JP4229692B2 - Imaging apparatus, imaging method, program, and recording medium - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an image pickup apparatus, an image pickup method, a program, and a recording medium that can continuously pick up images a plurality of times.
[0002]
[Prior art]
Conventionally, an imaging device such as a digital camera has been provided with a control circuit that automatically controls the shutter speed of an electronic shutter according to the brightness at the time of shooting (imaging), as in a general camera. A clear image can be recorded regardless of the brightness.
[0003]
[Problems to be solved by the invention]
FIG. 12 is a diagram for explaining image shift in the digital camera.
[0004]
In a digital camera provided with an automatic shutter speed control circuit as in the conventional digital camera, the shutter speed decreases as the imaging environment becomes darker. In this case, the subtle movement of the subject may imitate a blurred image only in the subject, or if the camera is not fixed to a tripod or the like, the captured image may be blurred due to camera shake.
[0005]
Conversely, if the shutter speed is increased, the degree of blurring is reduced, but the amount of light is insufficient, resulting in an under image (dark image).
[0006]
For example, as shown by 201 in FIG. 12, it is assumed that the left and right people (subjects) raise their hands at the moment the photographer presses the shutter. Then, when the shutter speed is slow, the subject is photographed until the subject moves, resulting in a blurred image (shifted image).
[0007]
Note that an image indicated by 202 in FIG. 12 is an image that the photographer originally wants to shoot (an image that the photographer wants to capture), has no image blur due to movement of the subject or camera shake of the photographer, and has sufficient brightness. I want this to appear like this, regardless of the shutter speed.
[0008]
As described above, when imaging is performed under a dark imaging environment, a camera shake of the photographer and an image shift due to the movement of the subject are likely to occur, and a clear image cannot be recorded.
[0009]
As a method for solving the problem of correcting the image shift caused by the camera shake, Japanese Patent Application Laid-Open No. 2001-145014 proposes a method of driving the lens according to the amount of camera shake to prevent the camera shake.
[0010]
Japanese Laid-Open Patent Publication No. 2001-177760 discloses a method of performing image capturing at an appropriate shutter speed automatically controlled according to a shooting environment and a predetermined reference shutter speed, combining the captured images, and correcting camera shake. Proposed.
[0011]
However, none of the above methods can prevent the image shift caused by the movement of the subject even though the image shift caused by the camera shake can be prevented.
[0012]
Further, in the method described in Japanese Patent Laid-Open No. 2001-145014, since the lens is driven, the mechanical operation is large and the power consumption is greatly increased, so that the photographing time of the digital camera is reduced. There was a problem.
[0013]
The present invention has been made to solve the above-described problems, and an object of the present invention is to continuously capture images to generate a plurality of captured image data, and subject images that vary between the captured image data. Are separated from the plurality of captured image data for each subject image to generate a plurality of subject image data and a plurality of background image data for each subject image, and a plurality of subject images for each subject image From the data, only a plurality of image data with little change is selected and combined to generate selected combined image data for each subject image, and the selected combined image data for each subject image is combined with the combined image of the plurality of background image data. By combining, even under shooting conditions where there is not enough light, such as indoors or at night, it is possible to minimize blurring while ensuring a certain level of exposure. To provide a low production cost of the imaging apparatus and an imaging method and a program and recording medium in the power saving that can positively be.
[0014]
[Means for solving problems]
The present invention provides an imaging device that obtains captured image data at a determined shutter speed and an appropriate shutter speed based on brightness and focal length in a shooting situation in an imaging device that continuously captures a plurality of times to generate a plurality of captured image data. When the first shutter speed determining means for determining the first shutter speed and the first shutter speed determined by the first shutter speed determining means are slower than a predetermined reference shutter speed, First shutter speed changing means for setting the reference shutter speed higher than the first shutter speed as the second shutter speed to the determined shutter speed, and the shutter changed by the first shutter speed changing means Contour extraction determination means for determining whether a contour of captured image data captured by the imaging means at a speed can be extracted; and the contour extraction determination If it is determined by the stage that the contour of the captured image data captured by the imaging unit cannot be extracted, the second shutter speed is changed to a higher shutter speed until the contour of the captured image data can be extracted. When it is determined by the shutter speed changing unit and the contour extraction determining unit that the contour of the captured image data captured by the imaging unit can be extracted, the shutter speed at which the contour of the captured image data can be extracted is continuously displayed a plurality of times. A second shutter speed determination unit that determines a shutter speed to be imaged, and a subject image that changes between the plurality of captured image data generated by the imaging unit, from the plurality of captured image data for each subject image; a plurality of object image data for each of the object image separated respectively, and separating means for generating a composite image of the plurality of background image data, Serial plurality of object image data for each object image, a selection combining means for generating a selected composite image data for each object image by selecting and combining only the image data with little variation, the selective combining image data for each of the object image and having a combining means synthesis to the plurality of composite images of the background image data.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an image stabilization system (Active Image Stabilizer System) by correcting a time axis of a digital camera to which an imaging apparatus according to an embodiment of the present invention can be applied will be described with reference to the drawings.
