WO2008012983A1 - Dispositif de prise d'image et systÚme de prise d'image - Google Patents
Dispositif de prise d'image et systÚme de prise d'image Download PDFInfo
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- WO2008012983A1 WO2008012983A1 PCT/JP2007/060192 JP2007060192W WO2008012983A1 WO 2008012983 A1 WO2008012983 A1 WO 2008012983A1 JP 2007060192 W JP2007060192 W JP 2007060192W WO 2008012983 A1 WO2008012983 A1 WO 2008012983A1
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- 238000003384 imaging method Methods 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 claims description 59
- 238000012937 correction Methods 0.000 claims description 8
- 238000005520 cutting process Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 description 70
- 238000004891 communication Methods 0.000 description 26
- 238000010586 diagram Methods 0.000 description 21
- 238000006243 chemical reaction Methods 0.000 description 15
- 238000009826 distribution Methods 0.000 description 15
- 238000003860 storage Methods 0.000 description 14
- 230000000007 visual effect Effects 0.000 description 13
- 239000004973 liquid crystal related substance Substances 0.000 description 12
- 238000013507 mapping Methods 0.000 description 9
- 230000002093 peripheral effect Effects 0.000 description 5
- 239000000284 extract Substances 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 102100035353 Cyclin-dependent kinase 2-associated protein 1 Human genes 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000006866 deterioration Effects 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 102100029860 Suppressor of tumorigenicity 20 protein Human genes 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
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- 239000011159 matrix material Substances 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000005070 sampling Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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Classifications
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- G06T3/12—
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
Definitions
- the present invention relates to an imaging apparatus and an imaging system.
- Patent Document 1 discloses a monitoring system.
- This surveillance system includes an omnidirectional camera that is equipped with a fisheye lens and collects the entire surveillance area at the same angle, and designation means for selectively designating a monitoring area of interest in the omnidirectional image. And an image conversion means for displaying the image of the monitored area displayed in a plan view.
- a rectangular image can be generated by cutting out a part of an image captured by a fisheye lens.
- Patent Document 1 Japanese Patent Laid-Open No. 2005-286820 (summary, Fig. 1 etc.)
- the gaze point (line of sight) of the image is set to be near the center of the rectangular image, similarly to an image captured by a general camera.
- U want When the image gaze point (line of sight) is near the center of the rectangular image, the viewer of the image feels that the rectangular image is obtained with a natural field of view (line of sight).
- the elevation angle of the line of sight cannot be lowered to 0 degrees in this way, when the line of sight is lowered most, the subject and the background in the rectangular image are tilted forward and appear as if they are There is.
- the viewer looks like the force in which the subject or background in the rectangular image is tilted toward you. You may feel it.
- the fisheye lens has a wide angle of view of 180 degrees or more, it may appear as if image collapse has occurred in the rectangular image generated by clipping. For this reason, the viewer may feel uncomfortable with the rectangular image.
- the present invention provides an imaging apparatus and an imaging system that can generate a rectangular image that does not cause a sense of incongruity even when the elevation angle of the line of sight is large or small. With the goal.
- An imaging apparatus includes a fish-eye lens, an imaging unit that forms a circular image by a fish-eye lens on a light-receiving surface, and generates captured image data having a circular image, and a gaze point of a generated rectangular image Depending on the elevation angle, the position of the gazing point in the rectangular image is near the center of the rectangular image when the elevation angle of the gazing point is 90 degrees, and the lower edge of the rectangular image when the elevation angle of the gazing point of the image is 0 degrees.
- the rectangular image is projected onto the captured image generated by the imaging means on the basis of the position of the gazing point in the rectangular image determined by the gazing position determining means.
- a rectangular image generating means for generating a rectangular image obtained by cutting out a part of a circular image in the captured image based on the relationship.
- the rectangular image generating means can generate a rectangular image based on the circular image when the elevation angle of the gazing point (line of sight) of the image is at the lowest 0 degree. Ma Also, since the elevation angle of the gazing point (line of sight) of the image is 0 degree, the viewer of this rectangular image
- an imaging device has the following features in addition to the configuration of the above-described invention.
- the gazing point position determining means determines the height position of the gazing point of the image from the lower edge in the rectangular image, and the half angle of the elevation angle of the gazing point of the image from the lower edge to the upper edge of the rectangular image. And 90 degree force. The position is divided by the ratio of half the elevation angle and the value obtained by subtracting half of the elevation angle.
- the height position in the rectangular image of the gazing point of the image changes according to the elevation angle.
- the height position in the rectangular image of the gazing point does not change rapidly while the elevation angle changes from 0 degrees to 90 degrees. Therefore, it is possible to prevent the image viewer from being aware that the height position of the gazing point of the image is changed according to the elevation angle.
- An imaging device has the following features in addition to the above-described components of the invention. That is, the rectangular image generating means calculates the projection coordinates on the light receiving surface of the captured image of each display pixel of the rectangular image, and uses the pixel value of the captured image pixel at each calculated coordinate as the pixel value of each display pixel. get.
- An imaging device has the following features in addition to the components of the above-described invention. That is, the fisheye lens is of a three-dimensional projection system. Then, a memory that stores an incident angle image height table that shows the relationship between the incident angle and the image height of the fisheye lens of the three-dimensional projection method, and outer circle boundary data that shows a range used for generating a rectangular image in the captured image. And the position or size of the outer circle boundary data stored in the memory, and then the rectangular image based on the updated position and size of the outer circle boundary data and the incident angle image height table. And a user updating unit that stores a projection correction table used when the generation unit calculates the projection coordinates of each display pixel.
- An imaging system includes an imaging device and a computer device that displays or stores a rectangular image generated by the imaging device.
- the imaging device includes a fish-eye lens, an imaging unit that forms a circular image by the fish-eye lens on the light receiving surface, and generates captured image data having a circular image, and an elevation angle of a gazing point of the generated rectangular image.
- the position of the gazing point in the rectangular image is close to the center of the rectangular image when the elevation angle of the gazing point is 90 degrees, and is the lower edge of the rectangular image when the elevation angle of the gazing point of the image is 0 degrees.
- the gazing point position determining means to determine the position of the gazing point and the position of the gazing point in the rectangular image determined by the gazing point position determining means as a reference, and the correspondence relationship when the rectangular image is projected onto the captured image generated by the imaging means
- a rectangular image generating means for generating a rectangular image obtained by cutting out a part of the circular image in the captured image.
- FIG. 1 is a system configuration diagram showing an imaging system according to an embodiment of the present invention.
- FIG. 2 is a block diagram showing an electric circuit of the imaging apparatus in FIG.
- FIG. 3 is an explanatory view showing an optical arrangement of the fisheye lens and the image sensor in FIG. 2.
