Image processing apparatus

• US 20040037459A1
• Filed: 10/22/2001
• Published: 02/26/2004
• Est. Priority Date: 10/27/2000
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Dodge, Alexandre Percival
• Granted Patent: US 6,912,490 B2
• Time in Patent Office: Days
• US Class Current: 382/154
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects

Abstract

A method is provided for generating an image of a subject object to show a predetermined part thereof. The subject object is positioned so that a selected part of the subject object is positioned in a predetermined direction relative to the calibration pattern. Images of the subject object and calibration pattern from different relative recording positions and/or orientations are recorded. Data defining the recorded images is processed to calculate the relative positions and orientations at which the images were recorded by comparing the calibration pattern in the images with stored data defining the calibration pattern. Data defining a three-dimensional computer model of the subject object relative to the stored calibration pattern is generated using the calculated positions and orientations. Data defining an image of the three-dimensional computer model showing the selected part of the subject object is generated using a viewing camera defined relative to the stored calibration pattern.

Claims

1. A method of recording images of a subject object, processing the image data to generate data defining a three-dimensional computer model of the subject object, and rendering the three-dimensional computer model to generate an image thereof to show a predetermined part of the subject object, comprising:

positioning the subject object relative to a calibration pattern so that a selected part of the subject object which is to appear in the image of the three-dimensional computer model is positioned in a predetermined direction relative to the calibration pattern;

recording images of the subject object and calibration pattern from different relative recording positions and/or orientations;

processing data defining the recorded images to calculate the relative positions and orientations at which the images were recorded by comparing the calibration pattern in the images with stored data defining the calibration pattern;

generating data defining a three-dimensional computer model of the subject object relative to the stored calibration pattern using the calculated positions and orientations; and

generating data defining an image of the three-dimensional computer model showing the selected part of the subject object using a viewing camera defined relative to the stored calibration pattern.

2. A method using connected computer processing apparatus of processing images of a subject object to generate data defining a three-dimensional computer model of the subject object and processing the three-dimensional computer model to generate an image thereof showing a predetermined part of the subject object, comprising:

sending from a first apparatus to a second apparatus data defining images of a subject object together with a calibration pattern recorded from different relative recording positions and/or orientations, the subject object being positioned relative to the calibration pattern so that a selected part of the subject object which is to appear in the image of the three-dimensional computer model faces in a predetermined direction relative to the calibration pattern;

processing the data defining the images in the second apparatus to calculate the relative positions and orientations at which the images were recorded by comparing the calibration pattern in the images with stored data defining the calibration pattern;

performing processing in the second apparatus to generate data defining a three-dimensional computer model of the subject object relative to the stored calibration pattern using the calculated positions and orientations; and

performing processing in the second apparatus or in a third apparatus to generate data defining an image of the three-dimensional computer model showing the selected part of the subject object using a viewing camera defined relative to the stored calibration pattern.

3. A method according to claim 2, further comprising:

sending from the second apparatus to the first apparatus instructions for enabling the first apparatus to control a printing apparatus to print the calibration pattern, and retaining data in the second apparatus defining the calibration pattern for subsequent use; and

printing the calibration pattern using the instructions from the second apparatus for imaging with the subject object.

4. A method according to claim 3, wherein the instructions sent from the second apparatus to the first apparatus include instructions for enabling the first apparatus to control the printing apparatus to print a front marker as well as the calibration pattern.

5. A method according to claim 4, wherein the front marker comprises, or includes, the word FRONT or an equivalent.

6. A method according to claim 2, further comprising sending from the second apparatus to the first apparatus information defining the predetermined direction.

7. A method of generating data defining a three-dimensional computer model of a subject object and data defining a viewing camera for the three-dimensional computer model to show a predetermined part of the subject object, comprising:

receiving image data defining images of a subject object together with a calibration pattern recorded at different relative recording positions and/or orientations, the subject object being positioned relative to the calibration pattern so that a selected part of the subject object which is to appear in an image of the three-dimensional computer model generated using the viewing camera faces in a predetermined direction relative to the calibration pattern;

processing the image data to calculate the relative positions and orientations at which the images were recorded by comparing the calibration pattern in the images with stored data defining the calibration pattern;

generating data defining a three-dimensional computer model of the subject object relative to the stored calibration pattern using the calculated positions and orientations; and

generating data defining a viewing camera for the three-dimensional computer model for generating image data showing the selected part of the subject object in dependence upon the stored calibration pattern.

8. A method according to claim 7, wherein the viewing axis of the viewing camera is defined in dependence upon the stored calibration pattern.

9. A method according to claim 7, wherein the data defining the viewing camera is generated in dependence upon the stored calibration pattern and at least one of the generated three-dimensional computer model, data defining the height of the subject object and data defining a predetermined value estimating the height of the three-dimensional computer model.

10. A method according to claim 9, wherein the three-dimensional computer model is processed to determine the approximate centre thereof, and wherein the viewing camera is defined in dependence upon the stored calibration pattern and in dependence upon the calculated approximate centre.