[0021]
FIG. 1 is a schematic view of a digital camera to which an imaging apparatus according to an embodiment of the present invention can be applied.
[0022]
In the figure, reference numeral 101 denotes a main body of the digital camera. Reference numeral 1 denotes a lens, which is provided on the front surface of the main body 101, and an image photographed through the lens 1 is displayed on a display screen 102 provided on the back surface of the main body 101. Reference numeral 104 denotes a shutter key, which is provided on the upper surface of the main body 1 and can be photographed by pressing the shutter key 104. A camera shake shooting mode key 105 is provided on the upper surface of the main body 101. By pressing the camera shake shooting mode key 105, the camera shake shooting mode can be set or canceled.
[0023]
FIG. 2 is a block diagram showing a configuration of the digital camera shown in FIG.
[0024]
In the figure, behind the lens 1, an aperture device 2 that adjusts the amount of light of an incident subject image and an image sensor 3 made of a CCD are sequentially arranged. The aperture device 2 can variably set the exposure to F2 to F16, is connected to the aperture control circuit 7, and the image sensor 3 is connected to the signal processing circuit 4.
[0025]
A CPU 8 operates on the basis of a program stored in the ROM 13 or other recording medium (not shown) to control each part of the digital camera and calculate a corrected exposure and an appropriate shutter speed. . The CPU 8 is connected to an aperture control circuit 7, an image sensor 3, and a signal processing circuit 4, and includes a display circuit 6, a display RAM 9, a key input unit 10, an external I / F control unit 11, and a work RAM 12. ROM 13 and storage memory 14 are connected.
[0026]
The aperture control circuit 7 operates based on the appropriate exposure calculated by the CPU 8 and drives the aperture device 2 to the appropriate exposure. The signal processing circuit 4 processes an output signal from the image pickup device 3 and incorporates an electronic shutter. The shutter speed is controlled to a speed according to an instruction from the CPU 8 within a range of 1 to 1/1000 second. The Note that the CPU 8 can automatically control the shutter speed of the electronic shutter to an appropriate shutter according to the brightness at the time of imaging (imaging environment), which makes it clear without being influenced by the brightness at the time of imaging. Images can be recorded.
[0027]
The key input unit 10 is provided with various keys such as the shutter key 4 and the camera shake shooting mode key 5 shown in FIG. The external I / F control unit 11 controls data input / output with an external device such as a personal computer connected to the digital camera. The work RAM 12 is used not only as a work area for the CPU 8, but also for a plurality of image data to be described later. Further, the work RAM 12 stores the presence / absence of setting of the camera shake shooting mode instructed by the camera shake shooting mode key 5.
[0028]
The ROM 13 stores an operation program of the CPU 8 and the like, and the CPU 8 operates based on the operation program and controls each unit.
[0029]
Hereinafter, with reference to FIGS. 3 to 10, a description will be given of a shake-preventing photographing method by time axis correction in the imaging apparatus of the present invention.
[0030]
3 and 4 are flowcharts showing an example of a first control processing procedure in the imaging apparatus of the present invention, and a shake-preventing imaging method (imaging method and image data synthesis method) by time axis correction in the imaging apparatus of the present invention. ). Note that the processing of this flowchart is executed by the CPU 8 shown in FIG. 2 based on a program stored in the ROM 13 or other recording medium. S101 to S127 indicate each step.
[0031]
First, when the shutter key 4 is pressed, it is determined whether or not the shake prevention mode is set (S101). If it is determined that the shake prevention mode is not set, shooting is performed in the normal shooting mode. (S127), the process ends.
