JPH02199582A - Image processor - Google Patents

Abstract

PURPOSE:To calculate coordinate converting parameters within a short time, to eliminate the need for window specifying operation and to eliminate also the needs for centroid calculating operation by specifying two or more optional points to be marks in an input image by a cursor and inputting real coordinate values in the device corresponding to the specified points. CONSTITUTION:The image of a visual field including points C, D whose coordinate values in real coordinates are already known is picked up by a TV camera 1 and inputted to the device and the input image and the cursor are displayed on the screen of a video monitor 5 as camera coordinate values expressed by coordinate axes Xc, Yc. The position of either one of the points C, D is specified by moving the cursor, the real coordinate value of the point is inputted and then the similar input processing of the other point is also executed. Then, the origin of the camera coordinates, the real coordinates, the scale between the coordinates, and a rotational angle are calculated and the displayed image is converted into its real coordinates by using the calculated coordinate converting parameters.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of the Invention) The present invention relates to an image processing apparatus that performs various image processing after converting an input image into a coordinate system set within the apparatus.

(Summary of the Invention) The present invention specifies any two or more points on an input image using a cursor, and simultaneously inputs the coordinate values in the coordinate system inside the device that correspond to the specified points.
This simplifies the calculation of coordinate transformation parameters.

(Prior art and its problems) In conventional image processing devices, image processing may be performed after converting an image input from a camera or the like into a coordinate system used for internal processing.

For this purpose, it is necessary to obtain transformation parameters used when coordinately transforming the input image.

This parameter is obtained as follows.

The coordinate system of the input image captured by the camera (hereinafter referred to as camera coordinates) and the coordinate system used for internal processing (hereinafter referred to as actual coordinates) can be expressed as the relationship shown in FIG.

In the figure, object A and object B are displayed on the screen displaying the input image, and the center of gravity of object A is the camera coordinate axis Xc, Y
It is expressed as the position ii (xc,, yc,) projected onto c, and similarly the coordinates of object B are (Xc-z,', +
'V':el),'. ,Usually, an input image captured by a camera is,based on such camera coordinates,
The image is stored in a file such as "Image memo size" and then displayed on the screen.

After the image consisting of camera coordinates is input into the device,
Various types of processing are performed, and the actual coordinates used in that case are represented by the Xr axis and Yr axis in the drawing.

If the centers of gravity of objects A and B are expressed in real coordinates, the real coordinate axis
The positions projected on r + Y r (xr l
+3' rj, ) , 1 , (Xy++, y, r4.
) will be the desired coordinates.

In addition, the relationship between camera coordinates and real coordinates is that the length of the camera coordinates is doubled, and the length of the real coordinates is the length of the camera coordinates, and the camera coordinates are the length of the real coordinates that is rotated counterclockwise by an angle of θ. .

Here, the relationship between the two coordinates can be expressed by the following equation.

Also, the origin of camera coordinates is ('O
x, 'Oy), which can be expressed as follows.

Oy = Yr PXsinθ −PXcosθ
Yc Also, the magnification P between two coordinates can be expressed by the following equation.

(Xcz Xcl)2'' (Ycz Yct)2 Furthermore, the rotation angle θ can be expressed by the following equation.

θ=θr+θC-π・・・・・・・・・・・・(4 square, θr: (Xrl + Yr+) ~(Xrz+ Yr
z) slope (rad) θc: (Xc+, Y'c+>A
When determining conversion parameters using the slope (rad) between -(Xcz, Ycz) and the deviation relationship, the method shown in the flowchart of FIG. 6 has conventionally been used.

First, a field of view including object A and object B is imaged (step 61). It is assumed that the barycentric coordinates of the object A and the object B to be imaged on the real coordinates are known.

Next, in order to measure the center of gravity of object A, measurement conditions such as window designation data and density values for image extraction are input from the outside (step 6'2')',1
- Here, the captured image is captured, and the center of gravity (Xc++Y'c+) of the object A in the camera coordinates is measured' (step 63). '□P Furthermore, the center of gravity of object A in real coordinates (X'r++Yr
+) □ value is input from the outside (step 64).

Next, after steps 6] to 64 are performed on object B, (3) and (
4) The conversion parameters, magnification P and rotation angle θ□, are determined from the equation (steps 65..6''6).

However, in these conventional methods, operations for inputting measurement conditions such as window designation and density value input for image extraction are cumbersome.

Furthermore, within the apparatus, there is a problem in that the processing time is increased because the object is extracted from within the designated square window and the center of gravity of the object is calculated.

(Purpose of the invention) This invention was made to solve the above problems, and its purpose is to simplify the input operation when determining coordinate transformation parameters, and shorten the calculation processing time. An object of the present invention is to provide an image processing device that is easy to use and easy to use.

(Structure and Effects of the Invention) In order to achieve the above object, the present invention converts an input image into a coordinate system set inside the device, and then displays the image on the screen in an image processing device that executes internal processing. means for specifying an arbitrary point in the displayed input image by displaying a cursor; means for inputting the present specimen in the coordinate system within the device corresponding to the specified point on the input image; and both of the above. It is characterized by comprising six means for calculating transformation parameters for transforming the input image into a coordinate system inside the apparatus based on at least two specified points and their coordinate values inputted by the means.

