JP4680033B2 - Monitoring system and monitoring device - Google Patents

Description

  The present invention relates to a monitoring system and a monitoring apparatus that perform mask display on an area that needs privacy protection (hereinafter referred to as a privacy area) included in an output image of a monitoring camera.

The surveillance camera used in the surveillance system has functions such as pan, tilt, and zoom, and can change the photographing direction and the photographing range. When the shooting direction or the like is changed, privacy areas such as other private houses and company buildings are also reflected in the monitoring image, and a monitor or the like may look at the privacy area together with the monitoring target.
As a conventional image monitoring device, in order to hide the privacy area as described above, the privacy area is previously registered in the memory controller as the horizontal direction and the vertical direction of the turntable on which the monitoring camera is mounted. There is one that puts another image in the portion of the privacy area in the monitoring image when it turns and becomes the above direction (see, for example, Patent Document 1).
Also, all the vertex coordinates of the mask formed on the two-dimensional imaging screen are converted into the coordinates of the three-dimensional polar coordinate system, which are stored as mask data, and all the vertex coordinates represented by this mask data are stored. Some images are converted into two-dimensional coordinates and combined with an image signal output from an image sensor, and a mask display is provided in the image (see, for example, Patent Document 2).

Japanese Patent Laid-Open No. 06-181539 (page 3, FIG. 1) JP 2004-15362 A (pages 9 to 11, FIGS. 1 to 12)

Since the conventional image monitoring apparatus is configured as described above, since the privacy area is stored at the horizontal and vertical angles of the monitoring camera, the area shape is limited to a relatively simple shape. Therefore, it was difficult to freely set the mask shape.
In addition, a plurality of complex calculations such as a calculation for converting 2D coordinates when storing mask data into 3D coordinates and a calculation for converting 3D coordinates into 2D coordinates when performing mask display are performed to form a mask. There is a problem that the load of calculation processing becomes high because it must be performed for all or all of the vertices.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to display a display area in a privacy area of a monitoring screen while reducing a processing load even with a mask having a complicated shape.

  The monitoring system according to the present invention includes a photographing means for photographing a subject and outputting an image signal, a mask setting means for outputting a mask setting signal for setting a mask range for an image indicated by the image signal, and an output from the mask setting means. Representative point storage means for storing a representative point in the mask range as a representative point in the three-dimensional coordinates indicated by a three-dimensional coordinate in a predetermined three-dimensional coordinate space based on the mask setting signal, and other points in the mask range Are stored as other point information on the two-dimensional coordinates indicated by the two-dimensional coordinates on the predetermined two-dimensional coordinate plane, and the representative points in the three-dimensional coordinates stored in the representative point storing means are two-dimensionally stored. Based on the converted two-dimensional coordinate representative point indicated by the two-dimensional coordinates on the coordinate plane, and the converted two-dimensional coordinate representative point and the other point information on the two-dimensional coordinate stored in the other point information storage means Image Based on the mask calculation means for calculating the mask signal superimposed on the signal, the mask processing means for superimposing the mask signal calculated by the mask calculation means on the image signal, and the image signal on which the mask signal is superimposed by the mask processing means Image display means for displaying an image is provided.

  According to the monitoring device of the present invention, a mask setting means for outputting a mask setting signal for setting a mask range for an image indicated by an input image signal, and a mask range based on the mask setting signal output from the mask setting means. Representative point storage means for storing a representative point as a representative point in the three-dimensional coordinate indicated by a three-dimensional coordinate in a predetermined three-dimensional coordinate space, and another point in the mask range is stored on the predetermined two-dimensional coordinate plane. Other point information storage means for storing the other point information on the two-dimensional coordinates indicated by the two-dimensional coordinates, and the representative points in the three-dimensional coordinates stored in the representative point storage means are indicated by two-dimensional coordinates on the two-dimensional coordinate plane. A mask signal which is converted into a representative point on the two-dimensional coordinate and is superimposed on the image signal based on the converted representative point on the two-dimensional coordinate and the other point information on the two-dimensional coordinate stored in the other point information storage means To calculate Click calculating means, masking processing means for superimposing a mask signal calculated by the mask calculating means into image signals, those having an image signal output means for outputting an image signal which the mask signal is superimposed in the mask processing unit.