- FIG. 4 is a diagram showing an example of a captured image generated by the color conversion processing unit in FIG. 2 based on the luminance distribution data of the image sensor.
- FIG. 5 is an explanatory diagram in which a circular frame line indicating an outer circle boundary and a substantially fan-shaped frame line indicating a rectangular cut frame are superimposed on the captured image in the image pickup apparatus of FIG. .
- FIG. 6 is an image height (field angle difference) characteristic diagram of the three-dimensional projection type fisheye lens in FIG. 2.
- FIG. 7 is a diagram illustrating an example of a rectangular still image generated by the imaging apparatus of FIG.
- FIG. 8 is a flowchart showing a detailed processing flow by the processing management unit in FIG. 2.
- FIG. 9 is an explanatory diagram showing how the process management unit in FIG. 2 determines the rectangular cutout range.
- FIG. 10 is a flowchart showing a flow of processing for generating rectangular still image data by the rectangular still image generating unit in FIG. 2.
- FIG. 11 is an explanatory diagram showing a state in which a gazing point of a rectangular still image is in contact with the virtual view spherical surface in FIG. 9 on the X axis.
- FIG. 12 is an explanatory diagram of how the mapping coefficient ir is calculated by the rectangular still image generation unit in FIG. 2.
- FIG. 13 is an explanatory diagram of a calculation process for rotating a specific display pixel at an elevation angle of a gazing point by the rectangular still image generation unit in FIG.
- FIG. 1 is a system configuration diagram showing an imaging system according to an embodiment of the present invention.
- the imaging system includes an imaging device 1 and a PC (personal computer) 2 as a computer device.
- the imaging device 1 and the PC 2 are connected by a USB (Universal Serial Bus) cable 3.
- USB Universal Serial Bus
- the PC 2 has a USB connector 11, a liquid crystal display device 12, a speaker 13, an input device 14, and the like.
- the CPU (Central Processing Unit) power of PC2 is not shown.
- the memory device power of PC2 is not shown.
- PC2 has a communication processing unit 16, a playback processing unit 17, and a command.
- the generation unit 18 and the like are realized.
- the communication processing unit 16 controls data communication using the USB connector 11.
- the reproduction processing unit 17 controls the content displayed on the liquid crystal display device 12 and causes the speaker 13 to output sound.
- the command generation unit 18 generates a command based on input data to which the input device 14 is also input. Examples of the input device 14 include a keyboard and a pointing device.
- the imaging device 1 includes a cubic housing 21.
- the housing 21 is provided with a fisheye lens 22, a USB connector 23, a video output connector 24, an audio output connector 25, and the like.
- the fisheye lens 22 is disposed on the upper surface of the housing 21.
- a vent hole 26 for the microphone 33 is formed on the upper surface of the housing 21.
- the USB connector 23, the video output connector 24 and the audio output connector 25 are arranged on the side surface of the housing 21.
- FIG. 2 is a block diagram showing an electrical circuit of the imaging device 1 in FIG. Inside the housing 21 of the imaging device 1, an electric circuit for generating a rectangular image (rectangular still image) as well as a captured image captured by the fisheye lens 22 is incorporated.
- the imaging device 1 includes a fisheye lens 22, a USB connector 23, a video output connector 24, an audio output connector 25, an image sensor 27 as part of an imaging means, an FPGA (Field Programmable Gate Array) 28, a DSP (Digital Signal Processor) 29, external memory 30, audio IC (Integrated Circuit) 31, video encoder 32, microphone 33, and the like.
- FPGA Field Programmable Gate Array
- DSP Digital Signal Processor
- FIG. 3 is an explanatory diagram showing an optical arrangement of the fisheye lens 22 and the image sensor 27 in FIG.
- the image sensor 27 includes, for example, a CMOS (Complementary Metal-Oxide Semiconductor) image sensor 27.
- the image sensor 27 has a light receiving surface 34.
- a plurality of light receiving elements (not shown) are arranged in a matrix at a ratio of, for example, 3: 4.
- Each light receiving element outputs a value corresponding to the amount of received light.
- the image sensor 27 generates luminance distribution data having a plurality of received light amount values output from a plurality of light receiving element forces.
- the image sensor 27 generates luminance distribution data at a predetermined cycle.
- the fish-eye lens 22 has a wide viewing angle of, for example, 180 degrees or more, and is a stereoscopic projection method.
- the three-dimensional fisheye lens 22 has less distortion in the periphery of the image formed by the fisheye lens 22 of the regular equidistant projection method and the amount of information in the periphery is large.
- a projection method of the fisheye lens 22 an equi-stereo projection method, an orthographic projection method, and the like can be adopted in addition to the stereoscopic projection method and the equidistant projection method.
- the imaging device 1 when the imaging device 1 is placed on a table in a conference room with the fisheye lens 22 facing upward, the amount of information such as a person or a blackboard that appears in the periphery increases, so that the stereoscopic projection type Is the best.
- the fisheye lens 22 is disposed above the light receiving surface 34 of the image sensor 27.
- a circular image (hereinafter referred to as a circular image) is formed on the light receiving surface 34 of the image sensor 27 by the fisheye lens 22.
- the image sensor 27 periodically generates luminance distribution data and outputs it to the FP GA28.
- the FPGA 28 has a color conversion processing unit 41 as a part of the imaging means. Appear.
- the color conversion processing unit 41 replaces the data of each pixel of the luminance distribution data using a color conversion table (not shown).
- the color conversion processing unit 41 replaces, for example, pixel data in a circular image with predetermined color data using the pixel value and the peripheral pixel values in the luminance distribution data. Thereby, captured image data having appropriate color data is generated.
- FIG. 4 is a diagram illustrating an example of a captured image generated by the color conversion processing unit 41 in FIG. 2 based on the luminance distribution data of the image sensor 27. As shown in FIG. 4, the captured image has a circular image in the center. An image of the subject is formed inside the circular image. The color conversion processing unit 41 outputs the generated captured image data to the DSP 29.
- the microphone 33 generates a waveform signal corresponding to the sound.
- the waveform signal is converted into an audio signal by the audio IC 31 and supplied to the audio output connector 25.
- a speaker unit or headphones can be connected to the audio output connector 25. Audio can be heard through the speaker unit or headphones connected to the audio output connector 25.
- the audio IC 31 implements an audio storage processing unit 42.
- the audio storage processing unit 42 samples the waveform signal supplied from the microphone 33 and stores the audio data 62 generated by the sampling in the external memory 30.
- the DSP 29 has an EEPROM (Electrically Erasable Programmable Read-Only Memory) 43 as a memory.
