to the direction of the destination branch at the branch point (or the turning point). Since it changes smoothly according to a viewpoint position, the visual field image of the gaze direction cut out from the omnidirectional image in a viewpoint position can also be changed smoothly, and a high sense of reality can be produced.

[Gaze direction changing process of the video output device according to the second embodiment]
Then, the gaze direction change process which concerns on 2nd Embodiment is demonstrated using FIGS. 17-20. 17 and 18 are flowcharts showing the line-of-sight direction changing process of the video output device 1 according to the second embodiment. In FIG. 17 and FIG. 18, the symbols A and B indicate that the process is continued.

  17 and 18, steps S31, S32, S33, S34, S35, S36, S37, S41, S42, S45, S46, and S47 are respectively the flowcharts of FIG. 8 according to the first embodiment. Since the processing is the same as steps S11, S12, S13, S14, S15, S16, S19, S17, S18, S21, S22, and S23, detailed description thereof is omitted.

  The line-of-sight direction changing process according to the second embodiment changes the line-of-sight direction after the viewpoint position has advanced to a predetermined reference position in the target branch having the viewpoint position.

  It is assumed that (a) node information 25, (b) branch information 26, and (c) video information 27 shown in FIG. 3 are stored in the storage unit 12 of the video output device 1 in advance.

  FIG. 19 is a diagram illustrating an example of retained data 32 retained by the video output device 1 in the line-of-sight direction changing process according to the second embodiment. The data shown in FIG. 19 is preferably stored in the RAM of the control unit 11 instead of being stored in the storage unit 12 of the video output device 1 because the value is updated every time the line-of-sight direction changing process is executed.

In FIG. 19, data having the same meaning as the retained data 31 of FIG. 9 according to the first embodiment (target branch ID, travel rate P, travel direction D, line-of-sight direction θ, node ID in the travel direction, first travel rate P ₁ , branch angle θ _{1 of} the target branch, branch ID of the destination branch, destination node ID of the destination branch, branch angle θ _{2 of} the destination branch, angle θ ₀ = θ ₂ − of the destination branch with respect to the target branch The description of θ ₁ ) is omitted.

The reference position P ₀ is a position where the first progress rate in the target branch (the progress rate corrected in the travel direction D) exceeds a predetermined threshold value for the first time. The reference position P ₀ is represented by one-dimensional normalized coordinates [0 to 1] as in the first progress rate.

The second progress rate P _2, at the viewpoint position target branch, toward the traveling direction D, a value representing how much advanced from the reference position P ₀ to the branch point (or bend point), 1-dimensional normal Represented by the coordinate coordinates [0-1]. That is, the second progress rate P ₂ is P ₂ = (P ₁ −P ₀ ) / (1−P ₀ ) using the first progress rate P ₁ and the reference position P ₀ .

Returning to the description of FIG.
The control unit 11 of the video output device 1 outputs the user input screen 41 to the display unit 16 (step S31). The user input screen 41 is the same as FIG. 11 according to the first embodiment.
Next, the control unit 11 of the video output apparatus 1 receives input of movement of the viewpoint position and movement of the line of sight (step S32).

Next, the control unit 11 of the video output device 1 updates the viewpoint position by calculating the progress rate P in the branch at the viewpoint position (target branch) (step S33).
Next, the control unit 11 of the video output device 1 calculates the traveling direction D (step S34).
Next, the control unit 11 of the video output device 1 calculates the line-of-sight direction θ (step S35).

Next, the control unit 11 of the video output device 1 determines whether or not the node in the traveling direction D is a branch point (or a turning point) (step S36).
When the node in the traveling direction D is a branch point (or a turning point) (Yes in Step S36), the control unit 11 of the video output device 1 proceeds to Step S37, and otherwise (No in Step S36). Advances to step S45 (FIG. 18).

Next, the control unit 11 of the video output device 1 calculates a _first progress rate P1, which is the progress rate of the viewpoint position in the progress direction D (step S37).

Next, the control unit 11 of the image output device 1, whether the first progress rate P ₁ exceeds the predetermined threshold, determining (step S38).
Specifically, the control unit 11 of the video output device 1 is, for example, determines whether the first progress rate P ₁ exceeds 0.7.
Control unit 11 of the video output apparatus 1, when the first progress rate _{P 1} exceeds the predetermined threshold (Yes in step S38), the process proceeds to step S39, otherwise (No at step S38), the step Proceed to S45 (FIG. 18).