  According to the present invention, a mask setting unit that inputs an image signal from the photographing unit and sets a mask range in the image, and a representative point in the mask range is included in the three-dimensional coordinates based on the mask setting signal output from the mask setting unit. Representative point storage means for storing as representative points, other point information storage means for storing other points in the mask range as other point information on the two-dimensional coordinates, and two representative points in the three-dimensional coordinates stored in the representative point storage means A mask for converting to a representative point on the two-dimensional coordinate and calculating a mask signal to be superimposed on the image signal based on the representative point on the two-dimensional coordinate and the other point information on the two-dimensional coordinate stored in the other point information storage means Since the calculation means, the mask processing means for superimposing the mask signal on the image signal, and the image signal output means for displaying an image based on the image signal on which the mask signal is superimposed are provided. By an effect of being able to view the mask having a complicated shape.

An embodiment of the present invention will be described below.
Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a monitoring system according to Embodiment 1 of the present invention. The illustrated system includes a monitoring device 1 configured as described later, a camera (photographing means) 2 and a monitor (image display means) 10 connected to the monitoring device 1, and a camera controller 11 connected to the camera 2. It is constituted by. The monitoring device 1 is connected to an A / D conversion unit 3 connected to an external camera 2, a mask setting input unit 4 for performing operations such as setting of a mask part, an external camera 2, and a mask setting input unit 4. The mask setting processing unit (mask setting unit) 5, the mask storage unit (representative point storage unit, other point information storage unit) 6 connected to the mask setting processing unit 5, the mask storage unit 6 and the external camera 2. Connected to the mask calculation unit (mask calculation unit) 7 connected, the mask calculation unit 7 and the mask display unit (mask processing unit) 8 connected to the A / D conversion unit 3, the mask display unit 8 and the external monitor 10 The D / A converter 9 is connected.
The camera 2 is a surveillance camera capable of operations such as pan / tilt / zoom, and is configured to perform pan / tilt / zoom operations under the control of a camera controller 11 connected thereto.

Next, the operation will be described.
The operation of the monitoring device 1 has two phases: mask setting and mask display. At the time of mask setting, the mask setting input unit 4, the mask setting processing unit 5, the mask storage unit 6 and the like are operated. In the mask display, the mask calculation unit 7 and the mask display unit 8 are operated.
First, the mask setting operation will be described.
The mask setting input unit 4 displays on the screen of the monitor 10 the size of the image pickup surface of the image pickup element provided in the camera 2, the size of image coordinates representing the size of the image output by the camera 2 as a monitoring image. An input operation such as coordinates on the image of a plurality of vertices forming a mask of the privacy area to be performed is performed. Note that the size of the imaging surface of the image sensor and the size of the image coordinates usually do not change, and therefore may be input to the mask setting processing unit 5 or the like in advance before performing the mask setting. . In addition, the size of the image sensor and the size of the image may be output from the camera 2 as a data signal indicating a shooting state to be described later and input to the mask setting processing unit 5 or the like.

The coordinate input of a plurality of vertices forming the mask is performed by operating each part as follows, for example. The setter operates the camera controller 11 so that the camera 2 has a predetermined orientation and focal length. In this state, the monitoring target image signal captured by the camera 2 is input to the A / D conversion unit 3 of the monitoring device 1. This image signal is converted into image data of a digital signal by the A / D conversion unit 3 and input to the D / A conversion unit 9 via the mask display unit 8. The image signal converted into an analog signal by the D / A conversion unit 9 is input to the monitor 10, and the monitor image captured by the camera 2 in the predetermined state is displayed on the monitor 10. At this time, the setting person views the monitoring image displayed on the monitor 10 and operates the mask setting input unit 4 to input the coordinates of the desired position of the monitoring image, that is, the coordinates of the vertex of the mask in the coordinate system on the image. / Set, and repeatedly input / set the coordinates of the vertices so that the desired mask shape is obtained. The coordinates on the image and the coordinates on the image sensor of the camera 2 described later are two-dimensional coordinates on a two-dimensional coordinate plane.
The above setting contents input from the mask setting input unit 4 in this way are input to the mask setting processing unit 5.