- the EEPROM 43 stores line-of-sight direction data 44, an incident angle image height table 45, rectangular cutout frame data 46, a map ratio table 47 as a projection correction table, outer circle boundary data 48, and the like.
- FIG. 5 shows a captured image of the imaging apparatus 1 in FIG. 2 in a circular frame 71 indicating the position and size of the outer circle boundary based on the outer circle boundary data 48 and a rectangular cut-out based on the rectangular cut-out frame data 46.
- FIG. 6 is an explanatory diagram in which a substantially fan-shaped frame line 72 indicating the position and size of the frame is overlapped.
- the outer circle boundary is a boundary that specifies an approximate range of an image used for a rectangular still image.
- the circular border 71 on the outer circle boundary is set to substantially coincide with the contour of the circular image in the captured image or slightly smaller than the contour of the circular image.
- the substantially fan-shaped frame line 72 of the rectangular cut frame is located inside the circular frame line 71 of the outer circle boundary. Image inside this roughly fan-shaped frame 72 Force Cut out as a rectangular still image.
- FIG. 6 is an image height (field angle difference) characteristic diagram of the fisheye lens 22 of the three-dimensional projection method in FIG.
- the horizontal axis is the relative field angle when the direction of the optical axis of the fisheye lens 22 is the field angle
- the vertical axis is the image height (field angle difference).
- the incident angle image height table 45 is a data of the image height (view angle difference) characteristics with respect to the angle of view of the fisheye lens 22.
- an image of one subject generally distorts toward the periphery.
- this three-dimensional projection type fisheye lens 22 is used, the subject is imaged more in the case of being imaged in the peripheral part than in the case of being imaged in the central part in terms of angle of view.
- the subject imaged at the center is imaged smaller than the subject imaged at the periphery. This is because, as shown in FIG. 6, the four light receiving elements near the center of the image sensor 27 and the four light receiving elements near the periphery, the portion near the angle of view of the image sensor 27, that is, the zenith. This means that an image with a wider angle of view is formed on a nearby light receiving element than a light receiving element that receives an image of the image sensor 27 close to the angle of view of 90 degrees, that is, a lateral image.
- the stereoscopic projection method has an image with less blind spots and less distortion than the conventional equidistant projection fisheye lens because there is more peripheral information. However, the distortion is reduced, but not zero.
- the map ratio table 47 provides correction data for obtaining a developed image in which the subject appears as an original balance from the images within the outer circle boundary in the image formed on the image sensor 27 by the fisheye lens 22 of the three-dimensional projection method.
- FIG. 7 is a diagram illustrating an example of a rectangular still image generated by the imaging device 1 of FIG. The rectangular still image in FIG.
- the line-of-sight data 44 is data indicating the direction of the point of interest (for example, the elevation angle and direction) when the circular frame 71 (outer circle boundary) in FIG. 5 is the horizontal direction.
- the elevation angle of the gazing point changes in the range of 0 to 90 degrees
- the direction of the gazing point changes in the range of 0 to 360 degrees.
- the DSP 29 has a CPU (not shown). As the CPU executes the program, the DSP 29 has a still image storage processing unit 51, a captured still image generation unit 52, a rectangular still image generation unit 53 as a rectangular image generation unit, streaming generation, as shown in FIG.
- the unit 54, the process management unit 55, the communication processing unit 56, and the like as the gaze point position determination unit and the user update unit are realized.
- External memory 30 is connected to the DSP 29.
- External memory 30 is SRAM (Static RAM)
- DSP29 CPU It consists of storage devices such as RAM) and DDRâSDRAM (Double Data Rate SDRAM), and is accessible to the DSP29 CPU.
- RAM random access memory
- DDRâSDRAM Double Data Rate SDRAM
- the external memory 30 stores still image data 61, audio data 62, two display still image data 63, 64, and the like.
- the external memory 30 includes a first VRAM (VideoRAM) area 65 and a second VRAM area 66.
- One of the two display still image data 63 and 64 is stored in the first VRAM area 65, and the other is stored in the second VRAM area 66.
- the nth display still image data 63 is stored in the first VRAM area 65
- the nth display still image data 64 is stored in the second VRAM area 66.
- the still image storage processing unit 51 implemented in the DSP 29 stores the captured image data in the external memory 30 as still image data 61. save.
- the captured still image generation unit 52 generates display still image data 63 and 64 for displaying a captured image from the still image data 61 stored in the external memory 30.
- Display still image data 63 and 64 for displaying captured images is displayed in a predetermined manner by thinning out the number of pixels of the captured images. This is the number of pixels.
- the captured still image generation unit 52 alternately stores display still image data 63 and 64 for displaying the generated captured image in the first VRAM area 65 and the second VRAM area 66.
- the rectangular still image generation unit 53 generates rectangular image data for display from the still image data 61 stored in the external memory 30.
- the rectangular image data for display is still image data 61 generated by cutting out an image in a range specified by the rectangular cut frame data 46 from the captured image.
- the rectangular still image generation unit 53 stores the generated rectangular image data alternately in the first VRAM area 65 and the second VRAM area 66.
- the streaming generation unit 54 reads the display still image data 63 and 64 and the audio data 62 from the external memory 30, and generates streaming data including these content data.
- a streaming format such as MPEG or div-X (divix) may be adopted.
- the communication processing unit 56 controls data communication using the USB connector 23.
- the process management unit 55 manages the execution of the still image storage processing unit 51, the captured still image generation unit 52, the rectangular still image generation unit 53, the streaming generation unit 54, the communication processing unit 56, and the like.
- the process management unit 55 instructs the still image storage processing unit 51, the captured still image generation unit 52, the rectangular still image generation unit 53, the streaming generation unit 54, the communication processing unit 56, and the like to start or stop them.
- the video encoder 32 reads the display still image data 63 and 64 from the external memory 30 and generates a video signal. Examples of video signals include NTSC (National TV Standards Committee) and PAL (Phase Alternating Line). The video encoder 32 outputs the generated video signal to the video output connector 24. A television receiver or the like can be connected to the video output connector 24. The video signal can be played back and viewed by a television receiver connected to the video output connector 24.
- the process management unit 55 includes a still image storage processing unit 51, a captured still image generation unit 5
- the image sensor 27 of the imaging device an image formed by the light collected by the fisheye lens 22 is formed.
- the image sensor 27 generates luminance distribution data including the luminance distribution of the circular image.
- the color conversion processing unit 41 generates captured image data having a circular image as illustrated in FIG. 4 from the luminance distribution data using a color conversion table (not shown).
- the still image storage processing unit 51 stores the captured image data in the external memory 30 as still image data 61. Further, the image sensor 27 periodically generates luminance distribution data. Therefore, the still image data 61 in the external memory 30 is updated to new captured still image data every predetermined period.