[0032]
On the other hand, if it is determined in step S101 that the shake prevention mode is set, an appropriate shutter speed (shutter speed determined so that the photographed image has optimum brightness according to the brightness at the time of photographing). Is determined to be slower than a reference shutter speed (a predetermined shutter speed set in advance, for example, “1/60 seconds”) (S102), and it is determined that the appropriate shutter speed is not slower than the reference shutter speed. In this case, shooting is performed in the normal shooting mode (S127), and the process ends.
[0033]
On the other hand, if it is determined in step S102 that the appropriate shutter speed is slower than the reference shutter speed, shooting is performed at the reference shutter speed (S103), and it is determined whether the contour of the shot subject can be extracted (S103). S104).
[0034]
If it is determined in step S104 that the contour of the photographed subject cannot be extracted, photographing is performed at a faster shutter speed (S105), and steps S104 and S105 are repeated until the contour can be extracted.
[0035]
If it is determined in step S104 that the contour of the photographed subject can be extracted, the number of shots is determined based on the shooting conditions (S106). The number of shots is determined based on the shutter speed at which the contour can be extracted (shutter speed at which the contour can be extracted) and the appropriate shutter speed.
[0036]
Next, at the shutter speed determined to be able to extract the contour of the subject at step S104 (shutter speed at which the contour can be extracted), the number of images (plurality) determined at step S106 is taken and one sheet is taken. The photographed image data M01 for the first to fifth sheets is stored in the work RAM 12 as M01 as shown in FIG. 5 (S107 to S109).
[0037]
Next, “shifted part (moving part)” and “fixed part (stationary part)” in the photographing range are determined from the plurality of photographed image data M01 photographed in step S107 ( S110). For example, a portion shifted in the first to fifth shooting data shown in FIG. 5 (the left person 501 is shifted between the first to third and fourth and fifth sheets, and the right person 502 is shifted between the 1st, 4th, 5th and 2nd and 3rd images), and the portions that are all fixed in the shooting data 501 to 505 (the portions other than the left person 501 and the right person 502 ( Hereinafter, it is determined that the background is not shifted (fixed) at all.
[0038]
Then, the “deviation portion” is separated from the “fixed portion (background etc.)” (S111), and the separated “deviation portion” is set as M02 in the working RAM 12 as shown in FIG. (S112). The processes in steps S110 to S112 are repeated independently for each shifted portion until there is no shifted portion (S113). That is, the five pieces of image data (601 to 605 shown in FIG. 6) of the left person 501 and the five pieces of image data (611 to 615 shown in FIG. 6) of the right person 502 are respectively shifted. Each subject image data) M02 is stored independently.
[0039]
Next, all of the plurality of captured image data M01 (ie, “fixed part (background etc.)”) excluding the “deviation part” are synthesized (S114), and the synthesized image is as shown in FIG. The background portion (background composite image data) M03 is stored in the work RAM 12 (S115).
[0040]
Next, an average position of each shift portion M02 is obtained, and for each shift portion M02, a “shift vector” indicating a shift from the average position is calculated (S116), and obtained in step S116. The average position is determined as the correction position M04 and stored in the work RAM 12 (S117).
[0041]
Next, a plurality of shift portions M02 whose shift vectors from the correction position M04 are close to “0” are extracted. That is, a plurality of M02s are extracted by excluding misaligned portions with clearly different shapes and positions (S118).
[0042]
For example, in FIG. 8, the left people 601, 602, and 603 are images with a large overlapping area, and the right people 611, 614, and 615 are images with a large overlapping area.
[0043]
As in this example, even when the left person and the right person are waving their hands in different directions, the images that are not the most shifted (the left person 601, 602, 603 and the right person 611, 614 ( (Some deviations can be covered), 615) is selected (extracted), and the left person 604, 605 and the right person 612, 613 are excluded, and adjustment is performed in units of the displaced parts (left person) , Make adjustments with the right person). The presence / absence of image extraction (selection) is determined based on the ratio of the area of the overlapping portion, but this ratio may be configured to be specified by the user from the key input unit 10 (FIG. 2) or the like. .
[0044]
Next, the extracted shift portion M02 is combined into one image (S119), and the combined image as shown in FIG. 9 is stored in the working RAM 12 as a corrected portion (selected combined image data for each subject) M05. (S120). Steps S116 to S120 are repeated until the processes in steps S116 to S120 are completed for all the shifted portions.