The mask setting processing unit 5 selects one arbitrary vertex as a representative point from among a plurality of vertices forming a mask in accordance with an operation performed on the mask setting input unit 4. The coordinates of the representative point on the image are converted into absolute three-dimensional coordinates that do not change even when the camera 2 performs pan / tilt / zoom operations, and the representative points are expressed as three-dimensional coordinates in the three-dimensional coordinate space. In addition, the coordinate difference between the representative point and the vertex other than the representative point in the coordinates on the two-dimensional image is obtained. As described above, the positions of the vertices other than the representative point are expressed by a coordinate difference from the representative point and used for processing to be described later.
FIG. 2 is an explanatory diagram showing a mask processing operation of the monitoring apparatus according to the first embodiment. For example, when the image is displayed, the monitoring device 1 inputs an image signal that looks like the image 21 in FIG. 2 from the camera 2, and processes the window portion included in the image 21 as the privacy area 22. Here, the vertex shown on the upper left side in the figure is the representative point 23, and the vertices 24-26 are processed as vertices other than the representative points. Note that the origin and coordinate axes of the absolute three-dimensional coordinates may be arbitrarily defined.

  FIG. 3 is an explanatory diagram showing an absolute three-dimensional coordinate system used for the processing operation of the monitoring apparatus according to the first embodiment. This figure exemplifies a case where x, y, and z coordinate axes that are orthogonal to each other are set for the camera 2 that captures the monitoring target. In this example, the center of the rotation axis when changing the orientation of the camera 2 is set as the origin of the coordinate system so that the calculation is easy, and the rotation of the center of the x axis in the figure represents the tilt angle of the camera 2. Similarly, the rotation about the y-axis is set so as to represent the pan angle. The camera 2 does not rotate around the z axis that overlaps or is parallel to the central axis of the imaging lens 2a of the camera 2. In FIG. 3, the rotation angle about the x axis is α, the rotation angle about the y axis is β, and the rotation angle about the z axis is γ.

When mask setting is performed, the mask setting input unit 4 is operated as described above, and the coordinates on the image of each vertex forming the mask are input. When the coordinates on the image of one vertex among the coordinates on the input image are, for example, the coordinates (xis, yis) on the image, the mask setting processing unit 5 sets the coordinates (xis, yis) on the image. Is converted into coordinates (xs, ys) on the image sensor. The horizontal coordinate size of the image input from the mask setting input unit 4 is IMG_WIDTH, the vertical coordinate size of the image is IMG_HEIGHT, the horizontal size of the image sensor is DEV_WIDTH, and the vertical size of the image sensor is When the size is DEV_HEIGHT, the above coordinate conversion can be performed by the following equation (1). Here, the origin of the coordinates on the image is the upper left corner of the image, and the one vertex is the representative point 23 shown in FIG.

In the mask setting, assuming that the tilt angle α = a, the pan angle β = b, the focal length is fs, and the coordinates of the representative point 23 on the image sensor are (xs, ys), the absolute 3 is obtained as in the following equation (2). It can be converted into dimensional coordinates (xo, yo, zo). Here, gz is an arbitrary value. The tilt angle α, pan angle β, and focal length are represented by data signals (hereinafter referred to as shooting state data) indicating the shooting state of the camera 2 output from the camera 2. Therefore, the monitoring device 1 inputs this photographing state data to the mask setting processing unit 5.

（３）式において、Ｓαはｓｉｎα、Ｃαはｃｏｓαを表し、Ｓβ、Ｃβ、Ｓγ、Ｃγも同様な関数を表している。 T (b, a, 0) shown in the equation (2) represents a rotation matrix and is defined as the following equation (3).

In the equation (3), Sα represents sin α, Cα represents cos α, and Sβ, Cβ, Sγ, and Cγ represent similar functions.

  In the camera 2 capable of actual pan / tilt / zoom, the x-axis and y-axis which are the rotation centers and the z-axis which is the optical axis do not intersect at one point as shown in FIG. Many. However, since the distance from the camera 2 to the subject to be photographed corresponding to the privacy area 22 is considered to be sufficiently longer than the deviation, the deviation is ignored in the expression (3).