- FIG. 8 is a flowchart showing a detailed processing flow by the processing management unit 55 in FIG.
- the process management unit 55 first instructs the captured still image generation unit 52 to generate a boundary display image (step ST1). Thereafter, the process management unit 55 enters a command waiting state. In FIG. 8, the process management unit 55 waits for a boundary change command, a line-of-sight change command, and a rectangular display command (steps ST2, ST).
- the captured still image generation unit 52 When the boundary display is instructed, the captured still image generation unit 52 generates display still image data 63 and 64 for displaying the boundary display over the captured image from the updated still image data 61. To do. Specifically, for example, the captured still image generation unit 52 first reads the still image data 61 from the external memory 30, and also reads the outer circle boundary data 48 and the rectangular cut frame data 46 from the EEPROM 43, and the still image data. An image is generated by superimposing a circular frame 71 indicating the position and size of the outer circle boundary and a substantially fan-shaped frame 72 indicating the position and size of the rectangular cut frame on the image captured by 61. The captured still image generation unit 52 generates a captured still image as shown in FIG.
- the captured still image generation unit 52 thins the number of pixels of the image on which the frame line is superimposed to the number of display pixels, and generates display still image data 63 and 64 having a predetermined number of display pixels.
- the captured still image generation unit 52 stores the generated display still image data 63 and 64 in the first VRAM area 65 or the second VRAM area 66.
- the streaming generation unit 54 displays the first VRAM area.
- the display still image data 63 and 64 are sequentially read from the 65 and the second VRAM area 66, and the audio data 62 is read from the external memory 30, and streaming data having these content data is generated.
- the streaming generating unit 54 supplies the generated streaming data to the communication processing unit 56.
- the communication processing unit 56 of the imaging device 1 transmits streaming data to the communication processing unit 16 of the PC 2 via the USB connector 23, the USB cable 3, and the USB connector 11 of the PC 2.
- the communication processing unit 16 of the PC 2 supplies the received streaming data to the reproduction processing unit 17.
- the playback processing unit 17 of the PC 2 extracts display still image data 63 and 64 for displaying boundaries and the like from the streaming data, and supplies the extracted display still image data 63 and 64 to the liquid crystal display device 12 as display data. To do.
- the liquid crystal display device 12 displays an image based on the display still image data 63 and 64 for displaying boundaries and the like.
- the liquid crystal display device 12 of the PC 2 has an image as shown in FIG. 5, that is, an image captured by the imaging device 1, an outer circle boundary set in the imaging device 1, and an imaging device 1. The rectangular cutout frame and are displayed.
- the playback processing unit 17 of the PC 2 also extracts the audio data 62 from the streaming data power and supplies it to the speech power 13.
- the speaker 13 outputs sound based on the extracted audio data 62.
- the user can grasp the position and size of the outer circle boundary in the captured image and the position and size of the rectangular cut frame.
- the user operates the input device 14 of the PC 2 to change the position and size of the outer circle boundary, to change the field of view, or to display a rectangular image.
- the user performs an operation of switching the display from the rectangular image shown in FIG. 5 to the rectangular image shown in FIG. Details will be described later.
- the command generation unit 18 of the PC2 determines whether the input device 14 force is input based on the input data.
- a boundary change command having data for changing the position and size of the outer circle boundary is generated.
- the communication processor 16 of the PC 2 sends a boundary change command to the imaging device via the USB cable 3.
- the data is transmitted to the communication processing unit 56 of device 1.
- the communication processing unit 56 of the imaging apparatus 1 supplies the received boundary change command to the processing management unit 55.
- the process management unit 55 that has been waiting for the command in the process of Fig. 8 determines Yes in step ST2, and the position of the outer circle boundary in the boundary change command is determined.
- the outer circle boundary data 48 stored in the EEPROM 43 is updated with the change data of the size (step ST5).
- the process management unit 55 updates the map ratio table 47 stored in the EEPROM 43 using the updated outer circle boundary data 48 and the incident angle image height table 45 of the fisheye lens 22 stored in the EEPROM 43 ( Step ST6) As a result, the map ratio table 47 is updated to data according to the number of pixels of the captured image included in the outer circle boundary. Thereafter, process controller 55 will again command wait state (step ST2, ST3, ST4) 0
- the command generation unit 18 of the PC 2 obtains a new operated visual field based on the input data input from the input device 14.
- a gaze direction command for example, a direction in a horizontal plane and an elevation angle of a horizontal plane force
- the communication processing unit 16 of the PC 2 transmits a line-of-sight change command to the communication processing unit 56 of the imaging device 1.
- the communication processing unit 56 of the imaging apparatus 1 supplies the received line-of-sight change command to the processing management unit 55.
- step ST7 the process management unit 55 calculates the range of the rectangular cut frame with the updated line of sight, and updates the rectangular cut frame data 46 stored in the EEPROM 43 with the calculation result (step ST8). Thereafter, the process management unit 55 enters the command waiting state again (steps ST2, ST3, ST4).
- FIG. 9 is an explanatory diagram showing how the rectangular area is determined by the process management unit 55 in FIG.
- the upper part of FIG. 9 is a captured image generated by the image sensor 27 and the color conversion processing unit 41.
- the circle in this captured image is a circular frame 71 at the outer circle boundary.
- the lower part of FIG. 9 is a side view of the image sensor 27.
- this hemispherical surface is referred to as a virtual viewing spherical surface 91.
- the zenith direction of the virtual field spherical surface 91 is substantially coincident with the optical axis direction of the fisheye lens 22.
- the direction of the line of sight is an angle with respect to the light receiving surface 34 of the image sensor 27.
- the process management unit 55 sets the image plane 92 of the rectangular image as a plane perpendicular to the line of sight and in contact with the virtual visual field spherical surface 91.
- the process management unit 55 maps the outline of the image plane 92 of the rectangular image at the position determined by the above calculation process to the light receiving plane 34, and generates outline data of the rectangular cut frame.
- the process management unit 55 updates the rectangular cut frame data 46 in the EEPROM 43 with the outline data of the rectangular cut frame.
- a rectangular cutout frame is shown by a one-dot chain line in the captured image in the upper part of FIG. Thereby, the rectangular cut frame data 46 is updated to data corresponding to the line-of-sight direction. Thereafter, the process management unit 55 again enters a command waiting state (steps ST2, ST3, ST4).
- the captured still image generation unit 52 is not The still image data 61 is read as much as 30 forces, the outer circle boundary data 48 and the rectangular cutout frame data 46 are read from the EEPROM 43, and display still image data 63 and 64 based on them are generated.
