JP2013223012A - Image processing device, image processing method, and image processing program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a camera control device which allows the user to intuitively grasp directional relations between a thumbnail image and a map.SOLUTION: A receiving unit (101) receives image data consisting of the picked-up image of a camera. A storage unit (105) stores therein angle data indicating the horizontal angle of the image pickup direction of the camera, map data indicting the map of a monitoring area, camera position data indicating the position of the camera, and trapezoid data indicating the shape of a trapezoid having a long upper side and a short lower side. An image processing unit (109) performs first image processing on the picked-up image by using the trapezoid data stored in the storage unit and then performs second image processing on the picked-up image having the first image processing applied thereto, in which processing the picked-up image is rotated according to the angle data stored in the storage unit. A synthesis unit (106) combines the map data with the picked-up image having had its position processed corresponding to the camera position data to generate an output image. An output unit (107) outputs the output image generated by the synthesis unit.

Description

  The present invention relates to an image processing apparatus, an image processing method, and an image processing program for processing an image captured by a camera.

  There is known a monitoring system configured to control a camera with a pan head having a pan head that changes an imaging direction by rotating (panning) in a horizontal direction so as to monitor a wide monitoring place.

  In such a monitoring system, an electronic map indicating the monitoring area and a camera icon indicating the position of the camera are displayed on the screen, and a thumbnail image rotated in accordance with the imaging direction is displayed in the direction of the imaging direction with respect to the camera icon. An image processing apparatus for displaying has been proposed (see, for example, Patent Document 1).

JP 2005-269104 A

  A schematic diagram of an image displayed by the image processing apparatus described in Patent Document 1 is shown in FIG. In the thumbnail image shown in FIG. 10A), the left-right direction of the thumbnail image is AA ′, and the vertical direction is the BB ′ direction. FIG. 10b) shows a schematic diagram in which the thumbnail images of FIG. 10a) are synthesized on a map. In the map, the same direction as AA ′ is aa ′, and the same direction as BB ′ is bb ′. As can be seen from FIG. 10b), according to the conventional image processing apparatus, the left-right direction AA ′ of the subject in the thumbnail image matches the direction aa ′ on the map. It is easy to know. However, the upward direction B of the subject in the thumbnail image is actually a direction that protrudes vertically from the plane of the map, and is different from the direction b on the map. As described above, the conventional image processing apparatus has a problem in that it is difficult to intuitively understand the relationship between the direction of the thumbnail image and the map, and there is a risk of visual confusion.

  Therefore, the problem to be solved by the present invention is to provide a technique that can intuitively grasp the relationship between the direction of the thumbnail image and the map.

