Imaging apparatus, imaging system, method, and program

Abstract

To provide an imaging apparatus that can be controlled in an imaging direction intended by a user even if auto-flip of a video image occurs when the imaging direction of the imaging apparatus is being changed on the basis of user operation.SOLUTION: The imaging apparatus is for imaging a subject. The imaging apparatus outputs a first output image and a second output image on the basis of a result of imaging of the subject. The imaging apparatus outputs the first output image and the second output image on the basis of the result of imaging of the subject by imaging means. The imaging apparatus outputs the first image of the subject captured by the imaging means as the first output image and the second image of the subject rotated from the first image as the second output image when the imaging direction satisfies a predetermined condition including being within a predetermined range.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an imaging device, an imaging system, a method, and a program. [Background technology]

[0002] PTZ cameras (hereafter referred to as imaging devices) with adjustable pan, tilt, and zoom are used in video production. An external control device (hereafter referred to as a controller) is connected to the imaging device via a cable. The user can remotely control the PTZ of the imaging device by operating the stick on the controller. This allows the user to capture a subject while changing the imaging device's imaging direction. For example, imaging devices are sometimes installed on the ceiling. In this case, if the imaging device captures a subject at a specific tilt direction away from the vertical, the subject in the captured image will appear rotated 180 degrees (upside down, upside down, left and right). Therefore, the imaging device rotates the captured image 180 degrees before outputting it. The above output process performed by the imaging device is called the "auto-flip function."

[0003] For example, when a user operates the stick of the controller downward, the imaging device tilts downward. Next, when the imaging device captures an image from a predetermined tilt direction away from the vertical, it rotates the captured image by 180° without changing the PT coordinate system. Then, the user perceives that the imaging range in the image moves upward even though the stick is being operated downward. In other words, the direction in which the user operates the stick (downward) and the direction in which the imaging range in the image moves (upward) are opposite. As a result, the user finds it difficult to control the imaging device to capture the image in the direction they intend.

[0004] In consideration of the above problems, Patent Document 1 prevents the imaging device from facing in an imaging direction unintended by the user by rotating the image by 180 degrees and inverting the PT coordinate system. Patent Document 2 notifies the user that the image has been rotated by using an intermediate image in which the image rotation angle is greater than or equal to 0 degrees and less than 180 degrees when rotating the image by 180 degrees. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6165376 [Patent Document 2] Patent No. 5235910 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in Patent Document 1, the captured image is automatically flipped when the imaging device stops changing the imaging direction, and PT control of the imaging device is performed so that the image is in the same direction as the user's stick operation. In Patent Document 1, if the PT coordinate system is inverted while PT control of the imaging device is being performed based on the user's stick operation, the imaging device PTs in the direction opposite to the stick operation direction, so the user cannot control the imaging device in the intended imaging direction. In Patent Document 2, the user can recognize the image flip, but the stick operation direction and the direction in which the imaging range moves are opposite, making it difficult to operate the stick.

[0007] Therefore, an object of the present invention is to provide an imaging device that can be controlled to the imaging direction intended by the user even if an auto-flip of the image occurs when the imaging direction of the imaging device is changed based on user operation. [Means for solving the problem]

[0008] In order to achieve the object of the present invention, an imaging device according to one embodiment of the present invention has the following configuration: an imaging means for imaging a subject, and an output means for outputting a first output image and a second output image based on the imaging result of the subject by the imaging means, wherein when predetermined conditions including the imaging direction of the imaging means being within a predetermined range are satisfied, the output means outputs the first image of the subject captured by the imaging means as the first output image and a second image obtained by rotating the first image as the second output image. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide an imaging device that can be controlled to the imaging direction intended by the user even if an auto-flip of the image occurs while changing the imaging direction of the imaging device based on user operation. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram of an imaging system according to a first embodiment. [Figure 2] FIG. 2 is a diagram illustrating the imaging direction of the imaging device according to the first embodiment. [Figure 3] FIG. 2 is a block diagram illustrating the functions of the imaging device according to the first embodiment. [Figure 4] 10A and 10B are diagrams illustrating an auto-flip performed by the imaging apparatus. [Figure 5] 10 is a flowchart illustrating an auto-flip executed by the imaging apparatus. [Figure 6] FIG. 4 is a diagram showing auto-flip settings for video for distribution according to the first embodiment. [Figure 7] 6 is a flowchart illustrating an OSD display process according to the first embodiment. [Figure 8] 4 is a flowchart illustrating auto-flip according to the first embodiment. [Figure 9] FIG. 3 is a diagram showing a control communication sequence according to the first embodiment. [Figure 10] FIG. 2 is a diagram showing a packet structure used for control communication according to the first embodiment. [Figure 11] FIG. 3 is a diagram showing a command list used for control communication according to the first embodiment. [Figure 12] FIG. 1 is a diagram illustrating the hardware configuration of an imaging apparatus according to a first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the claimed invention. Although multiple features are described in the embodiments, not all of these multiple features are necessarily essential to the invention, and multiple features may be combined arbitrarily. Furthermore, in the accompanying drawings, the same reference numerals are used to designate the same or similar components, and redundant explanations will be omitted.

[0012] (First embodiment) The imaging device captures an image of a subject and outputs a first output image and a second output image based on the image of the subject captured by the imaging means. When predetermined conditions are satisfied, including the imaging direction of the imaging means being within a predetermined range, the imaging device outputs the first image of the subject captured by the imaging means as the first output image and the second image obtained by rotating the first image as the second output image.

[0013] FIG. 1 is a schematic diagram of an imaging system according to the first embodiment.

[0014] The imaging system 10 is a system for capturing an image of a subject, and includes an imaging device 100, a display device 200, a controller 300, a network 400, and an information processing device 500.

[0015] The imaging device 100 is a device for capturing an image of a subject, such as a PTZ camera, and includes a first output terminal 101, a second output terminal 102, a control communication terminal 103, and an I / F 104.

[0016] The first output terminal 101 and the second output terminal 102 are terminals that output video captured by the imaging device 100. The first output terminal 101 and the second output terminal 102 are terminals that comply with, for example, the SDI (Serial Digital Interface) or HDMI (registered trademark) standards. The first output terminal 101 and the second output terminal 102 may also be Ethernet (registered trademark) terminals that output video by packetizing the video using IP (Internet Protocol).