[0045]
When the processes in steps S116 to S120 are completed for all the shifted portions (S121), an image obtained by combining (accumulating) all the shooting data M01 for the first to fifth images shown in FIG. Based on the relative relationship with the background composite image data M03 obtained by combining (accumulating) the background image from which the shift portion M02 is extracted, the image such that the brightness, contrast, color, and the like of the correction portion M05 are at an appropriate level after synthesis. Process (S122).
[0046]
Note that the relative relationship here is, for example, “n” of the imaging data M01, and “n” when combining the misaligned portions using “k (2 ≦ k ≦ n)” M02 images. It corresponds to “sheets” and “k sheets”. Further, the image processing based on this relative relationship corresponds to multiplying the contrast, color, and brightness of the correction portion M05 by “n / k” times that of “k” composite images.
[0047]
Next, a correction portion M05 (selected composite image data for each subject) is arranged (synthesized) at a correction position M04 (not shown) of the background image (background composite image data) M03 (S123). The processes in steps S122 to S123 are repeated for all the correction portions M05, and when all the correction portions M05 are completed, the composite image is stored in the storage memory 14 as composite image data M06 as shown in FIG. (S125).
[0048]
Finally, the data from M01 to M05 is erased (S126), and the process ends.
[0049]
As described above, the appropriate shutter speed (the shutter speed determined so that the captured image has the optimum brightness according to the brightness at the time of shooting) is the reference shutter speed (the predetermined shutter speed that is set in advance). If it is slower than the (speed), take a picture at a fast shutter speed, determine whether the contour of the next photographed subject can be extracted, and if not, increase the shutter speed until the contour can be extracted from the subject. , Shoot multiple images at the subject extractable shutter speed, determine “shifted part” and “fixed part” in the shooting range, and pay attention to the part that caused the shift The image is selected from the images in such a way that the degree of deviation is minimized, the part where the deviation occurs is cut out, and a composite image of the plurality of cut out images and the background The image is superimposed on the composite image and subjected to appropriate image processing such as normalization processing to adjust the image quality (that is, for each subject from a plurality of images taken in a short time (shutter speed faster than the appropriate shutter speed). In addition, by extracting an image with little deviation and combining it with the background to create an image), it is possible to minimize blurring while ensuring a certain degree of exposure even under a low shutter speed condition.
[0050]
Therefore, when the surroundings are dark, such as indoors or at night, the shutter speed will be slow, and there will be a greater impact on the captured image, but if the shutter speed is increased to reduce the effect of motion blur, an underimage will appear. It is possible to avoid the conflicting problem of becoming.
[0051]
In addition, the conventional new active image area method and shift method can correct the camera shake, but cannot correct the shake for each subject. Even if they are different, correction can be performed for each.
[0052]
Furthermore, since mechanical and optical correction is not performed as compared with the camera shake correction using the conventional camera shake sensor, it is possible to perform correction with power saving and to produce an excellent effect that the production cost is reduced.
[0053]
Note that the imaging apparatus of the present invention can be applied to either a digital still camera or a digital video camera.
[0054]
When the image pickup apparatus of the present invention is applied to a digital video camera, a plurality of still picked-up image data is generated from one image pickup (moving image). In other words, a plurality of still image data (a plurality of captured image data) is generated by dividing the data as a moving image and dividing the data by a time in a range in which the outline is not blurred (in short, the same theory as the shutter speed). A subject image that varies between data is separated from the plurality of captured image data for each subject image, and a plurality of subject image data for each subject image and a composite image of a plurality of background image data are obtained. Generating a plurality of subject image data for each subject image, and selecting and synthesizing only a plurality of image data with little change to generate selected composite image data for each subject image. It is configured to synthesize the synthesized image of the plurality of background image data.
[0055]
The configuration of a data processing program that can be read out by the imaging apparatus according to the present invention will be described below with reference to the memory map shown in FIG.
[0056]
FIG. 11 is a diagram illustrating a memory map of a recording medium that stores various data processing programs that can be read out by the imaging apparatus according to the present invention.
[0057]
Although not specifically shown, information for managing a program group stored in the recording medium, for example, version information, creator, etc. is also stored, and information depending on the OS on the program reading side, for example, a program is identified and displayed. Icons may also be recorded.