Next, the control unit 11 of the image output device 1, whether the first progress rate P ₁ exceeds the first predetermined threshold, determining (step S39).
Control unit 11 of the video output apparatus 1, when the first progress rate _{P 1} exceeds the first predetermined threshold value (Yes in step S39), the process proceeds to step S40, otherwise (No at step S39), the Proceed to step S43.

Next, the control unit 11 of the image output device 1, the reference position _{P 0} of the viewpoint position in the target branch (step S40).
Specifically, the control unit 11 of the image output device 1, the first progress rate P ₁ reference position P ₀ of the time (when the first progress rate P ₁ exceeds the first time threshold).
Note that the control unit 11 of the video output apparatus 1 holds the reference position P ₀ as the holding data 32.

Next, the control unit 11 of the video output device 1 determines a branch (destination branch) at the branch point (or turning point) (step S41).
Next, the control unit 11 of the video output device 1 calculates the angle (relative angle) of the destination branch with respect to the target branch (step S42).
Specifically, as in the first embodiment, the control unit 11 of the video output device 1 calculates the angle (relative angle) θ ₀ of the destination branch with respect to the target branch by using the equation (4).

Next, the control unit 11 of the video output device 1 calculates the reference position P ₀ from the branch point (or bend point) traveling direction progress rate P ₂ a second a progression rate of the D of the viewpoint position in the up (step S43).

Specifically, the control unit 11 of the image output device 1, the second progression rate P ₂ of the reference position P ₀ is 0, the second progression rate P ₂ of the branching point (or bend point) 1 and such that, (5) by equation to calculate the second progress rate _{P 2.}

Next, the control unit 11 of the image output device 1, the product of the second progress rate P ₂ and the relative angle theta ₀ and line-of-sight direction theta (step S44).

As shown in FIG. 14, the second rate of progress P ₂ also changes from 0 to 1 in the direction of travel D. Therefore, by setting the line-of-sight direction to θ = P ₂ × θ ₀ , The line-of-sight direction θ changes from 0 to a relative angle θ ₀ according to the progress rate (that is, the viewpoint position). Therefore, as shown in FIG. 20, the control unit 11 of the video output apparatus 1 can smoothly change the line-of-sight direction θ from the reference position P ₀ (63) of the target branch to the branch point (or the turning point). When the branch point (or the turning point) is reached, the line-of-sight direction θ can face the direction θ _{0 of the} destination branch.

Turning to FIG.
Next, the control unit 11 of the video output device 1 cuts out a visual field image in the line-of-sight direction θ from the omnidirectional image corresponding to the viewpoint position of the target branch (step S45).

Next, the control unit 11 of the video output device 1 determines whether or not the viewpoint position has reached the end point of the target branch (step S46).
If the viewpoint position has reached the end point of the target branch (Yes in step S46), the control unit 11 of the video output device 1 proceeds to step S47, and if not (No in step S46), the control unit 11 proceeds to step S31 (FIG. 17). Return to).

  Next, the control unit 11 of the video output apparatus 1 updates the branch ID of the target branch with the branch ID of the destination branch, and initializes the progress rate P, the travel direction D, and the line-of-sight direction θ (step S47).

The control unit 11 of the video output device 1 returns to step S31 (FIG. 17) after step S47.
Note that the control unit 11 of the video output device 1 appropriately ends the process when an instruction to end is given by the user on the user input screen 41.
Above, description of the gaze direction change process which concerns on 2nd Embodiment is completion | finish.

The line-of-sight direction changing process according to the second embodiment is not limited to this.
For example, in step S44, as indicated in the first embodiment, the line-of-sight direction θ is θ ₀ at the branch point (or the turning point) and is smooth (continuous) according to the _second progress rate P _2. And is generally expressed as θ = f (P ₂ , θ ₀ ).

  Further, for example, any of the order of step S33, step S34, and step S35 may be performed first.

