Information processing device, and control program
An image generation device calculates a projection conversion matrix serving as a first conversion information enabling conversion of coordinates of a captured image from a coordinate system of the image to a coordinate system of a vehicle, calculates a projection conversion matrix serving as second conversion information enabling conversion of coordinates of a reference range to be displayed on a display unit from the coordinate system of the vehicle to a coordinate system of the display unit, and makes an image generation unit generate a display target image using the projection conversion matrices.
1 . An information processing device comprising:
an information acquisition unit configured to acquire a captured image of a surrounding of a moving body;
a display processing unit configured to make a display unit viewable by an occupant of the moving body, display a display target image;
a first conversion information acquisition unit configured to acquire first conversion information enabling conversion of coordinates of the captured image from an image coordinate system into a coordinate system of the moving body;
a reference range calculation unit configured to identify a projection center corresponding to a viewpoint of the occupant of the moving body, and calculate a reference range on a set plane set by the coordinate system of the moving body to be projected in a display range of the display unit, based on the projection center;
a second conversion information acquisition unit configured to calculate second conversion information enabling conversion of coordinates of the reference range from the coordinate system of the moving body into a coordinate system of the display unit; and
an image generation unit configured to calculate each pixel value in a display range of the display unit from each pixel value of the captured image corresponding to the reference range by using the first conversion information and the second conversion information, and generate the display target image by using each pixel value calculated.
2 . The information processing device according to claim 1 , wherein the information acquisition unit acquires user information enabling identification of at least a position of a viewpoint of the occupant, and
the reference range calculation unit identifies the projection center based on the position of the viewpoint identified from the user information.
3 . The information processing device according to claim 1 , wherein when a straight line drawn from the projection center to an upper edge of the display range of the display unit does not intersect the set plane, the reference range calculation unit changes a position of the upper edge of the display range of the display unit to a lowered position to make the straight line intersects the set plane, and calculates a reference range corresponding to the changed display range.
4 . The information processing device according to claim 3 , wherein the set plane is set to a traveling surface present at a position lower than the display range of the display unit.
5 . The information processing device according to claim 1 further comprising a dominant eye setting unit configured to set a dominant eye of the occupant, wherein
the reference range calculation unit sets the projection center at a position reflecting the dominant eye of the occupant.
6 . The information processing device according to claim 1 , wherein the first conversion information and the second conversion information are projection conversion matrices.
7 . A non-transitory computer readable medium storing computer-executable instructions executed by a processor, the computer-executable instructions comprising:
acquiring a captured image of a surrounding of a moving body;
making a display unit viewable by an occupant of the moving body, displaying a display target image;
acquiring first conversion information enabling conversion of coordinates of the captured image from an image coordinate system into a coordinate system of the moving body;
identifying a projection center corresponding to a viewpoint of the occupant of the moving body, and calculating a reference range on a set plane set by the coordinate system of the moving body to be projected in a display range of the display unit, based on the projection center;
calculating second conversion information enabling conversion of coordinates of the reference range from the coordinate system of the moving body into a coordinate system of the display unit; and calculating each pixel value in a display range of the display unit from each pixel value of the captured image corresponding to the reference range by using the first conversion information and the second conversion information, and generating the display target image by using each pixel value calculated.