In order to solve the above problems, the present invention provides the following apparatus, method, and program.
1) A receiving unit (101) that receives captured image data of a captured image captured by a camera, map data indicating a map of an area where the camera is installed, camera position data indicating a camera position, and an upper base A storage unit (105) for storing trapezoidal data indicating a trapezoidal shape having a long bottom and a short bottom, and angle data indicating a horizontal angle of the imaging direction of the camera, and a trapezoid stored in the storage unit for the captured image An image processing unit (109) that performs first image processing using data and performs second image processing for rotating the captured image that has been subjected to the first image processing in accordance with the angle data stored in the storage unit; Synthesizes the captured image that has been subjected to the second image processing with respect to the map data at a position corresponding to the camera position data to generate an output image, and outputs an output image generated by the combining unit Output unit (107) The image processing apparatus comprising: a.
2) The first image processing is image processing according to 1), wherein the captured image is converted into a trapezoidal shape having a long upper base and a short lower base using the trapezoidal data stored in the storage unit. Processing equipment.
3) The image processing apparatus according to 1), wherein the first image processing is image processing in which a captured image is cut into a trapezoidal shape having a long upper base and a short lower base using stored trapezoidal data.
4) The first image processing is image processing in which a trapezoidal frame having a long upper base and a short lower base is added to a captured image using trapezoidal data stored using the stored trapezoidal data. The image processing apparatus according to 1).
5) The first image processing is 1) characterized in that a trapezoidal icon having a long upper base and a short lower base is added adjacent to the captured image using the stored trapezoidal data. The image processing apparatus described.
6) The synthesizing unit synthesizes the camera icon at the position of the camera on the map from the icon data stored in the storage unit, the map data, and the camera position data, and a predetermined distance in the direction according to the angle data with the camera icon as a reference The image processing apparatus according to any one of 1) to 5), wherein an output image is generated by synthesizing the captured images image-processed by the image processing unit at spaced positions.
7) A reception step of receiving image data of a captured image captured by the camera, angle data indicating a horizontal angle of a camera imaging direction, map data indicating a map of an area where the camera is installed, A storage step for storing camera position data indicating a position and a trapezoidal data indicating a trapezoidal shape having a long upper base and a short lower base, and trapezoid data stored in the storage unit step with respect to the captured image received by the receiving unit Is performed (step S401), and the second image processing is performed to rotate the captured image subjected to the first image processing in accordance with the angle data stored in the storing step (step S402). An image processing step and a combining step for generating an output image by combining the captured image image-processed in the image processing step at a position corresponding to the camera position data with respect to the map data. Flop (step S403), the image processing method characterized by comprising an output step (step S405) for outputting an output image synthesized in the synthesis step.
8) An image processing program connected to the camera via a communication line and used for a computer that outputs a captured image captured by the camera, a reception function for receiving image data of the captured image captured by the camera, Angle data indicating the horizontal angle of the imaging direction, map data indicating a map of the area where the camera is installed, camera position data indicating the position of the camera, and a trapezoidal shape with a long upper base and a short lower base Storage function for storing the trapezoidal data shown in the storage unit, and first image processing using the trapezoidal data stored in the storage unit is performed on the captured image received by the reception function, and the first image processing is performed. An image processing function for performing the second image processing for rotating the captured image that is performed according to the angle data stored in the storage unit, and an image at a position corresponding to the camera position data with respect to the map data Image processing program, wherein the synthetic function of generating an output image by combining the captured images to image processing by the management functions, that is implemented in the computer and an output function for outputting an output image.

  According to the image processing apparatus, the image processing method, and the image processing program of the present invention, it is possible to intuitively grasp the relationship between the direction of the thumbnail image and the map.

It is a block block diagram of the camera control terminal which is one Embodiment of the image processing apparatus of this invention. It is a block block diagram of the camera which concerns on embodiment of this invention. 1 is a system configuration diagram of a monitoring system according to an embodiment of the present invention. It is a flowchart which shows the 1st Example of the synthesis method of the output image which concerns on embodiment of this invention. It is a schematic diagram which shows the example of the 1st image processing which concerns on embodiment of this invention. It is an example of the output image in 1st Example. It is a flowchart which shows the 2nd Example of the synthesis method of the output image which concerns on embodiment of this invention. It is an example of the synthesis | combination of the captured image in 2nd Example. It is an example of the output image in 2nd Example. It is the schematic diagram which combined the thumbnail image in the conventional image processing apparatus on the map.

Hereinafter, a camera control terminal which is an embodiment of an image processing apparatus of the present invention will be described with reference to the accompanying drawings.
[Camera control terminal configuration]
A camera control terminal 10 according to an embodiment of the present invention will be described with reference to FIG. FIG. 1 is a block diagram of the camera control terminal 10. The camera control terminal 10 is a terminal in which control application software is installed in a general-purpose personal computer, for example, and is a terminal for viewing a captured image of a monitoring camera 20 described later and controlling the monitoring camera 20.

  In the camera control terminal 10, the communication processing unit 101 receives captured image data, zoom data, and pan data sent from the monitoring camera 20. The communication processing unit 101 also transmits pan instruction data and zoom instruction data to the monitoring camera 20. As described above, the communication processing unit 101 is an aspect of the reception unit and an aspect of the transmission unit in the present embodiment.

  The decoding processing unit 102 decodes the captured image data received by the communication processing unit 101 and compressed with a digital image in accordance with a standard such as JPEG or MPEG-4, and sends it to the image processing unit 109.

  The pan data processing unit 104 acquires pan data from the monitoring camera 20 through the communication processing unit 101 and sends the pan data to the storage unit 105. The pan data processing unit 104 also calculates pan instruction data for changing the pan direction from the input from the operation unit 108 and the data in the storage unit 105, and sends the pan instruction data to the communication processing unit 101.