[0017] The control communication terminal 103 is a communication terminal that receives control signals and control commands from the controller 300 and transmits response signals to the controller 300. The control communication terminal 103 is, for example, a contact terminal that transmits High / Low signals. The control communication terminal 103 is a terminal that conforms to a serial communication standard such as RS-232C or a communication standard such as Ethernet (registered trademark).

[0018] The I / F 104 is a terminal for communicating with the information processing device 500 via the network 400. The I / F 104 is, for example, an Ethernet (registered trademark) terminal and a Wi-Fi (registered trademark) transmission / reception module.

[0019] The display device 200 is a device for displaying images, and is, for example, a liquid crystal display or an organic EL display. The display device 200 displays the images from the imaging device 100 on a screen.

[0020] The controller 300 (corresponding to a receiving unit) is a device that controls the pan-tilt-zoom (PTZ) of the imaging device 100 based on an operation input by a user. The controller 300 includes a stick 301 and a control button 302.

[0021] The stick 301 is a device that controls the PTZ of the imaging device 100. When the stick 301 is tilted to the left, the controller 300 transmits an instruction (control command) to pan left to the imaging device 100 via the control communication terminal 103. When the stick 301 is tilted up, the controller 300 transmits an instruction (control command) to tilt upward to the imaging device 100 via the control communication terminal 103. The controller 300 transmits the pan and tilt speeds corresponding to the tilt angle of the stick 301 simultaneously with the above control commands.

[0022] Furthermore, the user can change the zoom of the imaging device 100 by rotating the stick 301. For example, when the stick 301 is rotated clockwise, the controller 300 transmits a zoom-in instruction (control command) to the imaging device 100. On the other hand, when the stick 301 is rotated counterclockwise, the controller 300 transmits a zoom-out instruction (control command) to the imaging device 100.

[0023] The control button 302 has a button for registering a PTZ value of the imaging device 100 and for controlling the imaging device 100 based on the registered PTZ value. When the imaging device 100 receives an instruction to register a PTZ value, it stores a preset that associates the PTZ value with an identification number (for example, 1 or 2). When the user presses the control button 302, the controller 300 registers the PTZ value in the imaging device 100 or transmits an instruction to the imaging device 100 to drive based on the registered PTZ value.

[0024] For example, if the user presses and holds the "No. 1 button" of the control buttons 302, a control command to register the current PTZ value of the imaging device 100 as "preset No. 1" is transmitted to the imaging device 100. If the user briefly presses the "preset No. 1" button of the control buttons 302, a control command to drive the imaging device 100 based on the PTZ value registered in "preset No. 1" is transmitted to the imaging device 100. Note that the control button 302 may perform controls other than the control to register the PTZ value of the imaging device 100 and the control to drive the imaging device 100 based on the registered PTZ value.

[0025] The network 400 includes, for example, a plurality of routers, switches, cables, etc. that comply with a communication standard such as Ethernet (registered trademark). The imaging device 100 and the information processing device 500 are connected to each other via the network 400. The network 400 may be the Internet or a wired or wireless LAN (Local Area Network).

[0026] The information processing device 500 is a client device such as a personal computer (PC) equipped with a display unit (screen). The information processing device 500 displays an image from the imaging device 100 and a UI (User Interface) on the screen via the network 400. The information processing device 500 also transmits various control commands to the imaging device 100 based on user operations received via the UI.

[0027] Fig. 2 is a diagram illustrating the imaging direction of the imaging device according to the first embodiment. Fig. 2(a) is a plan view of the imaging device when installed on the ground, viewed from above. Fig. 2(b) is a left side view of the imaging device when installed on the ground. Fig. 2(c) is a plan view of the imaging device when installed on the ceiling, viewed from below. Fig. 2(d) is a left side view of the imaging device when installed on the ceiling.

[0028] The imaging direction of the imaging device 100 is defined by pan, tilt, and zoom values ​​(that is, PTZ values). Here, the pan and tilt values ​​are expressed in an upright coordinate system and an inverted coordinate system.

[0029] The upright coordinate system (first coordinate system) is a coordinate system used when the imaging device 100 is panned or tilted clockwise when installed on the ground or the ceiling, as shown in FIGS. 2(a) to 2(d). Ground installation refers to, for example, installing the imaging device 100 on a table or a tripod. Ceiling installation refers to, for example, installing the imaging device 100 on the ceiling. The inverted coordinate system (second coordinate system) is a coordinate system used when the imaging device 100 is panned or tilted counterclockwise when installed on the ground or the ceiling, as shown in FIGS. 2(a) to 2(d). The imaging device 100 can dynamically switch between the upright coordinate system and the inverted coordinate system. Switching the coordinate system refers to control to align the stick operation direction of the user with the PT direction of the imaging device 100. An example of switching the coordinate system is to align the stick operation direction (downward) of the user with the tilt direction (downward) of the imaging device 100.

[0030] 2(a), the pan value takes a positive value (angle) in the range of 0° to +180° clockwise when the imaging device 100 is viewed from above. On the other hand, the pan value takes a negative value (angle) in the range of 0° to -180° counterclockwise when the imaging device 100 is viewed from above. Pan direction 109 is a direction in which the imaging device 100 can be panned.

[0031] In FIG. 2(b), the tilt value is a positive value (angle) in the range of 0° to +220° clockwise when imaging device 100 is viewed from the left side (the surface of imaging device 100 viewed from the -90° direction in FIG. 2(a)). On the other hand, the tilt value is a negative value (angle) in the range of 0° to -40° counterclockwise when imaging device 100 is viewed from the left side. Tilt direction 110 is the direction in which imaging device 100 can be tilted.

[0032] 2(c), the pan value takes a negative value (angle) in the range of 0° to −180° clockwise when the imaging device 100 is viewed from below. On the other hand, the pan value takes a positive value (angle) in the range of 0° to +180° counterclockwise when the imaging device 100 is viewed from below. Pan direction 109 is a direction in which the imaging device 100 can be panned.

[0033] In Figure 2(d), the tilt value takes a positive value (angle) in the range of 0° to +40° clockwise when viewing image capture device 100 from the left side (the surface of image capture device 100 viewed from the +90° direction in Figure 2(c)). On the other hand, the tilt value takes a negative value (angle) in the range of 0° to -220° counterclockwise when viewing image capture device 100 from the left side. Tilt direction 110 is the direction in which image capture device 100 can be tilted.

[0034] The zoom value of the image capturing device 100 is calculated from the focal length of the lens 105.

[0035] FIG. 12 is a diagram showing the hardware configuration of the imaging device according to the first embodiment.