- the streaming generation unit 54 generates streaming data having the display still image data 63 and 64, and the communication processing unit 56 of the imaging device 1 transmits the streaming data to the PC 2. Therefore, the position and size of the updated outer circle boundary data 48 and rectangular cutout frame data 46 are displayed on the liquid crystal display device 12 of the PC 2 so as to overlap the captured image.
- the command generation unit 18 of the PC 2 instructs the display of the rectangular image based on the input data input from the input device 14. Generate a rectangular display command.
- the communication processor 16 of PC2 The command is transmitted to the communication processing unit 56 of the imaging device 1 via the USB cable 3.
- the communication processing unit 56 of the imaging apparatus 1 supplies the received rectangular display command to the processing management unit 55.
- the process management unit 55 that has been waiting for the command in the process of Fig. 8 determines Yes in step ST4 and starts the rectangular display process (step ST9). . Specifically, the process management unit 55 instructs the rectangular still image generation unit 53 to generate a rectangular image. Further, the process management unit 55 instructs the captured still image generation unit 52 to interrupt image generation. Thereafter, the process management unit 55 again enters a command waiting state (steps ST2, ST3, ST4). The rectangular still image generation unit 53 instructed to generate the rectangular image reads the still image data 61 from the external memory 30 and starts the rectangular still image data generation process.
- FIG. 10 is a flowchart showing a flow of rectangular still image data generation processing by the rectangular still image generation unit 53 in FIG.
- the rectangular still image generation unit 53 first identifies the upper left display pixel of the rectangular still image to be generated (step ST11). After identifying one display pixel, the rectangular still image generating unit 53 first assumes that the gaze point 93 of the generated rectangular still image is in contact with the virtual baseball surface 91 in FIG. 9 in a predetermined positional relationship. Thus, the position of the specific display pixel 96 in the virtual visual field space is calculated (step ST12).
- FIG. 11 is an explanatory diagram showing a state in which the gazing point 93 of the rectangular still image is associated with the virtual field spherical surface 91 in FIG. 9 so as to be in contact with each other on the X axis.
- the X axis, Y axis, and Z axis will be described with reference to FIG.
- the coordinates of the specific display pixel (VX, VY) 96 in the rectangular still image are (R, VX-VCX, â (VYâ VCY))
- the origin of the virtual visual field space in FIG. 11 is the center of the virtual visual field spherical surface 91.
- R is the radius of the virtual visual field space, that is, the radius of the outer circle boundary.
- (VCX, VCY) are the coordinates of the gazing point 93 in the rectangular still image. In the virtual visual field space of FIG. 11, the coordinates of the gazing point 93 in the rectangular still image are (R, 0, 0).
- the elevation angle â h of the hypothetical specific display pixel (VX, VY) 96 is the elevation angle of the line-of-sight direction data 44, and the horizontal plane of the hypothetical specific display pixel (VX, VY) 96
- the inner direction â s is the direction of the gaze direction data 44.
- the rectangular still image is scaled at that magnification.
- the coordinates of the hypothetical specific display pixel (VX, VY) 96 are (VX-VCX) X Zoom,-(VY-VCY)) X Zoom) in the virtual visual field space of FIG.
- âZoomâ is a magnification.
- the rectangular still image generating unit 53 sets the hypothetical specific display pixel 96 to the virtual visual field spherical surface 91 according to Equation 1 below.
- the mapping coefficient ir for projecting to is calculated (step ST13).
- (xl, yl) is a distance of the specific display pixel 96 from the gazing point 93 in the rectangular still image, and is (VX-VCX, VYâVCY).
- FIG. 12 is an explanatory diagram of how the mapping coefficient ir is calculated by the rectangular still image generation unit 53 in FIG.
- the rectangular still image touches the virtual baseball surface 91 of radius R at the gazing point 93 on the X axis in FIG.
- the rectangular still image generation unit 53 obtains the length of the line segment L1 connecting the specific display pixel 96 and the origin, and divides the radius R of the virtual visual field spherical surface 91 by the length L1. And find the mapping coefficient ir.
- the coordinates of the specific display pixel 96 are multiplied by the mapping coefficient ir, the coordinates of the intersection point 101 between the line segment and the virtual field spherical surface 91 are obtained.
- the rectangular still image generating unit 53 converts the rectangular still image into the original gazing point (the gazing point in the line-of-sight direction data 44 stored in the EEPROM 43, that is, the gazing point in FIG. 9).
- the coordinates of the specific display pixel 96 when rotated by the elevation angle of 93) are calculated (step ST14).
- FIG. 13 is an explanatory diagram of a calculation process for rotating the specific display pixel 111 at the elevation angle of the gazing point 93 by the rectangular still image generation unit 53 in FIG.
- the specific display pixel 11 1 of mm (R, x2, y2) becomes the specific display pixel 112 of the coordinates (R X cos 0 h + y2 X sin â h, â 2, R X sin â h â y2 X cos â h).
- the position of the specific display pixel 111 in FIG. 13 is different from the position of the specific display pixel 96 in FIG. Therefore, in the description of FIG.
- MR [y2 X ir] is âcorrection data obtained when the map ratio table 47 is referred to by y2 X irj.
- the X corresponding to the specific display pixel 96 is calculated by calculating the projection magnification mr of the specific display pixel 96.
- the preparation for calculating the projection coordinates on the Y plane (horizontal plane), that is, the preparation for calculating the projection coordinates on the light receiving surface 34 is completed.
- the rectangular still image generation unit 53 actually calculates the projection coordinates of the specific display pixel 96 onto the XY plane (horizontal plane). Specifically, the rectangular still image generating unit 53 first considers only the elevation angle â h of the original gazing point 93 and projects the projection coordinates (x3, y3, z3) is calculated by the following formula 3 (step ST16).
- the rectangular still image generation unit 53 rotates the coordinates calculated by Equation 3 in the direction â s in the horizontal plane of the gazing point 93 according to Equation 4 below, and the XâY plane (The projection coordinates on the (horizontal plane), that is, the projection coordinates (x4, y4, z4) on the light receiving surface 34 are calculated (step ST17).
- (IOX, IOY) is the coordinates of the center of the image when the upper left corner of the captured still image is the origin, as shown in FIG.
- the rectangular still image generating unit 53 identifies the pixel in the original image (captured image) at the projected coordinate. Then, the pixel value of the specified pixel is acquired. The rectangular still image generation unit 53 takes the acquired pixel value as the pixel value of the specific display pixel 96 into the rectangular still image data and stores it in the external memory 30 (step ST18).
- the rectangular still image generation unit 53 calculates the projection coordinates of the identified display pixel 96 on the light receiving surface 34, acquires the pixel value of the pixel in the circular image corresponding to the projection coordinate, The acquired pixel value is stored in the external memory 30 as the pixel value of the specific display pixel.