なお、上記のような座標差を代表点以外の全ての頂点座標について求め、例えば代表点以外の頂点がｎ個存在する場合には座標差（ｘｄ１，ｙｄ１）〜（ｘｄｎ，ｙｄｎ）を求める。なお、これらの頂点座標は当該監視装置１を操作する設定者等によってマスク設定入力部４より入力されている。マスク設定処理部５は、上記のようにして求めたマスク範囲を定める代表点２３の座標や代表点以外の頂点２４〜２６の座標を表す情報等をマスク設定信号として、マスク保存部６へ出力する。 The mask setting processing unit 5 obtains a coordinate difference as described above for the coordinates of the vertices 24 to 26 other than the representative points. For example, as shown in the following equation (4), in the coordinate system on the image, a difference value between the coordinates (xis1, ys1) of the vertex 24 other than the representative point and the coordinates of the representative point is obtained, and this is obtained as a coordinate difference ( xd1, yd1).

The coordinate difference as described above is obtained for all vertex coordinates other than the representative point. For example, when there are n vertices other than the representative point, the coordinate differences (xd1, yd1) to (xdn, ydn) are obtained. Note that these vertex coordinates are input from the mask setting input unit 4 by a setter or the like who operates the monitoring device 1. The mask setting processing unit 5 outputs to the mask storage unit 6 information representing the coordinates of the representative point 23 that determines the mask range obtained as described above, the coordinates of the vertices 24 to 26 other than the representative point, and the like as mask setting signals. To do.

As described above, the mask storage unit 6 uses the absolute three-dimensional coordinates (xo, yo, zo) of the representative points 23 obtained by the mask setting processing unit 5 as representative points in the three-dimensional coordinates, and uses the vertexes other than the representative points. The coordinate differences (xd1, yd1) to (xdn, ydn) are used as other point information on the two-dimensional coordinates, and the focal length fs used when obtaining these, the image pickup surface sizes DEV_WIDTH, DEV_HEIGHT, and the image on the image. Coordinate sizes IMG_WIDTH and IMG_HEIGHT are stored / saved.
The description so far is the mask setting operation.

Next, the mask display operation will be described.
The monitoring apparatus 1 that receives an analog image signal indicating the current monitoring target from the camera 2 inputs the image signal to the A / D converter 3 and converts it into digital signal image data. This image data is input to the mask display unit 8. In addition, the monitoring device 1 inputs current shooting state data from the camera 2. The current shooting state data is composed of the pan angle β, the tilt angle α, the focal length, and the like as described above, and this data is input to the mask calculation unit 7.

（５）式のｘｔ，ｙｔは、次の（６）式の演算によって求められる数値である。

The mask calculation unit 7 inputs the current shooting state data of the camera 2 from the camera 2 shooting the monitoring target as described above, and determines the pan angle β, tilt angle α, and focal length indicated by the data. The coordinates on the image of each vertex forming the mask are obtained.
First, the coordinates (xi0, yi0) on the image of the representative point 23 corresponding to the current monitoring image on which mask display is performed are obtained as follows. When performing mask display, that is, the pan angle β = θ, the tilt angle α = φ, and the focal length of the current camera 2 that is photographing the monitoring target, and the focal length is f0. If the coordinates are (x0, y0), the coordinates (x0, y0) can be obtained from the absolute three-dimensional coordinates (xo, yo, zo) by the following equation (5). Note that gz is an arbitrary numerical value as described above.

Xt and yt in the expression (5) are numerical values obtained by the calculation of the following expression (6).

T ′ (0, −φ, −θ) in the equation (6) represents a rotation matrix and is defined as the following equation (7).

なお、ここで用いているＩＭＧ＿ＷＩＤＴＨ、ＩＭＧ＿ＨＥＩＧＨＴ、ＤＥＶ＿ＷＩＤＴＨ、ＤＥＶ＿ＨＥＩＧＨＴは、先に説明したようにマスク保存部６に記憶／保存されているもので、マスク算出部７はこれらをマスク保存部６から入力して上記の変換処理を行う。このようにしてマスク算出部７は、マスク保存部６に記憶されている３次元座標内代表点を２次元平面上の２次元座標で示した２次元座標上代表点に変換する。 The above-described coordinates (x0, y0) on the image sensor are converted into coordinates (xi0, yi0) on the image by performing arithmetic processing as in the following equation (8).

Note that IMG_WIDTH, IMG_HEIGHT, DEV_WIDTH, and DEV_HEIGHT used here are stored / stored in the mask storage unit 6 as described above, and the mask calculation unit 7 inputs these from the mask storage unit 6. The above conversion process is performed. In this way, the mask calculation unit 7 converts the representative point in the three-dimensional coordinate stored in the mask storage unit 6 into a representative point on the two-dimensional coordinate indicated by the two-dimensional coordinate on the two-dimensional plane.