  The zoom data processing unit 103 sends the zoom data acquired through the communication processing unit 101 to the storage unit 105. The zoom data processing unit 103 also calculates zoom instruction data for changing the focal length of the zoom lens 208 from the input from the operation unit 108 and the data in the storage unit 105, and sends the zoom instruction data to the communication processing unit 101.

  The storage unit 105 includes a semiconductor memory, a hard disk drive, and the like, and stores map data, camera position data, and trapezoid data in advance. The map data is map data indicating the entire area of a store or the like where the monitoring camera 20 is installed and monitoring. The camera position data is data indicating the position of the monitoring camera 20 on the map. The trapezoid data is data indicating a trapezoidal shape, and is a trapezoidal template having a long upper base and a short lower base in the present embodiment.

  The storage unit 105 further stores the pan data sent from the pan data processing unit 104 and the zoom data sent from the zoom data processing unit 103. The storage unit 105 provides these stored data as necessary.

  The image processing unit 109 performs image processing on the captured image data using the captured image data that has been decoded by the decoding processing unit 102 and the data stored in the storage unit 105. Details of the image processing will be described later.

  The combination processing unit 106 combines the output image data using the captured image data processed by the image processing unit 109, the map data stored in the storage unit 105, and the camera position data. Details of the composition method of output image data will be described later.

  The output unit 107 outputs the output image data synthesized by the synthesis processing unit 106. Since the image display device 40 such as a liquid crystal monitor or a projector is connected to the output unit 107, the output image data output from the output unit 107 is displayed on the image display device 40.

  The operation unit 108 includes a mouse, a touch panel, a keyboard, and the like, and an operator operates the operation unit 108 while viewing output image data displayed on the image display device 40 to give various instructions.

For example, when control buttons such as a pan control button and a zoom control button are combined with the output image, and the operator selects these control buttons with the operation unit 108, the pan instruction data for the pan data processing unit 104 to change the pan direction. Is calculated and sent to the communication processing unit 101, or the zoom data processing unit 103 calculates zoom instruction data for changing the focal length of the zoom lens and sends it to the communication processing unit 101.
[Configuration of surveillance camera]
FIG. 2 is an example of a block configuration diagram of the monitoring camera 20 controlled by the camera control terminal 10. The monitoring camera 20 in this embodiment is a network camera, and transmits a captured image via a network or changes an imaging direction according to a control signal received via the network.

  The imaging unit 201 captures a surrounding subject and sends the captured image to the compression unit 202. The compression unit 202 compresses a digital image of the image captured by the imaging unit 201 according to a standard such as JPEG (Joint Picture Expert Group) or MPEG (Moving Picture Expert Group) -4, and sends the compressed image to the communication unit 203.

  The pan angle sensor 206 outputs the horizontal angle in the imaging direction of the current imaging unit 201 as pan data. The zoom sensor 209 outputs data indicating the current focal length of the zoom lens 208 as zoom data.

  The communication unit 203 transmits the captured image data, pan data, and zoom data compressed by the compression unit 202 to the camera control terminal 10 in response to a request. The communication unit 203 also receives pan instruction data and zoom instruction data transmitted from the camera control terminal 10 and sends them to the control unit 204.

  Based on the pan instruction data and zoom instruction data received by the communication unit 203, the control unit 204 sends a control signal for panning the pan head drive unit 205 or drives the zoom lens 208 to the zoom lens drive unit 207. Or send a control signal.

  The pan / tilt head driving unit 205 pans the imaging unit 201 in accordance with a control signal sent from the control unit 204 and changes the imaging direction.

  The zoom lens driving unit 207 changes the focal length of the zoom lens 208 by driving the zoom lens 208 according to the control signal sent from the control unit 204.

[Monitoring system configuration]
A monitoring system using the camera control terminal 10 and the monitoring camera 20 will be described with reference to FIG. The monitoring system in FIG. 3 is an example of a monitoring system that monitors the inside of a store. The monitoring camera 20 for monitoring the inside of the store and the zooming and panning of the monitoring camera 20 are controlled or captured by the monitoring camera 20. And a camera control terminal 10 for viewing images. The camera control terminal 10 is connected to an image display device 40 such as a liquid crystal monitor or a projector that displays image data output from the camera control terminal 10. In order to simplify the description, an example in which there is one monitoring camera 20 will be described, but it goes without saying that there may be a plurality of monitoring cameras 20.