[0036] The imaging device 100 includes a CPU 210, a RAM 211, a ROM 212, and a storage unit 213.

[0037] The CPU 210 is a central processing unit that controls each unit of the imaging device 100 .

[0038] The RAM 211 is a memory for temporarily storing computer programs executed by the CPU 210, and is, for example, a volatile memory such as an SRAM or a DRAM.

[0039] The ROM 212 is a memory that stores programs for the CPU 210 to control each unit of the image capturing apparatus 100, and is, for example, a non-volatile memory such as an EPROM.

[0040] The storage unit 213 is a device that stores programs and video data, and includes, for example, a hard disk drive (HDD) and a solid state drive (SSD).

[0041] 3 is a block diagram illustrating the functions of the imaging device according to the first embodiment. The functions of the imaging device 100 in FIG. 3 (excluding the hardware configuration blocks) are realized by the CPU 210 executing a program in the ROM 212.

[0042] The imaging device 100 includes an image processing unit 112, a system control unit 113, a PTZ control unit 114, an output unit 116, a control communication unit 117, and a network communication unit 118. The imaging device 100 also includes, as its hardware configuration, a lens 105, a lens driving unit 106, a pan driving unit 107, a tilt driving unit 108, an imaging unit 111, and a storage unit 213.

[0043] The direction toward the subject on the optical axis of the lens 105 is the imaging direction of the imaging device 100. The light beam that passes through the lens 105 forms an image on the imaging element of the imaging unit 111 of the imaging device 100.

[0044] The lens driving unit 106 is made up of elements that drive the lens 105, and changes the focal length of the lens 105. The lens driving unit 106 is controlled by the PTZ control unit 114.

[0045] The pan driving unit 107 is made up of a mechanical driving unit (e.g., a gear) and a driving source (e.g., a motor). The pan driving unit 107 drives the imaging direction of the imaging device 100 in the pan direction 109 shown in FIG. 2(a) or 2(c). The pan driving unit 107 is controlled by the PTZ control unit 114.

[0046] The tilt driving unit 108 is made up of a mechanical driving unit (e.g., a gear) and a driving source (e.g., a motor). The tilt driving unit 108 drives the imaging direction of the imaging device 100 in the tilt direction 110 shown in FIG. 2(b) or 2(d). The tilt driving unit 108 is controlled by the PTZ control unit 114.

[0047] The imaging unit 111 includes an imaging element such as a charge coupled device (CCD) sensor and a complementary metal oxide semiconductor (CMOS) sensor, and generates an electric signal by photoelectrically converting the subject image formed through the lens 105.

[0048] The image processing unit 112 generates image data by performing image processing such as converting an electrical signal from the imaging unit 111 into a digital signal and compression encoding. Furthermore, the image processing unit 112 performs processing to rotate still images (hereinafter referred to as images) constituting a video by 180 degrees (i.e., auto-flip) based on instructions from the system control unit 113. The image processing unit 112 of this embodiment performs processing to rotate images by 180 degrees, but may also perform processing to rotate images by any angle, such as 90 degrees or 270 degrees, depending on the imaging conditions of the subject. The image processing unit 112 performs OSD (On-Screen Display) processing to superimpose text information on images.

[0049] The system control unit 113 controls each unit of the imaging device 100. The system control unit 113 analyzes control commands for the imaging device 100 sent from the controller 300 or the information processing device 500. The system control unit 113 also transmits control commands including PTZ values ​​to the PTZ control unit 114. The system control unit 113 transmits instructions to the image processing unit 112 to adjust the image quality when generating image data, rotate the image 180 degrees, and superimpose text information on the image.

[0050] The PTZ control unit 114 controls the pan driving unit 107 , tilt driving unit 108 and lens driving unit 106 based on instructions from the system control unit 113 , thereby controlling the PTZ of the imaging device 100 .

[0051] The storage unit 213 stores (holds), for example, image quality setting parameters, PTZ values, and the installation state of the image capture device 100. The installation state of the image capture device 100 includes a ground installation state and a ceiling installation state.

[0052] Output unit 116 converts the video from image processing unit 112 into a predetermined video format and outputs the converted signal to display device 200 and a destination device via first output terminal 101 and second output terminal 102. In this embodiment, output unit 116 transmits the video from first output terminal 101 to the destination device and transmits the video from second output terminal 102 to display device 200, but this is not limiting. For example, output unit 116 may transmit operation video 700 and distribution video 800 to display device 200 from first output terminal 101. This allows the user to check both operation video 700 and distribution video 800 on the screen of display device 200, making it easier to recognize the occurrence of auto-flip.

[0053] The control communication unit 117 transmits various instructions from the controller 300 to the system control unit 113 via the control communication terminal 103 .

[0054] The network communication unit 118 communicates with the information processing device 500 via the I / F 104. For example, the network communication unit 118 transmits an image captured by the imaging device 100 to the information processing device 500 via the network 400. The network communication unit 118 also transmits a control command for the imaging device 100 received from the information processing device 500 to the system control unit 113.

[0055] 4 is a diagram illustrating the auto-flip performed by the imaging device. When installed on a ceiling, imaging device 100 captures an image of a subject while changing the tilt value within a range of 0° to -220°. When the imaging direction is within a predetermined tilt value range, imaging device 100 performs auto-flip between operation image 700 and distribution image 800. The following describes the direction in which the user operates stick 301 and the changes in each image.

[0056] FIG. 4 shows the operation of the imaging device 100, operation video 700, and distribution video 800 in the following categories: (a) normal driving, (b) immediately before auto-flip, (c) immediately after auto-flip, (d) stop, and (e) restart.

[0057] The operation video 700 is an image displayed on the display device 200 via the second output terminal 102. The user operates the stick 301 while checking the operation video 700 on the display device 200. The identification display 701 and the warning display 702 are superimposed on the operation video 700 as OSD information. The identification display 701 indicates that it is the operation video 700, and displays "Operation Video" in the operation video 700. The warning display 702 refers to a text message displayed in the operation video 700. Note that the black arrow in the lower right of the operation video 700 indicates the direction in which the imaging range moves. For example, the downward-pointing black arrow in the lower right of the operation video 700 in FIG. 4(a) indicates that the imaging range moves downward.

[0058] Video for distribution 800 is video that is distributed to an external device (not shown) via first output terminal 101. The black arrow at the bottom right of video for distribution 800 indicates the direction in which the imaging range moves. For example, the downward black arrow at the bottom right of video for distribution 800 in FIG. 4(a) indicates that the imaging range moves downward.