マスク算出手段７は、このように処理を行ってカメラ２が現在撮影している監視画像に対応させた代表点２３の画像上の座標（ｘｉ０，ｙｉ０）、代表点以外の各頂点の画像上の座標（ｘｉ１，ｙｉ１）〜（ｘｉｎ，ｙｉｎ）を求め、即ちマスク範囲が設定された時点におけるカメラ２の撮影状態に応じて調整した２次元座標上他点情報等を求め、これらをマスク信号として出力する。 The coordinates (xi1, yi1) to (xin, yin) on the image of the vertices other than the representative points are coordinate differences (xd1, yd1) to (xdn, ydn) stored in the mask storage unit 6 and mask setting is performed. For example, the coordinates (xi1, yi1) of vertices other than the representative points are obtained as in the following equation (9).

The mask calculation means 7 performs the processing as described above, the coordinates (xi0, yi0) on the image of the representative point 23 corresponding to the monitoring image currently captured by the camera 2, and the image of each vertex other than the representative point. Coordinates (xi1, yi1) to (xin, yin) are obtained, that is, other point information on the two-dimensional coordinates adjusted according to the photographing state of the camera 2 at the time when the mask range is set, and these are obtained as mask signals. Output as.

The mask display unit 8 displays a mask formed by the coordinates (xi0, yi0) on the image of the representative point 23 and the coordinates (xi1, yi1) to (xin, yin) on the other vertex images on the camera 2. The display image data is generated by superimposing it on the monitoring image output from the A / D converter, that is, by combining it with the image data input from the A / D converter 3.
FIG. 4 is an explanatory diagram showing a display image of the monitoring apparatus according to the first embodiment. This figure shows an image 21a displaying a mask 27 having three vertices other than the representative points in the privacy area 22 shown in the image 21 of FIG. 2, that is, vertices 24-26 other than the representative points. It is. For example, a mosaic process or a process of superimposing another image may be performed on the masked portion.
The display image data generated by the mask display unit 8 is input to the D / A conversion unit 9 and converted from a digital signal to an analog signal, and the monitoring device 1 that has output the image signal outputs the masked monitoring image. It is displayed on the monitor 10.

  As described above, according to the first embodiment, when performing mask setting, the mask setting processing unit 5 determines one representative point from a plurality of vertices of the mask and performs coordinate processing. When a mask difference is obtained from the representative point and processed, and the mask display is performed, the mask calculation unit 7 processes the coordinates of the representative point and the coordinates of the vertices other than the representative point to display the mask on the mask display unit 8. Therefore, it is possible to display a mask having a complicated shape by calculation with a light processing load.

Embodiment 2. FIG.
The monitoring system and the monitoring device according to the second embodiment are configured in the same manner as that described in the first embodiment with reference to FIG. In the following description, the same reference numerals are used for parts that are the same as or correspond to those described in the first embodiment, and redundant descriptions of configurations and reference numerals are omitted.

Next, the operation will be described.
Description of the same operations as those of the monitoring system and the monitoring apparatus according to the first embodiment will be omitted, and operations that characterize the monitoring system and the monitoring apparatus according to the second embodiment will be described. Note that the camera 2, the monitor 10 and the like constituting the monitoring system according to the second embodiment operate in the same manner as those described in the first embodiment, and therefore, the description thereof is omitted here and the operation of the monitoring apparatus 1 is mainly performed. explain.
The monitoring apparatus 1 according to the second embodiment is different from the monitoring apparatus 1 described in the first embodiment in that the mask is displayed in the monitoring image by processing the coordinates of a plurality of vertices that form the mask. And the size of the mask are set to display the mask in the monitoring image.

FIG. 5 is an explanatory diagram showing a mask processing operation of the monitoring apparatus according to the second embodiment. For example, when a circular mask is set in the privacy area 32 included in the illustrated image 31, the representative point 33 is set at a position that is the center of the privacy area 32, and the representative point 33 is set at the center of the circle. By setting the radius 34 as follows, the shape and size of the mask are determined.
It is possible to express a shape such as a triangle or a quadrangle by setting data representing the shape of the mask and the item contents that determine its size, ie, conditions for specifying the shape and size, with reference to the representative point. Is possible. Here, a case where the above-described circular mask display is performed will be described as an example. Note that the operation of the monitoring apparatus 1 according to the second embodiment also has two phases of mask setting and mask display, like the monitoring apparatus 1 according to the first embodiment.