  The monitoring camera 20 is attached to a ceiling or a high place on the wall surface so that the inside of the store can be looked at. The camera control terminal 10 may be installed in the same store as the monitoring camera 20, installed in a security room, or installed in a remote security company.

  The network 30 includes network devices such as routers and hubs. The camera control terminal 10 and the monitoring camera 20 are connected to the network 30 via a LAN (Local Area Network) cable, and the camera control terminal 10 and the monitoring camera 20 communicate with each other via the network 30. Note that the communication means between the camera control terminal 10 and the monitoring camera 20 is not limited to communication via a LAN cable, but may be other communication means such as a wireless LAN or a mobile phone line.

[First Example of Output Image Generation Method]
A first embodiment of an output image generation method by the image processing unit 109 and the composition processing unit 106 of the camera control terminal 10 will be described with reference to the flowchart of FIG.

The image processing unit 109 reads the trapezoidal template 501 from the storage unit 105, and performs first image processing on the captured image 502 using the read trapezoidal template 501 (step S401).
[First example of first image processing]
As a first example of the first image processing in step S401, image processing will be described in which a captured image is reduced and deformed according to the read template so that the upper side is long and the lower side is a trapezoid. FIG. 5 is a schematic diagram showing an example of the first image processing. In FIG. 5, an example of a trapezoidal template stored in the storage unit 105 in the first example is a template 501a. The template 501a has an upper base and a lower base that are parallel to each other, and is an isosceles trapezoid having a long upper base and a short lower base. An example of a captured image received by the communication processing unit 101 is a captured image 502.

  As the first image processing, the image processing unit 109 generates a reduced image 503 in which the height of the captured image 502 is reduced in accordance with the height of the template 501a. Then, by processing such as affine transformation, image processing is performed to deform the reduced image 503 so as to have a trapezoidal shape with a long upper base and a short lower base according to the shape of the template 501a, thereby generating a thumbnail image 504a (step S401). ).

Since the thumbnail image 504a deforms the captured image itself into a trapezoidal shape, if it is synthesized on a map as will be described later, it is easy to see that the upper part of the captured image is lifted to the front and the upper part of the captured image is in front. Can be grasped.
[Second example of first image processing]
As a second example of the first image processing, the captured image may be cut out to have a trapezoidal shape with a long upper base and a short lower bottom. An example of a trapezoidal template stored in the storage unit 105 in the second example is a template 501b. Similar to the template 501a, the template 501b has an upper base and a lower base that are parallel to each other, and is an isosceles trapezoid having a long upper base and a short lower base. The template 501b has a narrower width than the template 501a.

  As the first image processing, the image processing unit 109 generates a reduced image 503 in which the height of the captured image 502 is reduced in accordance with the height of the template 501b. Then, in accordance with the shape of the template 501b, the left and right lower parts of the reduced image 503 are subjected to image processing to generate a thumbnail image 504b (step S401).

  It is easier to understand intuitively if the captured image itself is transformed into a trapezoid like the thumbnail image 504a, but if the captured image is cut like the thumbnail image 504b, the captured image is not distorted and the calculation load is reduced. Is effective.

[Third example of first image processing]
As a third example of the first image processing, a trapezoidal frame having a long upper base and a short lower base may be added to the captured image. An example of a trapezoidal template stored in the storage unit 105 in the third example is a template 501c. Similar to the template 501a, the template 501c has an upper base and a lower base that are parallel to each other, and is an isosceles trapezoid having a long upper base and a short lower base. The template 501c has a wider width than the template 501a.

  As the first image processing, the image processing unit 109 generates a reduced image 503 in which the height of the captured image 502 is reduced in accordance with the height of the template 501c. Then, a frame having the shape of the template 501c is created, and image processing added to the back of the reduced image 503 is performed to generate a thumbnail image 504c (step S401).

  It is easier to grasp the captured image more intuitively by transforming the captured image itself into a trapezoid like the thumbnail image 504a. However, adding a frame to the captured image as in the thumbnail image 504c does not distort the captured image. There is an effect that the load of is light.