[0059] In Fig. 4(a), the user tilts the stick 301 downward, so the imaging device 100 tilts in the direction of the arrow 710. Here, the image processing unit 112 does not perform an auto-flip (180° rotation process) on the video for distribution 800. If the tilt value (angle) of the imaging device 100 is θt, the tilt value of the imaging device 100 in Fig. 4(a) takes a value in the range of -80°≦θt≦0°.

[0060] In FIG. 4(b), the user continues to tilt the stick 301 downward, causing the imaging device 100 to tilt vertically (tilt value θt=−90°). Here, the image processing unit 112 performs processing to superimpose a warning message, "The video to be distributed will be inverted soon," on the operation video 700 as a warning display 702. Then, the output unit 116 outputs the operation video 700 with the warning display 702 superimposed to the display device 200. Note that the tilt value of the imaging device 100 in FIG. 4(b) takes a value in the range of −100°<θt<−80°.

[0061] In FIG. 4(c), the user continues to tilt the stick 301 downward, and the imaging device 100 further tilts in the direction of the arrow 710. Here, when the tilt value (angle) reaches a predetermined value, the image processing unit 112 performs an auto-flip (180° rotation process) on the video for distribution 800. As a result, the video for distribution 800 is rotated 180°, but the operation video 700 is not rotated. Note that the tilt value of the imaging device 100 in FIG. 4(c) takes a value in the range of θt≦−100°.

[0062] Furthermore, image processing unit 112 performs processing to superimpose a message "The video for distribution is inverted" on operation video 700 as warning display 702. Then, output unit 116 outputs operation video 700 with warning display 702 superimposed to display device 200. Here, the black arrow in the lower right of distribution video 800 points upward, so the direction in which the user operates stick 301 (downward) and the direction in which the imaging range moves (upward) are opposite. Therefore, the user needs to operate stick 301 while recognizing that the direction in which stick 301 is operated and the direction in which the imaging range moves are opposite. For example, if the user operates stick 301 while checking distribution video 800 instead of operation video 700, the user may find it difficult to intuitively operate stick 301.

[0063] On the other hand, the black arrow at the bottom right of operation video 700 points downward, so the direction in which the user operates stick 301 (downward) is the same as the direction in which the imaging range moves (downward). Therefore, the user can intuitively operate stick 301 while checking operation video 700, without having to recognize the direction in which the imaging range moves.

[0064] In FIG. 4(d), the user returns the position of the stick 301 to the home position (neutral state), and the imaging device 100 stops tilting. The image processing unit 112 performs auto-flip (180° rotation processing) on ​​the operation image 700. As a result, the subject 600 in the operation image 700 and the distribution image 800 have the same composition. The image processing unit 112 also performs control not to display the warning display 702 superimposed on the operation image 700. As a result, the warning display 702 is not displayed on the operation image 700. Furthermore, the system control unit 113 performs control to switch the coordinate system from an inverted coordinate system to an erect coordinate system. Note that the tilt value of the imaging device 100 in FIG. 4(d) takes a value in the range of θt≦−100°.

[0065] In FIG. 4(e), the user tilts the stick 301 downward again, and the imaging device 100 tilts in the direction of the arrow 710. Because the black arrow at the bottom right of the operation image 700 points downward, the direction in which the user operates the stick 301 (downward) is the same as the direction in which the imaging range moves (downward). Therefore, the user can intuitively operate the stick 301 while checking the operation image 700, without having to recognize the direction in which the imaging range moves. Note that the tilt value of the imaging device 100 in FIG. 4(e) takes a value in the range of θt≦80°, where θt=0° is the horizontal direction on the subject 600 side.

[0066] Fig. 5 is a flowchart illustrating an auto-flip performed by the imaging device. "PT" in each step in Fig. 5 represents pan and tilt. For ease of explanation, the following describes an auto-flip based on the tilt direction and tilt speed of the imaging device 100. Note that the auto-flip based on the pan direction and pan speed is similar to the case of tilt, and therefore a description thereof will be omitted.

[0067] In S501, the system control unit 113 receives a control command specifying a tilt direction and a tilt speed from the controller 300 or the information processing device 500.

[0068] In S502, the system control unit 113 starts controlling the tilt driving unit 108 based on the control command specifying the tilt direction and tilt speed. Here, the tilt control of the imaging device 100 when the user operates the stick 301 of the controller 300 downward will be described. As shown in FIG. 4(a), the operation direction (downward) of the stick 301 is the same as the direction (downward) of the black arrow at the bottom right of the operation image 700 and the distribution image 800.

[0069] In S503, the system control unit 113 determines whether or not a control command specifying a tilt direction and tilt speed has been received. If the system control unit 113 determines that a control command specifying a tilt direction and tilt speed has been received (Yes in S503), the process proceeds to S504. On the other hand, if the system control unit 113 determines that a control command specifying a tilt direction and tilt speed has not been received (No in S503), the process proceeds to S505.

[0070] In S504, the system control unit 113 performs control to change the tilt direction and tilt speed based on the control command that specifies the tilt direction and tilt speed.

[0071] In S505, image processing unit 112 performs 180° rotation processing on distribution video 800. The rotation processing of distribution video 800 will be described later with reference to FIG.

[0072] In S506, the image processing unit 112 performs a process of superimposing the warning display 702 on the operation image 700. The process of superimposing the warning display 702 on the operation image 700 will be described later with reference to FIG.

[0073] In S507, the system control unit 113 determines whether or not a control command to stop tilting has been received. The control command to stop tilting is transmitted from the controller 300 or the information processing device 500, similar to the control command specifying the tilting direction and tilting speed. If the system control unit 113 determines that a control command to stop tilting has been received (Yes in S507), the process proceeds to S508. On the other hand, if the system control unit 113 determines that a control command to stop tilting has not been received (No in S507), the process returns to S503.

[0074] In S508, the system control unit 113 performs control to stop the tilt of the imaging device 100.

[0075] In S509, the system control unit 113 determines whether or not one second or more has passed since the tilt of the imaging device 100 was stopped. If the system control unit 113 determines that one second or more has passed since the tilt of the imaging device 100 was stopped (Yes in S509), the process proceeds to S511. If the system control unit 113 determines that one second or more has not passed since the tilt of the imaging device 100 was stopped (No in S509), the process proceeds to S510.

