Image processing apparatus, image processing method, and image processing system
Provision of a sense of distance by motion parallax is easily realized. A display image is obtained by superimposing an image showing a vehicle on a captured image obtained by capturing an image on a rear side from the vehicle. For example, the image showing the vehicle is a computer graphics image. For example, a change is made in a superimposed positional relationship between the captured image and the image showing the vehicle in accordance with motion of a viewpoint of a driver. Since the display image is not only made from the captured image obtained by capturing an image on a rear side from the vehicle, but the display image is obtained by superimposing the image showing the vehicle on the captured image, it is possible to easily provide a sense of distance by motion parallax.
1. An image processing apparatus comprising: a processor configured to:
acquire a rear side camera image captured from a rear side of a vehicle and pointing in a direction behind the vehicle;
calculate a camera image arrangement distance from the rear side of the vehicle;
calculate a position of a view frustum;
arrange, in a virtual space, 3D computer graphic data of the vehicle stored in a memory, the rear side camera image at a position of the camera image arrangement distance, and the view frustum;
convert the arrangement in the virtual space into a projected coordinate system to obtain a projection image; and
perform processing for drawing details of the rear side camera image and the 3D computer graphic data from the projection image to obtain a display image.
2. The image processing apparatus according to claim 1 , wherein the rear side camera image captured from the rear side of the vehicle includes a captured image captured by an image capturing device attached to a rear part of the vehicle, and the 3D computer graphic data of the vehicle includes a vehicle interior.
3. The image processing apparatus according to claim 1 , wherein the rear side camera image captured from the rear side of the vehicle includes a captured image captured by an image capturing device attached to a side part of the vehicle, and the 3D computer graphic data of the vehicle includes a vehicle body image.
4. The image processing apparatus according to claim 1 , wherein
the processor is configured to change the projection image in accordance with motion of a viewpoint of a driver.
5. The image processing apparatus according to claim 4 , wherein the processor is configured to:
obtain a virtual viewpoint position that changes in accordance with motion of the viewpoint of the driver, and
convert the projected coordinate system with a visual field determined by the virtual viewpoint position, to obtain the display image.
6. The image processing apparatus according to claim 5 , wherein the processor is configured to arrange the 3D computer graphic data of the vehicle stored in a memory, the rear side camera image, and the view frustum at a position of a predetermined object existing on the rear side from the vehicle.
7. The image processing apparatus according to claim 6 , wherein
the predetermined object includes an object directly beside the vehicle.
8. The image processing apparatus according to claim 6 , wherein
the predetermined object includes an object being visible to the driver.
9. The image processing apparatus according to claim 5 , wherein
the processor is configured to obtain a virtual viewpoint position that changes in accordance with motion of a viewpoint of the driver, on a basis of a reference viewpoint position and a reference virtual viewpoint position that are registered for each driver.
10. The image processing apparatus according to claim 1 , wherein the processor is configured to allow the rear side camera image captured from the rear side of the vehicle to be seen through.
11. An image processing method comprising:
acquiring a rear side camera image captured from a rear side of a vehicle and pointing in a direction behind the vehicle;
calculating a camera image arrangement distance from the rear side of the vehicle;
calculating a position of a view frustum;
arranging, in a virtual space, 3D computer graphic data of the vehicle stored in a memory, the rear side camera image at a position of the camera image arrangement distance, and the view frustum;
converting the arrangement in the virtual space into a projected coordinate system to obtain a projection image, and
performing processing for drawing details of the rear side camera image and the 3D computer graphic data from the projection image to obtain a display image.
12. An image processing system comprising:
an image sensor configured to capture a rear side camera image captured from a rear side of a vehicle and pointing in a direction behind the vehicle;
a processor configured to:
calculate a camera image arrangement distance from the rear side of the vehicle;
calculate a position of a view frustum;
arrange, in a virtual space, 3D computer graphic data of the vehicle stored in a memory, the rear side camera image at a position of the camera image arrangement distance, and the view frustum;
convert the arrangement in the virtual space into a projected coordinate system to obtain a projection image; and
perform processing for drawing details of the rear side camera image and the 3D computer graphic data from the projection image to obtain a display image; and
a display configured to display the display image obtained by the processor.