Further, for example, at step S38, the although the first progress rate P ₁ is determined whether more than a predetermined threshold value, the process is the stored in the storage unit 12, the branch information 26 (FIG. 3) is using a distance unit (not shown) branches, the first progress rate P _1, and calculates the remaining actual distance to the branch point of the target branch (or bending point), or is the distance, for example 3m or less not It may be determined.

Further, for example, in step S39, when it first progress rate P ₁ is determined whether or not exceeds the first predetermined threshold value, the process, the start time or viewpoint position is moved to another branch (step S47) to, as to unset the reference position P _0, the reference position P ₀ whether unset, may be determined.
In step S42, the angle of the branch is the angle made with the X axis, but may be the angle made with the Y axis, for example.

[Effects of Second Embodiment]
In the video output device 1 of the second embodiment, when the viewpoint position advances toward the branch point (or the turning point), the line-of-sight direction becomes the direction of the destination branch at the branch point (or the turning point). Since it changes smoothly according to the viewpoint position from the reference position approaching the bifurcation point (or turning point), the visual field image in the line-of-sight direction cut out from the omnidirectional image at the viewpoint position can also be changed smoothly, resulting in high presence. Can be produced.

  The preferred embodiments of the video output apparatus 1 according to the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to such examples. It will be apparent to those skilled in the art that various changes or modifications can be conceived within the scope of the technical idea disclosed in the present application, and these naturally belong to the technical scope of the present invention. Understood.

DESCRIPTION OF SYMBOLS 1 ... Video output device 11 Control unit 12 Storage unit 15 Input unit 16 Display unit 21・ ・ ・ ・ Node 22 ・ ・ ・ ・ ・ ・ Branch 25 ・ ・ ・ ・ ・ ・ Node information 26 ・ ・ ・ ・ ・ ・ Branch information 27 ・ ・ ・ ・ ・ ・ Video information 31 and 32 ・ Retained data 41 ・User input screen 42 Route display area 43 Field image area 44 Input reception area 48 Controller 50 ... Omni-directional image 51 ··· Frame 52 ··· Sequence 53 ··· View image 60 · · · Viewpoint position 61 · · · Gaze direction 62・ ・ ・ ・ ・ ・ Route

Claims (7)