[0076] In S510, the system control unit 113 determines whether or not a control command to tilt the imaging device 100 has been received. If the system control unit 113 determines that a control command to tilt the imaging device 100 has been received (Yes in S510), the process returns to S502. If the system control unit 113 determines that a control command to tilt the imaging device 100 has not been received (No in S510), the process returns to S509.

[0077] The reason for performing the processes of S509 to S510 will be explained. Immediately after the tilt of the imaging device 100 stops, the user may operate the stick 301 to correct the tilt of the imaging device 100. If the PT coordinate system is inverted immediately after the tilt of the imaging device 100 stops, the user will operate the stick 301 while viewing the operation image 700 rotated 180 degrees. The PT coordinate system refers to the upright coordinate system and inverted coordinate system of the imaging device 100 described in FIG. 2. Since the direction in which the user operates the stick 301 and the direction in which the imaging range of the operation image 700 moves are opposite, the user may find it difficult to tilt the imaging device 100 in the intended imaging direction. As described above, the operation image 700 is not automatically flipped immediately after the tilt of the imaging device 100 stops, but is automatically flipped one second after the tilt stops. This improves usability when controlling the tilt of the imaging device 100. Although the waiting time from when the imaging device 100 stops tilting until the operation image 700 performs auto-flip is one second, it may be any waiting time.

[0078] In S511, system control unit 113 determines whether the setting for 180-degree rotation processing for distribution video 800 is OFF (a setting that does not perform 180-degree rotation processing). If system control unit 113 determines that the setting for 180-degree rotation processing for distribution video 800 is OFF (Yes in S511), the process proceeds to S512. On the other hand, if system control unit 113 determines that the setting for 180-degree rotation processing for distribution video 800 is not OFF (a setting that performs 180-degree rotation processing) (No in S511), the process proceeds to S514.

[0079] In S512, the system control unit 113 sets the PT coordinate system to an erect coordinate system.

[0080] In S513, the system control unit 113 sets the setting of the 180° rotation process for the operation video 700 to OFF (that is, a setting to not perform the 180° rotation process).

[0081] In S514, the system control unit 113 sets the PT coordinate system to an inverted coordinate system.

[0082] In S515, the system control unit 113 turns on the setting for the 180° rotation process for the operation video 700 (that is, the setting for performing the 180° rotation process).

[0083] In S516, the system control unit 113 performs control to not display the warning display 702 superimposed on the operation video 700. The update of the warning display 702 will be described later with reference to FIG.

[0084] FIG. 6 is a diagram showing auto-flip settings for video to be distributed according to the first embodiment.

[0085] First, the settings for the imaging device 100 installed on the ground to perform 180° rotation processing (auto-flip) on the video to be distributed 800 will be described.

[0086] If tilt value θt in the erect coordinate system is 80°≦θt, system control unit 113 determines that the setting for 180° rotation processing of distribution video 800 is OFF. In this case, image processing unit 112 does not perform 180° rotation processing on distribution video 800.

[0087] If the tilt value θt in the erect coordinate system is within the range of 80°<θt<100°, the system control unit 113 determines that the setting for 180° rotation processing of the video for distribution 800 is OFF. In this case, the image processing unit 112 does not perform 180° rotation processing on the video for distribution 800. Note that if tilt control of the imaging device 100 is performed based on a tilt value (threshold value) specified as a condition for performing an auto-flip, a "hunting phenomenon" occurs. The hunting phenomenon refers to a phenomenon in which 180° rotation (auto-flip) of the video for distribution 800 frequently occurs near the threshold value. Therefore, the hunting phenomenon can be avoided by the system control unit 113 determining whether to perform 180° rotation processing of the video for distribution 800 based on the range of the tilt value θt.

[0088] If tilt value θt in the erect coordinate system is 100°≦θt, system control unit 113 determines that the setting for 180° rotation processing of distribution video 800 is ON. At this time, image processing unit 112 performs 180° rotation processing on distribution video 800.

[0089] If tilt value θt in the inverted coordinate system is −100°≦θt, system control unit 113 determines that the setting for 180° rotation processing of distribution video 800 is ON. At this time, image processing unit 112 performs 180° rotation processing on distribution video 800.

[0090] If tilt value θt in the inverted coordinate system is within the range of -100°<θt<-80°, system control unit 113 determines that the setting for 180° rotation processing of video for distribution 800 is ON. At this time, image processing unit 112 performs 180° rotation processing on video for distribution 800. System control unit 113 determines whether to perform 180° rotation processing on video for distribution 800 based on the range of tilt value θt, thereby avoiding the hunting phenomenon.

[0091] If tilt value θt in the inverted coordinate system is −80°≦θt, system control unit 113 determines that the setting for 180° rotation processing of video for distribution 800 is OFF. In this case, image processing unit 112 does not perform 180° rotation processing on video for distribution 800.

[0092] Next, the settings for performing 180° rotation processing (auto-flip) on distribution video 800 by imaging device 100 when installed on the ceiling will be described.

[0093] If tilt value θt in the erect coordinate system is θt≦80°, system control unit 113 determines that the setting for 180° rotation processing of distribution video 800 is ON. At this time, image processing unit 112 performs 180° rotation processing on distribution video 800.

[0094] If tilt value θt in the erect coordinate system is within the range of 80°<θt<100°, system control unit 113 determines that the setting for 180° rotation processing of video for distribution 800 is ON. At this time, image processing unit 112 performs 180° rotation processing on video for distribution 800. System control unit 113 determines whether to perform 180° rotation processing on video for distribution 800 based on the range of tilt value θt, thereby avoiding the hunting phenomenon.

[0095] If tilt value θt in the erect coordinate system is 100°≦θt, system control unit 113 determines that the setting for 180° rotation processing of distribution video 800 is OFF. In this case, image processing unit 112 does not perform 180° rotation processing on distribution video 800.

[0096] If tilt value θt in the inverted coordinate system is −100°≦0°, system control unit 113 determines that the setting for 180° rotation processing of video for distribution 800 is OFF. In this case, image processing unit 112 does not perform 180° rotation processing on video for distribution 800.

[0097] If tilt value θt in the inverted coordinate system is within the range of -100°<θt<-80°, system control unit 113 determines that the setting for 180° rotation processing of video for distribution 800 is OFF. In this case, image processing unit 112 does not perform 180° rotation processing on video for distribution 800. System control unit 113 can avoid the hunting phenomenon by determining whether or not to perform 180° rotation processing of video for distribution 800 based on the above range of tilt value θt.