- the rectangular still image generating unit 53 generates a rectangular still image to be generated.
- the pixel value is determined, and it is determined whether or not the display pixel remains. Until there are no display pixels for which the pixel value is not determined, the above display pixels are displayed. Repeat the pixel value determination process.
- the rectangular still image generation unit 53 first determines whether or not the determination of the pixel value for the display pixels for one column of the generated rectangular still image has been completed (step ST19). If one column has not been completed (No in step ST19), the rectangular still image generation unit 53 identifies the display pixel of the next row in the same column (step ST20), and the specific display pixel. Are determined (steps 3 to 12 to 3 to 18).
- the rectangular still image generation unit 53 When the determination of all pixel values for the display pixels for one column is completed (Yes in step ST19), the rectangular still image generation unit 53 further generates a rectangular still image to be generated. Judgment is made as to whether or not the pixel values have been determined for all the columns (step ST21). If the processing has not been completed for all columns (No in step ST21), the rectangular still image generation unit 53 identifies the display pixel at the upper end (uppermost row) of the next column (step ST22). Then, the pixel value of the specific display pixel is determined (steps 3 to 12 to 3 to 18).
- the rectangular still image generating unit 53 When the pixel values have been determined for all columns of the rectangular still image to be generated (Yes in step ST21), the rectangular still image generating unit 53 generates the rectangular still image data shown in FIG. Finish the generation process. As a result, rectangular still image data based on the still image data 61 is stored in the first VRAM area 65 or the second VRAM area 66 of the external memory 30.
- the streaming generation unit 54 receives the data from the first VRAM area 65 and the second VRAM area 66.
- the rectangular still image data is read in order, and the audio data 62 is read from the external memory 30, and streaming data having these contents data is generated.
- the streaming generation unit 54 supplies the generated streaming data to the communication processing unit 56.
- the communication processing unit 56 of the imaging device 1 transmits streaming data to the communication processing unit 16 of the PC 2 via the USB connector 23, the USB cable 3, and the USB connector 11 of the PC 2.
- the communication processing unit 16 of the PC 2 supplies the received streaming data to the reproduction processing unit 17.
- the playback processor 17 of PC2 extracts rectangular still image data from the streaming data. Are decoded and supplied to the liquid crystal display device 12.
- the liquid crystal display device 12 displays a rectangular still image. For example, a rectangular still image as shown in FIG. 7 is displayed on the liquid crystal display device 12.
- the playback processing unit 17 of the PC 2 extracts the audio data 62 from the streaming data power and supplies it to the speaker 13.
- the speaker 13 outputs sound based on the extracted audio data 62.
- the image sensor 27 of the imaging device 1 generates luminance distribution data for each period.
- the color conversion processing unit 41 generates captured image data from the luminance distribution data.
- the still image storage processing unit 51 updates the still image data 61 in the external memory 30 with the captured image data generated every cycle.
- the rectangular still image generation unit 53 reads still image data 61 from the external memory 30 and alternately writes rectangular still image data based on the read still image data 61 into the first VRAM area 65 and the second VRAM area 66.
- the streaming generation unit 54 reads the rectangular still image data written in the first VRAM area 65 or the second VRAM area 66 and generates streaming data.
- the streaming still image generating unit 53 A rectangular still image can be written in the VRAM area.
- the streaming generation unit 54 can allocate a rectangular still image based on the luminance distribution data generated by the image sensor 27 for each period to the streaming data without causing image omission (frame omission).
- the liquid crystal display device 12 of the PC 2 displays a moving image by a rectangular still image based on the luminance distribution data periodically generated by the image sensor 27.
- the process management unit 55 updates the rectangular still image cutout range and the rectangular cutout frame data 46 according to the elevation angle â of the line-of-sight direction data 44.
- a rectangular still image is cropped so that the ratio of the height HI of the rectangular image above the gazing point to the height H 2 of the rectangular image below the gazing point is â90 degrees 0 Z2: 0 Z2â.
- Update range The processing management unit 55 looks at the gaze direction data 44 so that it is near the center of the rectangular image when the elevation angle â of 90 degrees is 90 degrees, and is the lower edge of the rectangular image when the elevation angle â power of the viewing direction data 44 is deg. To decide.
- the rectangular still image generation unit 53 uses the virtual view spherical surface at the point of interest. A rectangular image in contact with 91 is generated.
- the gazing point of the image is the lower edge of the rectangular image.
- the rectangular still image generating unit 53 can generate a rectangular image based on the circular image when the elevation angle of the gazing point (line of sight) of the image is at the lowest 0 degree. Since the elevation angle of the point of interest (line of sight) of the image is 0 degrees, the viewer of this rectangular image does not appear as if the subject or background is tilted forward.
- the process management unit 55 determines the height HI of the rectangular image above the gazing point and the height H2 of the rectangular image below the gazing point.
- the position of the rectangular image is determined so that the specific force â ( â 1: â 2) is 90 degrees 0 â 2: 0 â 2.
- the height position of the image gazing point from the lower edge in the rectangular image is from the lower edge to the upper edge of the rectangular image, half the elevation angle â of the image gazing point, 90 degrees force, and the elevation angle â
- the position is divided by the ratio of the value obtained by subtracting half.
- the height position â 2 in the rectangular image of the gazing point of the image changes according to the elevation angle.
- the force and elevation angle change to 0 degree and force to 90
- the height position â 2 in the rectangular image of the gazing point does not change abruptly. It is possible to prevent the image viewer from being aware that the height position â 2 of the gazing point of the image is changed according to the elevation angle.
- the rectangular still image generation unit 53 calculates the projection coordinates (x4, y4, z4) of the captured image of each display pixel of the rectangular image onto the light receiving surface 34, and calculates the calculated coordinates.
- the pixel value of the pixel of the captured image at (x4, y4, â 4) is acquired as the pixel value of each display pixel.
- the rectangular still image generation unit 53 calculates the mapping coordinates of each display image in the rectangular image to the light receiving surface 34 based on the mapping relationship based on the projection relationship onto the light receiving surface 34 of the space. Then, the pixel value of the pixel of the captured image at the calculated coordinates (x4, y4, z4) is acquired as the pixel value of each display pixel.
- the fisheye lens 22 of the three-dimensional projection method is used.
- the processing management unit 55 updates the map ratio table 47 using the updated position or size of the outer circle boundary data 48 and the incident angle image height table 45. . Therefore, the map ratio table 47 can be kept compatible with the outer circle boundary data 48.
- the rectangular still image generation unit 53 can calculate the projection coordinates of each display pixel using this map ratio table 47.
- the fisheye lens 22 of the three-dimensional projection method is used.