First, the mask setting operation will be described.
In the mask setting input unit 4, the horizontal size DEV_WIDTH and the vertical size DEV_HEIGHT of the imaging surface of the imaging device provided in the camera 2 are input to the mask setting input unit 4 by the mask setter or the like, for example, as described in the first embodiment. , And an input operation of the horizontal size IMG_WIDTH and the vertical size IMG_HEIGHT of the image coordinates. Further, in order to set a circular mask, an operation of inputting the size of the radius 34 of the circle and the coordinates of the representative point 33 on the image is performed. Here, for example, the representative point 33 is set as the center position of the circle as described above.

The setting of the coordinates on the image of the representative point 33 is performed in the same manner as the setting of the coordinates on the image of the vertex of the mask described in the first embodiment, and is performed by operating each unit as follows, for example. The setter operates the camera controller 11 so that the camera 2 has a predetermined orientation and focal length. In this state, the monitoring target image signal captured by the camera 2 is input to the A / D conversion unit 3 of the monitoring device 1. Thereafter, as described in the first embodiment, the A / D conversion unit 3, the mask display unit 8, the D / A conversion unit 9, and the monitor 10 are operated, and the camera 2 captures images in the predetermined shooting state. A monitoring image is displayed on the monitor 10. At this time, the setter looks at the monitoring image displayed on the monitor 10 and operates the mask setting input unit 4 to set the coordinates on the image representing the desired position of the monitoring image as the coordinates of the representative point 33 of the mask. Enter / set. Further, while watching the monitoring image displayed on the monitor 10, the size of the radius 34 of the circle is input / set so that the mask has an appropriate size.
Note that the coordinates on the screen of the representative point 33 are two-dimensional coordinates. In addition, since the size of the imaging surface of the imaging device and the size of the image coordinates do not normally change, they may be input / set in advance before performing the mask setting.

The mask setting processing unit 5 receives the image pickup surface size DEV_WIDTH, DEV_HEIGHT, the image coordinate size IMG_WIDTH, IMG_HEIGHT, the coordinates of the representative point 33 on the image input from the mask setting input unit 4, and the like. When an appropriate mask setting input operation is performed, the pan angle β, the tilt angle α, and the focal length fs represented in the shooting state data of the camera 2 input from the camera 2 are used. The coordinates on the image are converted into the coordinates of the absolute three-dimensional coordinate system. This conversion process is performed in the same manner as described in the first embodiment, and the absolute three-dimensional coordinates (xo, yo, zo) of the representative point 33 are obtained.
The mask storage unit 6 includes the focal length fs when the mask is set, the image sensor size DEV_WIDTH, DEV_HEIGHT, the image coordinate size IMG_WIDTH, IMG_HEIGHT, and the absolute three-dimensional coordinates (xo, yo, zo) is stored / saved in the same manner as described in the first embodiment.
Further, the mask storage unit (mask shape storage means) 6 stores data indicating that the mask shape is circular, and the size rs of the radius 34 of the circle input at the time of mask setting. As described above, the mask storage unit 6 according to the second embodiment stores / stores the mask shape corresponding to the shape bordered by the extension of the mask range, in other words, the shape appearing by bordering the extension of the mask range as the mask shape. .
In this way, the mask setting operation is performed.