[0098] If the tilt value θt in the inverted coordinate system is −80°≦θt, system control unit 113 determines that the setting for rotation processing of video for distribution 800 is ON. At this time, image processing unit 112 performs 180° rotation processing on video for distribution 800.

[0099] FIG. 7 is a flowchart illustrating the OSD display process according to the first embodiment.

[0100] In S701, the system control unit 113 determines whether the acquired image is the operation image 700. If the system control unit 113 determines that the acquired image is the operation image 700 (Yes in S701), the process proceeds to S702. If the system control unit 113 determines that the acquired image is not the operation image 700 (No in S701), the process ends.

[0101] In S702, the system control unit 113 determines whether the setting for 180-degree rotation processing of the video for distribution 800 is ON (the setting for performing the 180-degree rotation processing). If the system control unit 113 determines that the setting for 180-degree rotation processing of the video for distribution 800 is ON (Yes in S702), the process proceeds to S703. If the system control unit 113 determines that the setting for 180-degree rotation processing of the video for distribution 800 is not ON (No in S702), the process proceeds to S704.

[0102] In S703, the system control unit 113 determines whether the setting for 180° rotation processing of the operation image 700 is OFF (a setting that does not perform 180° rotation processing). If the system control unit 113 determines that the setting for 180° rotation processing of the operation image 700 is OFF (Yes in S703), the process proceeds to S706. If the system control unit 113 determines that the setting for 180° rotation processing of the operation image 700 is not OFF (No in S703), the process proceeds to S705.

[0103] In S704, the system control unit 113 determines whether the setting for 180-degree rotation processing of the operation image 700 is ON. If the system control unit 113 determines that the setting for 180-degree rotation processing of the operation image 700 is ON (Yes in S703), the process proceeds to S706. If the system control unit 113 determines that the setting for 180-degree rotation processing of the operation image 700 is not ON (No in S703), the process proceeds to S705.

[0104] In S705, the system control unit 113 determines whether the difference between the current tilt value θt and a predetermined tilt value (the tilt value when performing auto-flip) is equal to or less than a predetermined threshold. If the system control unit 113 determines that the difference is equal to or less than the predetermined threshold (Yes in S705), the process proceeds to S707. If the system control unit 113 determines that the difference is not equal to or less than the predetermined threshold (No in S705), the process proceeds to S708.

[0105] Here, the predetermined threshold is 10°. For example, for imaging device 100 installed on the ground, the predetermined tilt value in the erect coordinate system is 100°. Therefore, when the current tilt value θt is between 90° and 100°, system control unit 113 determines that the difference (0° to 10°) is equal to or less than the predetermined threshold (10°). In this way, system control unit 113 determines the proximity of the current tilt value θt to the predetermined tilt value, but other determination methods may be used.

[0106] In S706, the system control unit 113 performs processing to superimpose a message "The video to be distributed is inverted" as a warning display 702 on the operation video 700.

[0107] In S707, the system control unit 113 performs processing to superimpose a message "The video to be distributed will be reversed soon" as a warning display 702 on the operation video 700.

[0108] In S708, the system control unit 113 does not perform the process of superimposing the warning display 702 on the operation image 700.

[0109] FIG. 8 is a flowchart illustrating auto-flip according to the first embodiment. "PT" in each step in FIG. 8 represents pan and tilt. For ease of explanation, auto-flip based on the tilt direction and tilt speed of the imaging device 100 will be described below. Note that auto-flip based on the pan direction and pan speed is similar to the case of tilt, and therefore a description thereof will be omitted.

[0110] Imaging device 100 can be driven not only based on a control command specifying a tilt direction and tilt speed, but also based on a control command specifying a target tilt value, which corresponds to a target direction.

[0111] For example, the target tilt value of image capturing apparatus 100 may be directly specified via a UI on the screen of information processing apparatus 500. This method corresponds to a method of driving image capturing apparatus 100 to the target tilt value by calling a preset registered in image capturing apparatus 100.

[0112] In the above method, the tilt of the imaging device 100 is not controlled via the stick 301, so usability does not decrease even if the operation image 700 is flipped (rotated 180°) midway. Therefore, the operation image 700 and the distribution image 800 are auto-flipped (rotated 180°) at the same time. In addition, there is no need to superimpose the warning display 702 on the operation image 700. Below, a method for controlling the tilt of the imaging device 100 without using the stick 301 will be described.

[0113] In S801, the system control unit 113 receives a control command specifying a tilt value. The control command specifying the tilt value, like the control command specifying the tilt direction and tilt speed, is transmitted from the controller 300 or the information processing device 500. Furthermore, when the system control unit 113 receives a preset call command, the preset call command is converted into a control command specifying a tilt value within the imaging device 100.

[0114] In S802, the system control unit 113 controls the tilt driving unit 108 based on the target tilt value of the received control command.

[0115] In S803, the system control unit 113 determines whether or not a control command specifying a tilt value has been received. If the system control unit 113 determines that a control command specifying a tilt value has been received (Yes in S803), the process proceeds to S804. If the system control unit 113 determines that a control command specifying a tilt value has not been received (No in S803), the process proceeds to S805.

[0116] In S804, the system control unit 113 updates the target tilt value based on the received control command, and changes the tilt direction and tilt speed as necessary.

[0117] In S805, system control unit 113 switches the setting (ON / OFF) of the 180° rotation process for operation image 700 and distribution image 800 based on whether the current tilt value exceeds a predetermined tilt value. At this time, if image capture device 100 is driven based on a pre-specified target tilt value, the tilt of image capture device 100 will not be changed frequently. Here, the predetermined tilt value (angle) is, for example, 100° in an upright coordinate system when installed on the ground, and −100° in an inverted coordinate system.

[0118] In S806, the system control unit 113 determines whether the current tilt value is the same as the target tilt value, or whether a tilt stop command has been received. If the system control unit 113 determines that the current tilt value is not the same as the target tilt value and that a tilt stop command has not been received (No in S806), the process proceeds to S803. If the system control unit 113 determines that the current tilt value is the same as the target tilt value or that a tilt stop command has been received (Yes in S806), the process proceeds to S807.

[0119] In S808, system control unit 113 determines whether the setting for 180-degree rotation processing for distribution video 800 is OFF. If system control unit 113 determines that the setting for 180-degree rotation processing for distribution video 800 is OFF (Yes in S808), the process proceeds to S809. If system control unit 113 determines that the setting for 180-degree rotation processing for distribution video 800 is not OFF (No in S808), the process proceeds to S810.