11. A method according to claim 10, wherein the approximate centre of the three-dimensional computer model is determined by calculating the centre of a three-dimensional shape bounding the three-dimensional computer model.

12. A method according to claim 9, wherein the viewing camera is defined in dependence upon the stored calibration pattern and in dependence upon data input by a user defining the height of the subject object.

18. A method according to claim 7, further comprising transmitting a signal conveying the data defining the three-dimensional computer model, or a derivative thereof, and the data defining the viewing camera.

13. A method of generating data defining a three-dimensional computer model of a subject object for rendering by a predetermined viewing camera to show a predetermined part of the subject object, comprising:

receiving image data defining images of a subject object together with a calibration pattern recorded at different relative recording positions and/or orientations, the subject object being positioned relative to the calibration pattern so that a selected part of the subject object which is to appear in an image of the three-dimensional computer model generated using the viewing camera faces in a predetermined direction relative to the calibration pattern;

processing the image data to calculate the relative positions and orientations at which the images were recorded by comparing the calibration pattern in the images with stored data defining the calibration pattern relative to the predetermined camera viewing position and direction; and

generating data defining a three-dimensional computer model of the subject object relative to the stored calibration pattern using the calculated positions and orientations.

14. A method according to claim 13, wherein the three-dimensional computer model is generated at a position relative to the stored calibration pattern and in dependence upon at least one of the generated three-dimensional computer model, data defining the height of the subject object and data defining a predetermined value estimating the height of the three-dimensional computer model.

15. A method according to claim 14, wherein, in order to position the three-dimensional computer model, at least one of the stored calibration pattern and the three-dimensional computer model is re-positioned relative to the predetermined viewing camera in dependence upon at least one of the generated three-dimensional computer model, data defining the height of the subject object and data defining a predetermined value estimating the height of the three-dimensional computer model.

16. A method according to claim 14, wherein the three-dimensional computer model is processed to determine the approximate centre thereof, and wherein the three-dimensional computer model is positioned relative to the stored calibration pattern and relative to the calculated approximate centre.

17. A method according to claim 14, wherein the three-dimensional computer model is positioned relative to the stored calibration pattern and relative to a position determined from data input by a user defining the height of the subject object.

19. A method according to claim 13, further comprising transmitting a signal conveying the data defining the three-dimensional computer model or a derivative thereof.

20. A method of recording image data of a subject object, processing the image data to generate data defining a three-dimensional computer model of the subject object, and displaying an image to show a predetermined part of the subject object, comprising:

positioning the subject object relative to a calibration pattern so that a selected part of the subject object which is to appear in the image faces in a predetermined direction relative to the calibration pattern;

recording images of the subject object and calibration pattern from different relative recording positions and/or orientations;

processing data defining the recorded images to calculate the relative positions and orientations at which the images were recorded by comparing the calibration pattern in the images with stored data defining the calibration pattern;

generating data defining a three-dimensional computer model of the subject object relative to the stored calibration pattern using the calculated positions and orientations;

selecting data defining a recorded image in dependence upon the stored calibration pattern; and

displaying an image in dependence upon the selected image data.

21. A method of generating data defining a three-dimensional computer model of a subject object and data defining an image to show a predetermined part of the subject object, comprising:

receiving image data defining images of a subject object together with a calibration pattern recorded at different relative recording positions and/or orientations, the subject object being positioned relative to the calibration pattern so that a selected part of the subject object which is to appear in an image is in a predetermined direction relative to the calibration pattern;

processing the image data to calculate the relative positions and orientations at which the images were recorded by comparing the calibration pattern in the images with stored data defining the calibration pattern;

generating data defining a three-dimensional computer model of the subject object relative to the stored calibration pattern using the calculated positions and orientations; and

generating data defining an image of the selected part of the subject object in dependence upon the stored calibration pattern and the received image data.

23. A method according to claim 21 or claim 22, wherein, to generate data defining an image, an image defined by the received data is selected in dependence upon the calculated recording positions and orientations relative to the stored calibration pattern, and the image data is generated in dependence upon the selected image data.

24. A method according to claim 23, wherein the generated image data comprises the selected image data.

25. A method according to claim 21 or claim 22, further comprising the step of transmitting a signal conveying the generated image data.

22. A method of generating data defining an image of a predetermined part of a subject object, comprising:

receiving image data defining images of the subject object together with a calibration pattern recorded at different relative recording positions and/or orientations, the subject object being positioned relative to the calibration pattern so that a selected part of the subject object which is to appear in an image faces in a predetermined direction relative to the calibration pattern;

processing the image data to calculate the relative positions and orientations at which the images were recorded by comparing the calibration pattern in the images with stored data defining the calibration pattern; and

generating data defining an image of the selected part of the subject object in dependence upon the stored calibration pattern and the received image data.

26. A method of processing data defining a three-dimensional computer model, comprising:

receiving data defining a three-dimensional computer model and data defining at least one of a position and a direction relative to the three-dimensional computer model; and

positioning the three-dimensional computer model relative to a predefined virtual viewing camera in