- an equidistance projection type fish-eye lens, an isometric projection type fish-eye lens, an orthographic projection type fish-eye lens, or the like may be used.
- the process management unit 55 determines that the ratio between the height HI of the rectangular image above the gazing point and the height H2 of the rectangular image below the gazing point is â(H1: H2 ) 90 degrees â / 2:
- the position of the point of interest of the rectangular image is determined to be â / 2 â .
- the logic unit 55 may select the position of the gazing point of a plurality of rectangular images determined in advance for each range of the elevation angle â according to the elevation angle â . If the elevation angle â is in the range of 40 to 90 degrees, for example, the position of the point of interest in the rectangular image should be fixed at the center of the image, for example.
- the process management unit 55 updates the map ratio table 47 every time the outer circle boundary data 48 is updated.
- the EEPROM 43 divides the settable range of the outer circle boundary into a plurality of sections, stores a plurality of mapping tables predetermined for each section, and the process management unit 55 updates the outside One of them may be selected according to the circle boundary data 48.
- the rectangular still image generating unit 53 generates one rectangular still image from one still image data 61.
- the rectangular still image generating unit 53 may generate two or more rectangular still images from one still image data 61.
- the PC 2 displays a moving image of the rectangular still image extracted from the streaming data force on the liquid crystal display device 12.
- the PC 2 saves the moving image of the rectangular still image extracted from the streaming data force in a storage device (not shown), and the moving image of the rectangular still image stored in the storage device is stored in the liquid crystal display device 12. You can display it!
- the image pickup apparatus 1 is connected to the PC 2 via the USB cable 3.
- the image pickup apparatus 1 may be connected to an input board for outputting a command by the USB cable 3 or the like.
- the present invention can be widely used as an imaging device and an imaging system that capture a meeting as a rectangular image.
Description
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[0074] ç©åœ¢è¡šç€ºã³ãã³ããäŸçµŠããããšãå³ 8ã®åŠçã«ãããŠã³ãã³ãåŸ
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ã«ãªã (ã¹ããã ST2 ã ST3ã ST4)ãç©åœ¢ç»åã®çæãæ瀺ãããç©åœ¢éæ¢ç»çæéš 53ã¯ãå€éšã¡ã¢ãª 3 0ããéæ¢ç»ããŒã¿ 61ãèªã¿èŸŒã¿ãç©åœ¢éæ¢ç»ããŒã¿ã®çæåŠçãéå§ããã
[0075] å³ 10ã¯ãå³ 2äžã®ç©åœ¢éæ¢ç»çæéš 53ã«ããç©åœ¢éæ¢ç»ããŒã¿ã®çæåŠçã®æµ ãã瀺ããããŒãã£ãŒãã§ãããç©åœ¢éæ¢ç»çæéš 53ã¯ããŸããçæããç©åœ¢éæ¢ ç»ã®å·Šäžã®è¡šç€ºç»çŽ ãç¹å®ãã (ã¹ããã ST11)ã 1ã€ã®è¡šç€ºç»çŽ ãç¹å®ããåŸã ç©åœ¢éæ¢ç»çæéš 53ã¯ããŸããçæããç©åœ¢éæ¢ç»ã®æ³šèŠç¹ 93ãå³ 9äžã®ä»®æ³èŠ éçé¢ 91ãšæå®ã®äœçœ®é¢ä¿ã§æ¥ãããã®ãšä»®å®ããäžã§ãç¹å®è¡šç€ºç»çŽ 96ã®ä»®æ³ èŠé空éäžã®äœçœ®ãæŒç®ãã (ã¹ããã ST12)ã
[0076] å³ 11ã¯ãç©åœ¢éæ¢ç»ã®æ³šèŠç¹ 93ããå³ 9äžã®ä»®æ³èŠéçé¢ 91ã® X軞äžã«ãã㊠æ¥ããããã«å¯Ÿå¿ä»ããç¶æ
ã瀺ã説æå³ã§ããã以äžã®èª¬æã«ãããŠã X軞ã Y軞 ããã³ Z軞ã¯ããã®å³ 11ãåºæºãšããŠèª¬æãããç©åœ¢éæ¢ç»ã®æ³šèŠç¹ 93ã X軞äžã« ãããšä»®å®ãããšããç©åœ¢éæ¢ç»äžã®ç¹å®è¡šç€ºç»çŽ (VX, VY) 96ã®åº§æšã¯ãå³ 11 ã®ä»®æ³èŠé空éã«ãã㊠(R, VX-VCX, â (VYâ VCY) )ãšãªããå³ 11ã®ä»®æ³èŠ é空éã®åç¹ã¯ãä»®æ³èŠéçé¢ 91ã®äžå¿ã§ããããŸãã Rã¯ãä»®æ³èŠé空éã®ååŸ ãããªãã¡å€åå¢çã®ååŸã§ããã (VCX, VCY)ã¯ãç©åœ¢éæ¢ç»äžã§ã®æ³šèŠç¹ 93 ã®åº§æšã§ãããå³ 11ã®ä»®æ³èŠé空éã«ãããŠãç©åœ¢éæ¢ç»äžã§ã®æ³šèŠç¹ 93ã®åº§ æšã¯ã (R, 0, 0)ãšãªãã