[0120] In S809, the system control unit 113 sets the PT coordinate system to an erect coordinate system, and the process ends.

[0121] In S810, the system control unit 113 sets the PT coordinate system to an inverted coordinate system, and the process ends.

[0122] 9 to 11, a description will be given of a control communication mechanism when the controller 300 controls the PT of the imaging device 100. The control communication commands are a command system defined by the VISCA (registered trademark) protocol, but are not limited to this.

[0123] FIG. 9 is a diagram showing a control communication sequence according to the first embodiment.

[0124] In S901, the user tilts the stick 301 of the controller 300 downward. The controller 300 transmits a control command specifying the tilt direction (downward) to the imaging device 100. The control command specifying the tilt direction includes a tilt direction (up or down) and a tilt speed parameter corresponding to the tilt angle of the stick 301. When the stick 301 is tilted obliquely, the controller 300 transmits a control command specifying the pan direction to the imaging device 100 together with the control command specifying the tilt direction.

[0125] In S902, the imaging device 100 starts tilting based on the received control command. Furthermore, if the tilt angle of the stick 301 does not change, the controller 300 transmits a control command specifying the tilt direction to the imaging device 100 at regular intervals. However, even if the imaging device 100 receives another control command, the additional control command does not affect the tilt of the imaging device 100 because the imaging device 100 has already started tilting.

[0126] When the tilt angle of the stick 301 is changed in S903 , the controller 300 transmits a control command specifying a tilt speed according to the tilt angle of the stick 301 to the imaging device 100 .

[0127] In S904, based on the received control command, the imaging apparatus 100 changes the current tilt speed to the tilt speed specified by the received control command, and continues tilting.

[0128] In S905, the user tilts the stick 301 upward. The controller 300 transmits to the imaging device 100 a control command specifying the tilt direction (upward) and tilt speed.

[0129] In S906, the imaging device 100 tilts upward based on the received control command.

[0130] In S907, the user returns the stick 301 to the home position (neutral position). The controller 300 transmits a tilt stop command to the imaging apparatus 100.

[0131] In S908, the imaging apparatus 100 stops tilting based on the received tilt stop command.

[0132] In S909, the user presses any preset button from the control buttons 302 of the controller 300. The controller 300 transmits a preset call command to the imaging apparatus 100. The preset call command includes parameters of the tilt direction and tilt speed associated with the preset number.

[0133] In S910, based on the received preset call command, the imaging device 100 starts tilting to the target tilt value corresponding to the preset number.

[0134] If it is determined in S911 that the current tilt value is the same as the target tilt value, imaging apparatus 100 ends the tilt.

[0135] FIG. 10 is a diagram showing a packet structure used for control communication according to the first embodiment.

[0136] The packet structure consists of a header, a command, and parameters.

[0137] The header contains an address representing the device from which the packet is sent, an address representing the device to which the packet is sent, and data representing the size (number of bytes) of the packet.

[0138] The command represents a function of the image capture device 100 that is controlled by the packet.

[0139] The parameters indicate the detailed control content of the command.

[0140] FIG. 11 is a diagram showing a command list used for control communication according to the first embodiment.

[0141] Parameter 1 of the control command specifying the pan direction specifies the pan direction (left or right) of the image capture device 100. Parameter 2 of the control command specifying the pan direction specifies the pan speed of the image capture device 100.

[0142] Parameter 1 of the control command specifying the tilt direction specifies the tilt direction (up or down) of the image capture device 100. Parameter 2 of the control command specifying the tilt direction specifies the tilt speed of the image capture device 100.

[0143] Parameter 1 of the control command specifying the PT value specifies the pan value of the image capture device 100. Parameter 2 of the control command specifying the PT value specifies the tilt value of the image capture device 100.

[0144] In the PT stop command, parameters 1 and 2 are not specified.

[0145] Parameter 1 of the preset registration command specifies the preset number when registering a PTZ value.

[0146] Parameter 1 of the preset call command specifies the preset number to be used when calling a preset.

[0147] As described above, according to the first embodiment, even if an auto-flip occurs during imaging in a predetermined imaging direction, the usability of controlling the imaging direction of the imaging device can be improved by outputting both the operation video and the distribution video. This allows the imaging device to be controlled in the imaging direction intended by the user.

[0148] (Other Examples) The present invention can also be realized by supplying a program that realizes one or more functions of the above-described embodiments to a system or device via a network or a storage medium, and having one or more processors in the computer of the system or device read and execute the program. It can also be realized by a circuit (e.g., ASIC) that realizes one or more functions.

