Camera system, vehicle, control method, and storage medium
In a camera system, a captured image of a rear of a vehicle is acquired, an optical image having a high-resolution region and a low-resolution region is formed on an imaging unit, a first image is generated by cutting out a first region from an image region corresponding to the high-resolution region in an image read from the imaging unit, a second image is generated by cutting out a second region from an image region different from the first region, the first image and the second image are generated such that at least a portion of a lower end of the second region is positioned below a lower end of the first region, and at least a portion of an upper end of the second region is positioned below an upper end of the first region, and at least one of the first image and the second image is output for display.
1. A camera system comprising:
an imaging unit that acquires a captured image of a rear of a vehicle;
an optical system that forms an optical image having a high-resolution region and a low-resolution region on the imaging unit;
at least one processor or circuit configured to function as:
an image generation unit configured to generate a first image by cutting out a first region from an image region corresponding to the high-resolution region in an image data read from the imaging unit and generate a second image by cutting out a second region from an image region different from the first region; and
an output unit configured to output at least one of the first image and the second image for display,
wherein the image generation unit generates the first image and the second image so that at least a portion of a lower end of the second region is positioned below a lower end of the first region, and at least a portion of an upper end of the second region is positioned below an upper end of the first region.
2. The camera system according to claim 1 , wherein the image generation unit generates the first image and the second image so that the entire lower end of the second region is positioned below the lower end of the first region, and the entire upper end of the second region is positioned below the upper region.
3. The camera system according to claim 1 , wherein the image generation unit generates the first image and the second image so that a left end of the second region is positioned on a left side of a left end of the first region, and a right end of the second region is positioned on a right side of a right end of the first region.
4. The camera system according to claim 1 , wherein the image generation unit generates the first image and the second image so that the upper end of the second region is positioned between the upper end and the lower end of the first region.
5. The camera system according to claim 1 , wherein the image generation unit generates the first image and the second image so that the upper end of the second region is positioned on or above a horizon in the captured image.
6. The camera system according to claim 1 , wherein, when a focal length of the imaging unit is f, a half angle of view is θ, an image height on an image surface is y, and a projection characteristic representing a relationship between the image height y and the half angle of view θ is y(θ), y(θ) in the high-resolution region is larger than f×θ, which is different from a projection characteristic in the low-resolution region.
7. The camera system according to claim 6 , wherein the high-resolution region is configured to have a projection characteristic close to a central projection method (y=f×tan θ) or an equidistant projection method (y=f×θ).
8. The camera system according to claim 6 , wherein, when θ max is a maximum half angle of view of the optical system, and A is a predetermined constant, the camera system is configured to satisfy the following equation
1
<
f
×
sin
θ
max
y
(
θ
max
)
≤
A
.
9. The camera system according to claim 1 , wherein the output unit outputs the first image without geometric deformation processing, but the second image with a predetermined geometric deformation processing.
10. The camera system according to claim 1 , further comprising:
at least one processor or circuit configured to function as:
a communication unit configured to acquire state information of the vehicle,
wherein the image generation unit changes at least the second region according to the state information of the vehicle.
11. The camera system according to claim 10 , wherein the image generation unit determines whether or not a vehicle traveling speed is higher than a predetermined traveling speed based on traveling speed information of the vehicle which is included in the state information of the vehicle, and sets the upper end of the second region in a case where it is determined that the vehicle traveling speed is higher than the predetermined traveling speed to be positioned above the upper end of the second region in a case where it is not determined that the vehicle traveling speed is higher than the predetermined traveling speed.
12. The camera system according to claim 10 , wherein, in a case where it is determined that there is an obstacle based on obstacle information around the vehicle which is included in the state information of the vehicle, the image generation unit makes the second region larger than in a case where it is determined that there is no obstacle, so that the second region includes the obstacle in the second region.
13. The camera system according to claim 10 , wherein the image generation unit outputs the second image from the output unit in a case where it is determined that the vehicle is backing up based on moving direction information of the vehicle included in the state information of the vehicle, and does not output the second image from the output unit in a case where it is not determined that the vehicle is backing up.
14. A vehicle comprising:
an imaging unit that acquires a captured image of a rear of a vehicle;
an optical system that forms an optical image having a high-resolution region
and a low-resolution region on the imaging unit;
at least one processor or circuit configured to function as:
an image generation unit configured to generate a first image by cutting out a first region from an image region corresponding to the high-resolution region in an image read from the imaging unit and generate a second image by cutting out a second region from an image region different from the first region; and
an output unit configured to output at least one of the first image and the second image for display,
wherein the image generation unit generates the first image and the second image so that at least a portion of a lower end of the second region is positioned below a lower end of the first region, and at least a portion of an upper end of the second region is positioned below an upper end of the first region, and
the vehicle includes at least one processor or circuit configured to function as:
a display unit configured to display at least one of the first image and the second image output from the output unit.
15. A control method for controlling a camera system that includes an imaging unit that acquires a captured image of a rear of a vehicle,
an optical system that forms an optical image having a high-resolution region and a low-resolution region on the imaging unit,
the control method comprising:
generating a first image by cutting out a first region from an image region corresponding to the high-resolution region in an image read from the imaging unit and generate a second image by cutting out a second region from an image region different from the first region; and
outputting at least one of the first image and the second image for display,
wherein the generating of the first image and the second image includes generating the first image and the second image so that at least a portion of a lower end of the second region is positioned below a lower end of the first region, and at least a portion of an upper end of the second region is positioned below an upper end of the first region.
16. A non-transitory computer-readable storage medium configured to store a computer program for causing a camera system to execute steps, the camera system including an imaging unit that acquires a captured image of a rear of a vehicle,
an optical system that forms an optical image having a high-resolution region and a low-resolution region on the imaging unit,
the steps comprising:
generating a first image by cutting out a first region from an image region corresponding to the high-resolution region in an image read from the imaging unit and generating a second image by cutting out a second region from an image region different from the first region; and
outputting at least one of the first image and the second image for display,
wherein the generating of the first image and the second image includes generating the first image and the second image so that at least a portion of a lower end of the second region is positioned below a lower end of the first region, and at least a portion of an upper end of the second region is positioned below an upper end of the first region.