An image output device that outputs an image in a line-of-sight direction at a viewpoint position that moves in a route arranged in a coordinate space,
Storage means for storing a sequence of frames of omnidirectional images in association with the path;
Input means for continuously moving the viewpoint position and the line-of-sight direction;
Angle calculating means for calculating an angle when moving from the first route to the second route at a branch point in the route;
Gaze direction calculation means for calculating the gaze direction at the viewpoint position of the first path based on the calculated angle and the viewpoint position;
Output means for cutting out and outputting the video in the viewing direction at the viewpoint position from the omnidirectional image;
Equipped with,
The path is composed of nodes and directed branches,
A sequence composed of frames of the omnidirectional image is associated with each directed branch,
The line-of-sight direction calculating means includes
The video output characterized in that the line-of-sight direction at the viewpoint position of the first branch is a product of the angle calculated by the angle calculation means and the rate of progress to the branch point in the first branch. apparatus. An image output device that outputs an image in a line-of-sight direction at a viewpoint position that moves in a route arranged in a coordinate space,
Storage means for storing a sequence of frames of omnidirectional images in association with the path;
Input means for continuously moving the viewpoint position and the line-of-sight direction;
Angle calculating means for calculating an angle when moving from the first route to the second route at a branch point in the route;
Gaze direction calculation means for calculating the gaze direction at the viewpoint position of the first path based on the calculated angle and the viewpoint position;
Output means for cutting out and outputting the video in the viewing direction at the viewpoint position from the omnidirectional image;
Equipped with,
The path is composed of nodes and directed branches,
A sequence composed of frames of the omnidirectional image is associated with each directed branch,
Furthermore, it comprises a determination means for calculating a first progress rate of the viewpoint position in the first branch, and using a position where the first progress rate first exceeds a threshold as a reference position,
The line-of-sight direction calculating means includes
The line-of-sight direction at the viewpoint position from the reference position to the branch point of the first branch is an angle calculated by the angle calculation means and a second rate of progress from the reference position to the branch point. A video output device characterized by being a product . The angle calculation means includes
Claim 1 at a branch point of the path, the angle when moving from the first branch to the second branch, and calculating the angle of the second branch to the first branch Alternatively, the video output device according to claim 2. A computer that outputs an image in a line-of-sight direction at a viewpoint position that moves in a route arranged in a coordinate space, and includes a storage unit that stores a sequence of frames of omnidirectional images in association with the route. The computer is
An input step of continuously moving the viewpoint position and the line-of-sight direction;
An angle calculating step for calculating an angle when moving from the first path to the second path at a branch point in the path; and
A line-of-sight direction calculating step of calculating the line-of-sight direction at the viewpoint position of the first path based on the calculated angle and the viewpoint position;
An output step of cutting out and outputting the video in the viewing direction at the viewpoint position from the omnidirectional image;
The execution,
The path is composed of nodes and directed branches,
A sequence composed of frames of the omnidirectional image is associated with each directed branch,
The line-of-sight direction calculating step includes:
The video output characterized in that the line-of-sight direction at the viewpoint position of the first branch is a product of the angle calculated by the angle calculating step and the progress rate to the branch point in the first branch. Method. A computer that outputs an image in a line-of-sight direction at a viewpoint position that moves in a route arranged in a coordinate space, and includes a storage unit that stores a sequence of frames of omnidirectional images in association with the route. The computer is
An input step of continuously moving the viewpoint position and the line-of-sight direction;
An angle calculating step for calculating an angle when moving from the first path to the second path at a branch point in the path; and
A line-of-sight direction calculating step of calculating the line-of-sight direction at the viewpoint position of the first path based on the calculated angle and the viewpoint position;
An output step of cutting out and outputting the video in the viewing direction at the viewpoint position from the omnidirectional image;
The execution,
The path is composed of nodes and directed branches,
A sequence composed of frames of the omnidirectional image is associated with each directed branch,
Further, a first progress rate of the viewpoint position in the first branch is calculated, and a determination step is performed with a position where the first progress rate first exceeds a threshold as a reference position,
The line-of-sight direction calculating step includes:
The line-of-sight direction at the viewpoint position from the reference position of the first branch to the branch point is an angle calculated by the angle calculation step and a second rate of progress from the reference position to the branch point. A video output method characterized by being a product . A program for causing a computer to function as an image output device that outputs an image in a line-of-sight direction at a viewpoint position that moves in a path arranged in a coordinate space,
Computer
Storage means for storing a sequence of frames of omnidirectional images in association with the path;
Input means for continuously moving the viewpoint position and the line-of-sight direction;
Angle calculating means for calculating an angle when moving from the first route to the second route at a branch point in the route;
A line-of-sight direction calculating means for calculating the line-of-sight direction at the viewpoint position of the first path based on the calculated angle and the viewpoint position;
An output means for cutting out and outputting the video in the viewing direction at the viewpoint position from the omnidirectional image;
To function as,
The path is composed of nodes and directed branches,
A sequence composed of frames of the omnidirectional image is associated with each directed branch,
The line-of-sight direction calculating means includes
The line-of-sight direction at the viewpoint position of the first branch is the product of the angle calculated by the angle calculation means and the rate of progress to the branch point in the first branch.
A program characterized by that . A program for causing a computer to function as an image output device that outputs an image in a line-of-sight direction at a viewpoint position that moves in a path arranged in a coordinate space,
Computer
Storage means for storing a sequence of frames of omnidirectional images in association with the path;
Input means for continuously moving the viewpoint position and the line-of-sight direction;
Angle calculating means for calculating an angle when moving from the first route to the second route at a branch point in the route;
A line-of-sight direction calculating means for calculating the line-of-sight direction at the viewpoint position of the first path based on the calculated angle and the viewpoint position;
An output means for cutting out and outputting the video in the viewing direction at the viewpoint position from the omnidirectional image;
To function as,
The path is composed of nodes and directed branches,
A sequence composed of frames of the omnidirectional image is associated with each directed branch,
Further, a first progress rate of the viewpoint position in the first branch is calculated, and a determination unit that executes a position where the first progress rate first exceeds a threshold as a reference position is executed.
The line-of-sight direction calculating means includes
The line-of-sight direction at the viewpoint position from the reference position to the branch point of the first branch is an angle calculated by the angle calculation means and a second rate of progress from the reference position to the branch point. Product
A program characterized by that .

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