[0058]
Further, data depending on various programs is also managed in the directory. In addition, when the program or data to be installed is compressed, a program to be decompressed may be recorded.
[0059]
The functions shown in FIGS. 3 and 4 in this embodiment may be performed by the host computer by a program installed from the outside. In this case, the present invention is applied even when an information group including a program is supplied to the output device from a recording medium such as a CD-ROM, a flash memory, or an FD, or from an external storage medium via a network. Is.
[0060]
As described above, a recording medium recording software program codes for realizing the functions of the above-described embodiments is supplied to a system or apparatus, and a computer (or CPU or MPU) of the system or apparatus stores the recording medium in the recording medium. It goes without saying that the object of the present invention can also be achieved by reading and executing the programmed program code.
[0061]
In this case, the program code itself read from the recording medium realizes the novel function of the present invention, and the recording medium storing the program code constitutes the present invention.
[0062]
As a recording medium for supplying the program code, for example, a flexible disk, hard disk, optical disk, magneto-optical disk, CD-ROM, CD-R, DVD-ROM, magnetic tape, nonvolatile memory card, ROM, EEPROM, A silicon disk or the like can be used.
[0063]
Further, by executing the program code read by the computer, not only the functions of the above-described embodiments are realized, but also an OS (operating system) or the like running on the computer based on the instruction of the program code. It goes without saying that a case where the function of the above-described embodiment is realized by performing part or all of the actual processing and the processing is included.
[0064]
Furthermore, after the program code read from the recording medium is written in a memory provided in a function expansion board inserted in the computer or a function expansion unit connected to the computer, the function expansion is performed based on the instruction of the program code. It goes without saying that the case where the CPU or the like provided in the board or the function expansion unit performs part or all of the actual processing and the functions of the above-described embodiments are realized by the processing.
[0065]
Further, the present invention may be applied to a system composed of a plurality of devices or an apparatus composed of a single device. Needless to say, the present invention can be applied to a case where the present invention is achieved by supplying a program to a system or apparatus. In this case, by reading the storage medium storing the program represented by the software for achieving the present invention into the system or apparatus, the system or apparatus can enjoy the effects of the present invention. .
[0066]
Furthermore, by downloading and reading a program represented by software for achieving the present invention from a database on a network by a communication program, the system or apparatus can enjoy the effects of the present invention. .
[0067]
【The invention's effect】
As described above, according to the present invention, a plurality of captured image data is generated by continuous shooting, and subject images that change between the plurality of captured image data are captured for each of the subject images. A plurality of subject image data for each subject image and a plurality of background image data are generated separately from the image data, and only a plurality of image data with little change is selected from the plurality of subject image data for each subject image. Since the combined composite image data is generated for each subject image and the selected composite image data for each subject image is combined with the composite image of the plurality of background image data, a sufficient amount of light such as indoors or at night is sufficient. Even if there are no shooting conditions, it is possible to minimize blurring while ensuring a certain level of exposure, and to correct blurring for each subject, saving power and reducing production costs The effects of the like can be realized.
[Brief description of the drawings]
FIG. 1 is a schematic view of a digital camera to which an imaging apparatus according to an embodiment of the present invention can be applied.
2 is a block diagram showing a configuration of the digital camera shown in FIG. 1. FIG.
FIG. 3 is a flowchart showing an example of a first control processing procedure in the imaging apparatus of the present invention.
FIG. 4 is a flowchart illustrating an example of a first control processing procedure in the imaging apparatus of the present invention.
FIG. 5 is a diagram showing captured image data in the imaging apparatus of the present invention.
FIG. 6 is a diagram showing subject image data for each subject in the imaging apparatus of the present invention.
FIG. 7 is a diagram showing background composite image data in the imaging apparatus of the present invention.
FIG. 8 is a diagram showing a selected image in subject image data for each subject in the imaging apparatus of the present invention.
FIG. 9 is a diagram showing selected composite image data for each subject in the imaging apparatus of the present invention.
FIG. 10 is a diagram illustrating composite image data in the imaging apparatus of the present invention.
FIG. 11 is a diagram illustrating a memory map of a recording medium that stores various data processing programs that can be read by the imaging apparatus according to the present invention.