According to this invention, by specifying any two or more points on the input image with a cursor and manually inputting the coordinate values in the coordinate system inside the device that correspond to the specified points at the same time,
Since the coordinate transformation parameters are calculated, the input operation is simplified and the calculation processing time is shortened.

(Explanation of Examples) Embodiments of the present invention will be described below based on the drawings.

FIG. 1 is a block diagram showing the electrical configuration of an image processing apparatus to which the present invention is applied.

In the figure, a television camera 1 sends a captured image to an image input section 2 as an analog video signal.

The image input unit 2 performs A/D conversion on the input video signal, thereby converting the grayscale value of each pixel into multivalued density data consisting of a plurality of gradation levels, and sends the data to the image memory 3.

The image memory 3 stores the input multivalued density data in units of one screen.

One screen stored here is as shown in Figure 2a,
It is composed of gray levels for each pixel P specified by the +y coordinate. For each pixel, the gray value of each pixel is stored as multi-valued density data in correspondence with the memory unit of the image memory 3.

As shown in FIG. 2, the window memory 7 stores data regarding a window W arbitrarily designated on the screen.

The character and line drawing memory 8 stores font data for characters and marks such as cursors displayed on the video monitor 5.

The image output unit 4 includes an image memory 3, a window memory 7,
Image data consisting of digital signals outputted from the character and line drawing memory 8 are each subjected to D/A conversion, and a video signal for one screen is synthesized and sent to the video monitor 5.

The video monitor 5 displays an input image, a designated window, a cursor, calculation results, etc. using the video signal output from the image output section 4.

The measurement circuit 14 performs processes such as calculating the center of gravity and counting pixels from the corresponding multilevel density data in the image memory 3 while referring to the window data stored in the window memory 7 .

On the other hand, the address/data bus 9 has an image memo 'J3
, window memory 7, character memory 8, and CPU
A microcomputer is configured by connecting the IO1ROM II, RAM 12, and key input section 13.

In this microcomputer, CPU10 executes the program stored in ROMII, so that
A coordinate transformation parameter calculation process, which is a feature of this invention, is executed.

The timing control unit 6 works in conjunction with the CPUI O to control data input/output processing in the image input unit 2, image memory 3, image output unit 4, window memory 7, character and line drawing memory 8, and measurement circuit 14. Outputs the timing signal.

Note that FIG. 2C shows an image when the image of the window W shown in the figure is superimposed on the image consisting of the grayscale values of the pixel P shown in FIG.

Next, the coordinate transformation parameter calculation process, which is a feature of the present invention, will be explained based on the flowchart of FIG. 4 with reference to FIG. 3, which shows the relationship between camera coordinates and actual coordinates of an input image.

First, a field of view including point C and a dot is imaged and taken into the device (step 41). It is assumed that the coordinate values of these imaged points C and D on the real coordinates are known.

Next, the input image and the cursor 11 are displayed on the screen of the video monitor 5 as shown in FIG.

At this time, the position of the cursor 11 is displayed on the monitor 5 as camera coordinate values expressed by the coordinate axes Xc and YC (step 42).

Furthermore, the cursor 11 is moved to specify the position of either point C or D on the screen, and the actual coordinate value of that point is also input (step 43.44').

Next, similar inputs are made for the remaining points.

In this way, when the input for two or more points is completed (step 45 YES), the above-mentioned (2), (3),
Coordinate transformation parameters such as magnification P and rotation angle θ are calculated using equation (4) (step 45).

Thereafter, a process of converting the image displayed in the camera coordinates to actual coordinates is performed using the calculated coordinate conversion parameters.

As described above, in the present invention, the simple operation is as simple as specifying two or more arbitrary points as landmarks in the input image with a cursor and simultaneously inputting the actual coordinate values inside the device corresponding to the specified points. The coordinate transformation parameters are calculated in a short time.

Therefore, the conventional window designation operation for designating a specific image is no longer necessary, and the centroid calculation process for the specific image is also no longer necessary.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the electrical configuration of the image processing device according to the present invention, FIG. 2 is an explanatory diagram of screen display, FIG. 3 is an explanatory diagram of camera coordinates and actual coordinates, and FIG. FIG. 5 is an explanatory diagram of camera coordinates and actual coordinates in a conventional example, and FIG. 6 is a flowchart showing a conventional processing procedure. l...Television camera 2...Image processing unit 3...Image memory 4...Image output unit 5...Video monitor 6... ...Timing control section 7 ...Window memory 8 ...Character and line drawing memory 9 ...Address/data bus 10 ...CPU 11 ... ...ROM 12...RAM 13...Key human power section 14...Measurement circuit C...Input point D...Input point

Claims (1)

[Claims] 1. In an image processing device that performs internal processing after converting the input image to the coordinate system set inside the device, specify any point in the input image displayed on the screen using the cursor display. means for inputting coordinate values in a coordinate system inside the device corresponding to specified points of the input image; An image processing device comprising: means for calculating a conversion parameter for converting the image into a coordinate system inside the device.