[0077] ãªããå³ 11ã«ãããŠãä»®å®äžã®ç¹å®è¡šç€ºç»çŽ ïŒVX, VY) 96ã®ä»°è§ Î hã¯ãèŠç· æ¹åããŒã¿ 44ã®ä»°è§ã§ãããä»®å®äžã®ç¹å®è¡šç€ºç»çŽ ïŒVX, VY) 96ã®æ°Žå¹³é¢å
ã®æ¹ è§ Î sã¯ãèŠç·æ¹åããŒã¿ 44ã®æ¹è§ã§ããã
[0078] ãŸããå³ 11ã«ãããŠãç©åœ¢éæ¢ç»ã¯ãåç 1 (Zoom= l)ã®å Žåã®ãã®ã§ãããå
çã 1以å€ã®å Žåãå³ 11ã«ãããŠãç©åœ¢éæ¢ç»ã¯ããã®åçã§æ¡çž®ãããããã®å Ž åãä»®å®äžã®ç¹å®è¡šç€ºç»çŽ (VX, VY) 96ã®åº§æšã¯ãå³ 11ã®ä»®æ³èŠé空éã«ãã ãŠ ïŒ (VX-VCX) X Zoom, - (VYâ VCY) ) X Zoom)ãšãªãããã®åŒã«ãããŠã ãZoomãã¯ãåçã§ããã
[0079] å³ 11ã®ä»®å®äžã®ç¹å®è¡šç€ºç»çŽ 96ã®ä»®æ³èŠé空éäžã®äœçœ®ãæŒç®ããåŸãç©åœ¢ éæ¢ç»çæéš 53ã¯ãäžèšåŒ 1ã«ãããä»®å®äžã®ç¹å®è¡šç€ºç»çŽ 96ãä»®æ³èŠéçé¢ 91 ãžæ圱ããããã®ãããã³ã°ä¿æ° irãæŒç®ããïŒã¹ããã ST13)ãäžèšåŒ 1ã«ã ã㊠ã (xl , yl)ã¯ãç¹å®è¡šç€ºç»çŽ 96ã®ãç©åœ¢éæ¢ç»ã§ã®æ³šèŠç¹ 93ããã®è·é¢ã§ããã ( VX-VCX, VYâ VCY)ã§ããã
[0080] ir = R÷ (R2+xl2+yl2) 1/2 âŠåŒ 1
[0081] å³ 12ã¯ãå³ 2äžã®ç©åœ¢éæ¢ç»çæéš 53ã«ãããããã³ã°ä¿æ° irã®æŒç®ã®ä»æ¹ã®èª¬ æå³ã§ãããç©åœ¢éæ¢ç»ã¯ãå³ 11ã® X軞äžã®æ³šèŠç¹ 93ã«ãããŠãååŸ Rã®ä»®æ³èŠ éçé¢ 91ã«æ¥ãããå³ 12ã«ç€ºãããã«ãç©åœ¢éæ¢ç»çæéš 53ã¯ãç¹å®è¡šç€ºç»çŽ 9 6ãšåç¹ãšãçµã¶ç·å L1ã®é·ããæ±ãããã®é·ã L1ã§ä»®æ³èŠéçé¢ 91ã®ååŸ Rã å²ãããšã§ããããã³ã°ä¿æ° irãæ±ãããç¹å®è¡šç€ºç»çŽ 96ã®åº§æšã«ãããã³ã°ä¿æ° ir ãä¹ç®ãããšãäžèšç·åãšä»®æ³èŠéçé¢ 91ãšã®äº€ç¹ 101ã®åº§æšãåŸãããã
[0082] ãããã³ã°ä¿æ° irãæŒç®ããåŸãç©åœ¢éæ¢ç»çæéš 53ã¯ãç©åœ¢éæ¢ç»ããæ¬æ¥ã® 泚èŠç¹ïŒEEPROM43ã«èšæ¶ãããèŠç·æ¹åããŒã¿ 44ã§ã®æ³šèŠç¹ãããªãã¡å³ 9㧠ã®æ³šèŠç¹ 93)ã®ä»°è§ã«ããå転ãããšãã®ç¹å®è¡šç€ºç»çŽ 96ã®åº§æšãæŒç®ãã (ã¹ãã ã ST14)ã
[0083] å³ 13ã¯ãå³ 2äžã®ç©åœ¢éæ¢ç»çæéš 53ã«ãããç¹å®è¡šç€ºç»çŽ 111ã泚èŠç¹ 93ã® ä»°è§ã§å転ãããæŒç®åŠçã®èª¬æå³ã§ãããå³ 13äžã®ç¹å®è¡šç€ºç»çŽ 111ã¯ãæ³šèŠ ç¹ 93ã®ä»°è§ Î hã«ããå転ããããšãåº§æš 112ãžç§»åããã mm(R, x2, y2)ã®ç¹å® 衚瀺ç»çŽ 11 1ã¯ã座æšïŒR X cos 0 h+y2 X sin Î h, Ï2, R X sin Ξ h-y2 X cos Ξ h )ã®ç¹å®è¡šç€ºç»çŽ 112ãšãªãããªããå³ç€ºããã³èª¬æã®äŸ¿å®äžãå³ 13äžã®ç¹å®è¡šç€º ç»çŽ 11 1ã®äœçœ®ã¯ãå³ 9ã®ç¹å®è¡šç€ºç»çŽ 96ã®äœçœ®ãšã¯ç°ãªã£ãŠããããã®ãããå³ 1 3ã®èª¬æã§ã¯ç¹å®è¡šç€ºç»çŽ ã®ç¬Šå·ãæ¿ã㊠ããã
[0084] ç©åœ¢éæ¢ç»ãæ¬æ¥ã®æ³šèŠç¹ 93ã®ä»°è§ã«ããå転ãããšãã®ç¹å®è¡šç€ºç»çŽ 96ã®åº§
æšãæŒç®ããåŸãç©åœ¢éæ¢ç»çæéš 53ã¯ãäžèšåŒ 2ã«ããããã®ç¹å®è¡šç€ºç»çŽ 96ã® æ圱åç mrãæŒç®ããïŒã¹ããã ST15)ã MR[y2 X ir]ã¯ããy2 X irjã«ããããã㬠ã·ã©ããŒãã« 47ãåç
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[0085] mr = ir X MR[y2 X ir] · · Â·åŒ 2
[0086] ç¹å®è¡šç€ºç»çŽ 96ã®æ圱åç mrãæŒç®ããããšã§ãç¹å®è¡šç€ºç»çŽ 96ã«å¯Ÿå¿ãã X
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[0087] (x3, y3, z3) = (mr X x2, mr X xl, 0) âŠåŒ 3
[0088] 次ã«ãç©åœ¢éæ¢ç»çæéš 53ã¯ãåŒ 3ã«ããæŒç®ãã座æšããäžèšåŒ 4ã«ãã泚èŠç¹ 93ã®æ°Žå¹³é¢å
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[0089] (x4, y4, z4) = (IOX+X3 X COS Î s+y3sin 0 s, IOY+x3 X cos Î sâ y3sin
0 s, 0) âŠåŒ 4
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JP2000132673A (ja) * | 1998-10-28 | 2000-05-12 | Sharp Corp | ç»åã·ã¹ãã |
JP2002140703A (ja) * | 2000-10-31 | 2002-05-17 | Toyota Central Res & Dev Lab Inc | åšèŸºç¶æ³è¡šç€ºè£ 眮 |
JP2005286820A (ja) * | 2004-03-30 | 2005-10-13 | Vistapoint Technology Inc | ç£èŠã·ã¹ãã |
JP2006050185A (ja) * | 2004-08-04 | 2006-02-16 | Opt Kk | æ®åœ±è£ 眮 |
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JP2000132673A (ja) * | 1998-10-28 | 2000-05-12 | Sharp Corp | ç»åã·ã¹ãã |
JP2002140703A (ja) * | 2000-10-31 | 2002-05-17 | Toyota Central Res & Dev Lab Inc | åšèŸºç¶æ³è¡šç€ºè£ 眮 |
JP2005286820A (ja) * | 2004-03-30 | 2005-10-13 | Vistapoint Technology Inc | ç£èŠã·ã¹ãã |
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