FIG. 12 is a diagram illustrating image shift in a digital camera.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Lens 2 Aperture apparatus 3 CCD image pick-up element 4 Signal processing circuit 5 Display element 6 Display circuit 7 Aperture control circuit 8 CPU
9 Display RAM
10 Key input unit 11 External I / F control 12 ROM
13 Work RAM
14 Memory for storage

Claims (6)

In an imaging device that continuously captures a plurality of times and generates a plurality of captured image data ,
Imaging means for obtaining captured image data at the determined shutter speed ;
First shutter speed determination means for determining a first shutter speed that is an appropriate shutter speed based on brightness and focal length in a shooting situation;
When the first shutter speed determined by the first shutter speed determination means is slower than a predetermined reference shutter speed, the reference shutter speed higher than the first shutter speed is set to the second shutter speed. First shutter speed changing means for setting the determined shutter speed as:
Contour extraction determining means for determining whether the contour of the captured image data captured by the imaging means can be extracted at the shutter speed changed by the first shutter speed changing means;
If it is determined by the contour extraction determining unit that the contour of the captured image data captured by the imaging unit cannot be extracted, the second shutter speed is changed to a higher shutter speed until the contour of the captured image data can be extracted. Second shutter speed changing means for
When the contour extraction determination unit determines that the contour of the captured image data captured by the imaging unit can be extracted, the shutter speed at which the contour of the captured image data can be extracted is determined as the shutter speed for continuous imaging multiple times. Second shutter speed determining means for
A plurality of subject image data for each subject image separated from the plurality of captured image data for each subject image, and subject images having a change between the plurality of captured image data generated by the imaging means ; Separating means for generating a composite image of a plurality of background image data;
A selection / combination means for selectively combining image data with little change from a plurality of subject image data for each subject image to generate selection composite image data for each subject image;
An image pickup apparatus comprising: a combining unit configured to combine the selected combined image data for each subject image with a combined image of the plurality of background image data. The number of continuous shootings performed by the imaging unit that performs imaging at the shutter speed determined by the second shutter speed determination unit is set to the shutter speed determined by the second shutter speed determination unit and the first shutter speed. The imaging apparatus according to claim 1, further comprising: a continuous imaging number determination unit that determines based on In an imaging method of an imaging device that continuously captures a plurality of times and generates a plurality of captured image data ,
An imaging step of obtaining captured image data by the imaging means at the determined shutter speed ;
A first shutter speed determination step for determining a first shutter speed, which is an appropriate shutter speed, based on the brightness and focal length in a shooting situation;
When the first shutter speed determined in the first shutter speed determination step is slower than a predetermined reference shutter speed, the reference shutter speed higher than the first shutter speed is set to the second shutter speed. A first shutter speed changing step to set the determined shutter speed as:
A contour extraction determination step of determining whether a contour of the captured image data captured by the imaging means in the imaging step can be extracted at the shutter speed changed in the first shutter speed change step;
If it is determined by the contour extraction determination step that the contour of the captured image data captured by the imaging means in the imaging step cannot be extracted, the second shutter speed is increased until the contour of the captured image data can be extracted. A second shutter speed changing step for changing to the shutter speed;
When it is determined by the contour extraction determination step that the contour of the captured image data captured by the imaging means in the imaging step can be extracted, the shutter speed at which the contour of the captured image data can be extracted is continuously captured a plurality of times. A second shutter speed determining step for determining the shutter speed;
A plurality of subject image data for each subject image separated from the plurality of captured image data for each subject image, and subject images having a change between the plurality of captured image data generated in the imaging step ; A separation step of generating a composite image of a plurality of background image data;
A selection and synthesis step of selecting and synthesizing only image data with little change from a plurality of subject image data for each subject image, and generating selection synthesized image data for each subject image;
A combination step of combining the selected combined image data for each of the subject images with a combined image of the plurality of background image data. The number of continuous imaging performed by the imaging unit that performs imaging at the shutter speed determined in the second shutter speed determination step is set to the shutter speed determined in the second shutter speed determination step and the first shutter speed. 4. An imaging method according to claim 3, further comprising a step of determining the number of continuous imaging times determined based on   The program for making a computer perform the imaging method described in Claim 3 or 4.   A computer-readable storage medium storing a program for causing a computer to execute the imaging method according to claim 3.

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