Image processing apparatus and method for obtaining position and orientation of imaging apparatus
An image processing apparatus obtains location information of each image feature in a captured image based on image coordinates of the image feature in the captured image. The image processing apparatus selects location information usable to calculate a position and an orientation of the imaging apparatus among the obtained location information. The image processing apparatus obtains the position and the orientation of the imaging apparatus based on the selected location information and an image feature corresponding to the selected location information among the image features included in the captured image.
1. An image processing apparatus comprising:
an acquisition unit configured to acquire an image from an imaging apparatus that captures an image of a physical space;
a detection unit configured to detect at least one image feature from the acquired image;
a generation unit configured to generate a combined image by combining a predetermined object which emphasizes the detected image feature with the captured image;
a display unit configured to display the combined image to a user;
a setting unit configured to set an image feature corresponding to the object operated by the user as a disabled image feature or an enabled image feature;
a holding unit configured to hold information indicating relationship between three-dimensional position of the set image feature and a parameter indicating whether the set image feature is a disabled image feature or an enabled image feature; and
a calculation unit configured to calculate a position and an orientation of the imaging apparatus based on the information.
2. The image processing apparatus according to claim 1 , wherein the image feature includes at least one of a feature detected as a point, a feature detected as a line, and a feature detected as a polygonal shape on the captured image.
3. The image processing apparatus according to claim 1 , wherein the captured image is an image of each frame constituting a moving image of the physical space.
4. A method for processing an image comprising:
acquiring an image from an imaging apparatus that captures an image of a physical space;
detecting at least one image feature from the acquired image;
generating a combined image by combining a predetermined object which emphasizes the detected image feature with the captured image;
displaying the detected combined image to a user;
setting an image feature corresponding to the object operated by the user as a disabled image feature or an enabled image feature on the basis of the user's instruction;
holding information indicating relationship between three-dimensional position of the set image feature and a parameter indicating whether the set image feature is a disabled image feature or an enabled image feature; and
calculating the position and the orientation of the imaging apparatus based on the information.
5. A non-transitory computer readable medium containing computer-executable instructions utilized in an image processing apparatus for processing an image, the medium comprising:
computer-executable instructions for acquiring an image from an imaging apparatus that captures an image of a physical space;
computer-executable instructions for detecting at least one image feature from the acquired image;
computer-executable instructions for generating a combined image by combining a predetermined object which emphasizes the detected image feature with the captured image;
computer-executable instructions for displaying the combined image to a user;
computer-executable instructions for setting an image feature corresponding to the object operated by the user as a disabled image feature or an enabled image feature;
computer-executable instructions for holding information indicating relationship between three-dimensional position of the set image feature and a parameter indicating whether the set image feature is a disabled image feature or an enabled image feature; and
computer-executable instructions for calculating the position and the orientation of the imaging apparatus based on the information.
6. The method for processing an image according to claim 4 , wherein the image feature includes at least one of a feature detected as a point, a feature detected as a line, and a feature detected as a polygonal shape on the captured image.
7. The method for processing an image according to claim 4 , wherein the captured image is an image of each frame constituting a moving image of the physical space.
8. The medium for processing an image according to claim 5 , wherein the image feature includes at least one of a feature detected as a point, a feature detected as a line, and a feature detected as a polygonal shape on the captured image.
9. The medium for processing an image according to claim 5 , wherein the captured image is an image of each frame constituting a moving image of the physical space.
10. The image processing apparatus according to claim 1 , further comprising a derivation unit configured to derive location information of detected image feature based on the image coordinate of the detected image feature,
wherein the calculation unit calculates the position and the orientation of the imaging apparatus based on the location information of the image feature except for the disable image feature.