このように実施の形態２によるマスク算出部７は、マスク保存部６に記憶されている３次元座標内代表点を変換して２次元平面上の２次元座標で示した２次元座標上代表点を求めると共に、マスク保存部６に記憶されているマスク形状を表す、例えば半径ｒｓ等のデータから画像信号に重畳する半径ｒ等から成るマスク信号を算出する。 Next, the mask display operation will be described.
The operations of the A / D conversion unit 3, the mask calculation unit 7, the mask display unit 8, and the D / A conversion unit 9 are substantially the same as those described in the first embodiment. Specifically, the mask calculation unit 7 according to the second embodiment uses the absolute three-dimensional coordinates (xo, yo, zo) of the representative point 33 stored / stored in the mask storage unit 6 as in the description of the first embodiment. The coordinates (xi0, yi0) on the image of the representative point 33 corresponding to the monitoring image currently photographed by the camera 2 are obtained.
In addition, the mask calculation unit 7 according to the second embodiment performs arithmetic processing such as the following equation (10) instead of the coordinate processing of vertices other than the representative points described in the first embodiment, and performs the above processing. The radius r of the circular mask corresponding to the monitoring image currently captured by the camera 2 is obtained. That is, the mask shape adjusted according to the photographing state of the camera 2 at the time when the mask range is set is obtained. The radius r is included in the current shooting state data of the camera 2 that displays the mask, and the radius rs and the focal length fs of the circle at the time of mask setting stored / stored in the mask storage unit 6 as described above. It can be determined using the focal length f0.

As described above, the mask calculation unit 7 according to the second embodiment converts the representative point in the three-dimensional coordinate stored in the mask storage unit 6 to represent the representative point on the two-dimensional coordinate indicated by the two-dimensional coordinate on the two-dimensional plane. And a mask signal composed of a radius r and the like to be superimposed on the image signal is calculated from data such as a radius rs representing the mask shape stored in the mask storage unit 6.

The mask display unit 8 superimposes the inside of a circle drawn with a radius r from the coordinates (xi0, yi0) on the image of the representative point 33 on the monitoring image of the image signal output from the camera 2. That is, the image data representing the current monitoring image input from the A / D conversion unit 3 is combined with data representing a circular mask having a radius r with the coordinates (xi0, yi0) on the image as the center of the circle, Display image data representing the current monitoring image including the mask is generated.
FIG. 6 is an explanatory diagram showing a display image of the monitoring device according to the second embodiment. This figure shows an image 31a in which the mask calculator 7 calculates the radius r of the circular mask as described above, and the mask 35 having the radius r is displayed on the current monitoring image taken by the camera 2. .
The display image data generated by the mask display unit 8 is input to the D / A conversion unit 9 and converted from a digital signal to an analog signal. The monitoring apparatus 1 that has output this image signal outputs the image 31a shown in FIG. The monitor image subjected to the masking is displayed on the monitor 10.

  As described above, according to the second embodiment, the mask setting processing unit 5 converts coordinates on the image of the representative point of the mask into absolute three-dimensional coordinates, and the absolute three-dimensional coordinates, photographing state data of the camera 2, and the mask. Is stored in the mask storage unit 6, and the mask calculation unit 7 uses each data stored in the mask storage unit 6 and the current shooting state data of the camera 2. The coordinates on the image of the representative point corresponding to the current monitoring image are obtained, the coordinates of the representative point obtained by the mask calculation unit 7 by the mask display unit 8, the shape of the mask stored in the mask storage unit 6, and Since the display image data in which the mask is superimposed on the current monitoring image is generated using the data representing the size, there is an effect that the mask can be displayed by calculation with a light processing load.

It is a block diagram which shows the structure of the monitoring system by Embodiment 1 of this invention. FIG. 6 is an explanatory diagram illustrating a mask processing operation of the monitoring device according to the first embodiment. FIG. 6 is an explanatory diagram showing an absolute three-dimensional coordinate system used for the processing operation of the monitoring device according to the first embodiment. 6 is an explanatory diagram illustrating a display image of the monitoring device according to Embodiment 1. FIG. It is explanatory drawing which shows the mask processing operation | movement of the monitoring apparatus by Embodiment 2. FIG. FIG. 10 is an explanatory diagram showing a display image of a monitoring device according to a second embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Monitoring apparatus, 2 Cameras (imaging means), 2a Imaging lens, 3 A / D conversion part, 4 Mask setting input part, 5 Mask setting process part (mask setting means), 6 Mask preservation | save part (representative point storage means, others) Point information storage means, mask shape storage means), 7 mask calculation section (mask calculation means), 8 mask display section (mask processing means), 9 D / A conversion section, 10 monitor (image display means), 11 camera controller, 21, 21a image, 22 privacy area, 23 representative points, 24-26 vertices, 27 masks, 31, 31a image, 32 privacy area, 33 representative points, 34 radius of circle, 35 masks.