[0149] The disclosure of this specification includes the following imaging control device, imaging device, imaging control method, and program. (Item 1) an imaging means for imaging a subject; an output unit that outputs a first output image and a second output image based on the imaging result of the subject by the imaging unit, when a predetermined condition including that an imaging direction of the imaging means is within a predetermined range is satisfied, the output means outputs a first image of the subject captured by the imaging means as the first output image and a second image obtained by rotating the first image as the second output image, Imaging device. (Item 2) the output means outputs the second image as the first output image after receiving an instruction to stop changing the imaging direction while the imaging direction is within the predetermined range. Item 1. The imaging device according to item 1. (Item 3) the output means outputs the second image as the first output image when a predetermined time has elapsed after receiving an instruction to stop changing the imaging direction while the imaging direction is within the predetermined range. Item 1. The imaging device according to item 1. (Item 4) a control unit that changes the imaging direction based on a user operation that changes the imaging direction according to any one of the coordinate systems; the control means changes the coordinate system of the user operation after receiving an instruction to stop changing the imaging direction while the imaging direction is within the predetermined range. Item 2. The imaging device according to item 2. (Item 5) when the first image is output as the first output image and the imaging direction is close to the predetermined range, the output means outputs an image in which a first display indicating that the second image will be output as the second output image is superimposed on the first image as the first output image. 5. The imaging device according to any one of items 1 to 4. (Item 6) when the first image is output as the first output image and the second image is output as the second output image, the output means outputs, as the first output image, an image in which a second indication indicating that the second image is output as the second output image is superimposed on the first image; Item 5. The imaging device according to item 5. (Item 7) a receiving unit configured to receive a direction in which the imaging direction is to be changed or a target direction of the imaging direction; the control means changes the imaging direction based on the received direction or the target direction. Item 5. The imaging device according to item 4. (Item 8) the output means outputs the second image as the first output image and the second output image when a predetermined condition including that the imaging direction when the imaging direction is being changed to the target direction is within the predetermined range is satisfied. Item 7. The imaging device according to item 7. (Item 9) the output means outputs the first image as the first output image and the second image as the second output image when a predetermined condition including that the imaging direction when the imaging direction is being changed to the direction is within the predetermined range is satisfied. Item 9. The imaging device according to item 8. (Item 10) the accepting means further accepts a speed at which the imaging direction is changed. Item 7. The imaging device according to item 7. (Item 11) a storage means for storing the imaging direction; the control means changes the imaging direction to the stored imaging direction; Item 5. The imaging device according to item 4. (Item 12) the output means outputs the first output image and the second output image to a first external device and a second external device, respectively; 12. The imaging device according to any one of items 1 to 11. (Item 13) a controller that controls the imaging direction based on a user operation; a display device that displays the first output image, or the first output image and the second output image; The imaging device according to any one of items 1 to 12 is provided. Imaging system. (Item 14) A method performed by an imaging device, comprising: an imaging step in which an imaging means of the imaging device images a subject; an output step in which an output means of the imaging device outputs a first output image and a second output image based on an imaging result of the subject by the imaging means, In the output step, when predetermined conditions including that the imaging direction of the imaging means is within a predetermined range are satisfied, the output means of the imaging device outputs a first image of the subject captured by the imaging means as the first output image and a second image obtained by rotating the first image as the second output image. method. (Item 15) A program for causing a computer to execute a method executed by an imaging device, The method comprises: an imaging step in which an imaging means of the imaging device images a subject; an output step in which an output means of the imaging device outputs a first output image and a second output image based on an imaging result of the subject by the imaging means, In the output step, when predetermined conditions including that the imaging direction of the imaging means is within a predetermined range are satisfied, the output means of the imaging device outputs a first image of the subject captured by the imaging means as the first output image and a second image obtained by rotating the first image as the second output image. program.

[0150] The invention is not limited to the above-described embodiments, and various changes and modifications can be made without departing from the spirit and scope of the invention. Accordingly, the following claims are appended to apprise the public of the scope of the invention. [Explanation of symbols]

[0151] 10: Imaging system 100: Imaging device 200:Display device 300: Controller 400:Network 500: Information processing equipment 600:Subject 700: Operation video 800: Streaming video

Claims

1. Imaging means for imaging a subject, Output means for outputting a first output image and a second output image based on an imaging result of the subject by the imaging means, and When the output means satisfies a predetermined condition including that the imaging direction of the imaging means is within a predetermined range, the output means outputs the first image captured by the imaging means as the first output image and outputs the second image obtained by rotating the first image as the second output image, respectively. An imaging device.

2. After receiving an instruction to stop changing the imaging direction while the imaging direction is within the predetermined range, the output means outputs the second image as the first output image. The imaging device according to Claim 1.

3. After receiving an instruction to stop changing the imaging direction while the imaging direction is within the predetermined range, when a predetermined time has elapsed, the output means outputs the second image as the first output image. The imaging device according to Claim 1.

4. Control means for changing the imaging direction based on a user operation for changing the imaging direction according to any coordinate system, and After receiving an instruction to stop changing the imaging direction while the imaging direction is within the predetermined range, the control means changes the coordinate system of the user operation. The imaging device according to Claim 2.

5. When the first image is output as the first output image and the imaging direction is close to the predetermined range, the output means outputs, as the first output image, an image in which a first display for notifying that the second image is to be output as the second output image is superimposed on the first image. The imaging device according to Claim 1.

6. When the first image is output as the first output image and the second image is output as the second output image, the output means outputs, as the first output image, an image in which a second display indicating that the second image is being output as the second output image is superimposed on the first image. The imaging device according to Claim 5.

7. Receiving means for receiving the direction for changing the imaging direction or the target direction of the imaging direction, and The control means changes the imaging direction based on the received direction or the target direction. The imaging device according to Claim 4.

8. When the imaging direction when changing the imaging direction to the target direction satisfies a predetermined condition including that the imaging direction is within the predetermined range, the output means outputs the second image as the first output image and the second output image, respectively. The imaging device according to claim 7.

9. When the imaging direction when changing the imaging direction to the direction satisfies a predetermined condition including that the imaging direction is within the predetermined range, the output means outputs the first image as the first output image and the second image as the second output image, respectively. The imaging device according to claim 8.

10. The reception means further receives the speed when changing the imaging direction. The imaging device according to claim 7.

11. It includes storage means for storing the imaging direction. The control means changes the imaging direction to the stored imaging direction. The imaging device according to claim 4.

12. The output means outputs the first output image and the second output image to a first external device and a second external device, respectively. The imaging device according to claim 1.

13. A controller for controlling the imaging direction based on a user operation. A display device for displaying the first output image or the first output image and the second output image. An imaging system comprising the imaging device according to any one of claims 1 to 12. Imaging system.

14. A method executed by an imaging device. An imaging step in which an imaging means of the imaging device images a subject. An output step in which an output means of the imaging device outputs a first output image and a second output image based on an imaging result of the subject by the imaging means. In the output step, when the output means of the imaging device satisfies a predetermined condition including that the imaging direction of the imaging means is within a predetermined range, the first image obtained by the imaging means imaging the subject is used as the first output image, and the second image obtained by rotating the first image is used as the second output image, and they are output respectively. Method.

15. A program for causing a computer to execute a method executed by an imaging device. The method is as follows. An imaging step in which an imaging means of the imaging device images a subject. An output step in which an output means of the imaging device outputs a first output image and a second output image based on an imaging result of the subject by the imaging means. In the output process, when the output means of the imaging device satisfies a predetermined condition including that the imaging direction of the imaging means is within a predetermined range, the first image captured by the imaging means of the subject is used as the first output image, and the second image obtained by rotating the first image is used as the second output image, and they are output respectively. Program.

16. A system including a controller that controls an imaging direction based on a user operation and an imaging device that images a subject, wherein the system comprises output means for outputting a first output image and a second output image based on an imaging result of the subject by the imaging device, and when the output means satisfies a predetermined condition including that the imaging direction of the imaging device is within a predetermined range, the first image captured by the imaging device of the subject is used as the first output image, and the second image obtained by rotating the first image is used as the second output image, and they are output respectively. System.

Images