Claims (5)

Photographing means for photographing a subject and outputting an image signal;
A mask setting means for outputting a mask setting signal for setting a mask range for an image indicated by the image signal;
Based on the mask setting signal output from the mask setting means, representative point storage means for storing a representative point in the mask range as a three-dimensional coordinate representative point indicated by a three-dimensional coordinate in a predetermined three-dimensional coordinate space. ,
Other point information storage means for storing other points in the mask range as other point information on the two-dimensional coordinate indicated by two-dimensional coordinates on a predetermined two-dimensional coordinate plane;
The representative point in the three-dimensional coordinate stored in the representative point storage means is converted into a representative point on the two-dimensional coordinate indicated by the two-dimensional coordinate on the two-dimensional coordinate plane, and the converted representative on the two-dimensional coordinate is converted. Mask calculation means for calculating a mask signal to be superimposed on the image signal based on the point and the other point information on the two-dimensional coordinate stored in the other point information storage means;
Mask processing means for superimposing the mask signal calculated by the mask calculation means on the image signal;
A monitoring system comprising image display means for displaying an image based on the image signal on which the mask signal is superimposed by the mask processing means. Photographing means for photographing a subject and outputting an image signal;
A mask setting means for outputting a mask setting signal for setting a mask range for an image indicated by the image signal;
Based on the mask setting signal output from the mask setting means, representative point storage means for storing a representative point in the mask range as a three-dimensional coordinate representative point indicated by a three-dimensional coordinate in a predetermined three-dimensional coordinate space. ,
A mask shape storage means for storing a mask shape corresponding to a shape bordered by the extension of the mask range;
The representative point in the three-dimensional coordinate stored in the representative point storage means is converted into a representative point on the two-dimensional coordinate indicated by the two-dimensional coordinate on the two-dimensional coordinate plane, and the converted representative on the two-dimensional coordinate is converted. Mask calculation means for calculating a mask signal to be superimposed on the image signal based on the points and the mask shape stored in the mask shape storage means;
Mask processing means for superimposing the mask signal calculated by the mask calculation means on the image signal;
A monitoring system comprising image display means for displaying an image based on the image signal on which the mask signal is superimposed by the mask processing means.   3. The monitoring according to claim 1, wherein the mask calculating means adjusts the other point information on the two-dimensional coordinates or the mask shape according to the photographing state of the photographing means at the time when the mask range is set. system. A mask setting means for outputting a mask setting signal for setting a mask range for an image indicated by the input image signal;
Based on the mask setting signal output from the mask setting means, representative point storage means for storing a representative point in the mask range as a three-dimensional coordinate representative point indicated by a three-dimensional coordinate in a predetermined three-dimensional coordinate space. ,
Other point information storage means for storing other points in the mask range as other point information on the two-dimensional coordinate indicated by two-dimensional coordinates on a predetermined two-dimensional coordinate plane;
The representative point in the three-dimensional coordinate stored in the representative point storage means is converted into a representative point on the two-dimensional coordinate indicated by the two-dimensional coordinate on the two-dimensional coordinate plane, and the converted representative on the two-dimensional coordinate is converted. Mask calculation means for calculating a mask signal to be superimposed on the image signal based on the point and the other point information on the two-dimensional coordinate stored in the other point information storage means;
Mask processing means for superimposing the mask signal calculated by the mask calculation means on the image signal;
A monitoring apparatus comprising image signal output means for outputting the image signal on which the mask signal is superimposed by the mask processing means. A mask setting means for outputting a mask setting signal for setting a mask range for an image indicated by the input image signal;
Based on the mask setting signal output from the mask setting means, representative point storage means for storing a representative point in the mask range as a three-dimensional coordinate representative point indicated by a three-dimensional coordinate in a predetermined three-dimensional coordinate space. ,
A mask shape storage means for storing a mask shape corresponding to a shape bordered by the extension of the mask range;
The representative point in the three-dimensional coordinate stored in the representative point storage means is converted into a representative point on the two-dimensional coordinate indicated by the two-dimensional coordinate on the two-dimensional coordinate plane, and the converted representative on the two-dimensional coordinate is converted. Mask calculation means for calculating a mask signal to be superimposed on the image signal based on the points and the mask shape stored in the mask shape storage means;
Mask processing means for superimposing the mask signal calculated by the mask calculation means on the image signal;
A monitoring apparatus comprising image signal output means for outputting the image signal on which the mask signal is superimposed by the mask processing means.

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