[Fourth example of first image processing]
As a fourth example of the first image processing, a trapezoidal trapezoid icon having a long upper base and a short lower bottom may be added adjacent to the captured image. An example of a trapezoidal template stored in the storage unit 105 in the fourth example is a template 501d. Similar to the template 501a, the template 501d has an upper base and a lower base that are parallel to each other, and is an isosceles trapezoid having a long upper base and a short lower base. The template 501d has a narrower gap between the upper base and the lower base than the template 501a.

  As the first image processing, the image processing unit 109 generates a reduced image 503 in which the width of the captured image 502 is reduced in accordance with the length of the upper base of the template 501d. Then, the template 501d is used as a trapezoid icon, and image processing is performed so as to be adjacent to the lower side of the reduced image 503 to generate a thumbnail image (step S401). The trapezoidal icon may be in contact with the reduced image 503 or may be close to each other with a slight separation. The trapezoid icon may be added to the upper portion of the reduced image, for example, at the upper portion. An example in which a trapezoid icon is added adjacent to the lower part of the reduced image 503 is a thumbnail image 504d, and an example in which a trapezoid icon is added adjacent to the upper part of the reduced image 503 is a thumbnail image 504e.

  It is easier to grasp intuitively if the captured image itself is transformed into a trapezoid like the thumbnail image 504a, but adding a trapezoid icon to the captured image like the thumbnail image 504d does not distort the captured image. There is an effect that the load of is light.

[Second image processing]
The image processing unit 109 uses the image angle data to rotate the thumbnail image 504 that has been subjected to the first image processing as in the first to fourth examples by a second image angle data θ. Processing is performed (step S402). The storage unit 105 stores an offset value θoff for pan data in advance so that the image angle data becomes 0 ° when the imaging direction of the monitoring camera 20 is upward on the map, and the image processing unit 109 stores the monitoring camera 20. It is assumed that the thumbnail image 504 is rotated using image angle data obtained by adding the offset value θoff to the pan data sent from. An example in which the thumbnail image 504a is rotated by performing the second image processing is a thumbnail image 505.
[Composition process]
First, as a background creation process, the composition processing unit 106 reads the map data stored in the storage unit 105 and draws it as a background (step S403).

Next, as a captured image composition process, the composition processing unit 106 reads the camera position data from the storage unit 105, and selects the thumbnail image 505 sent from the image processing unit 109 so that the center of the thumbnail image 505 matches the camera position data. (Step S404). As a result, an output image is generated by combining the thumbnail images in such an arrangement that the long upper side faces the imaging direction side at the position where the camera is installed on the map. The composition processing unit 106 sends the generated output image data to the output unit 107.
[Output processing]
The output unit 107 outputs the output image data generated by the synthesis processing unit 106 (step S405). The output image data output from the output unit 107 is sent to the image display device 40 such as a liquid crystal monitor or a projector, and the output image is displayed on the image display device 40.

  An example of the output image output in this way is shown in FIG. FIG. 6 is an example of an output image of the camera control terminal 10 in the monitoring system installed in the store, and an example in which the thumbnail image 62 generated in the form of the thumbnail image 505 as the first example is combined on the map 61. Show. A plurality of thumbnail images 62 are combined at the positions of the corresponding cameras on the map 61 with the upper side of the thumbnail images 62 facing the imaging direction of the corresponding camera. In general, if you look at a trapezoid with a long upper base, it will feel as if the upper base is raised toward you, so you can intuitively understand that the upper side of the thumbnail image 62 is in the direction that is raised toward you toward the plane of the map. Can do.

The camera control terminal 10 according to the present embodiment transforms the captured image into a trapezoidal shape having an upper top with a long upper side, generates a thumbnail image rotated in accordance with the imaging direction, and outputs the synthesized image on the map. Since the output is performed, the operator can intuitively grasp the relationship between the direction of the thumbnail image and the map by looking at the image displayed on the image display device.
[Second Embodiment of Output Image Generation Method]
A second example of the output image generation method performed by the image processing unit 109 and the composition processing unit 106 of the camera control terminal 10 according to the present embodiment will be described with reference to the flowchart of FIG. FIG. 8 shows an example of the synthesis process in the second embodiment. In the second embodiment, the first image processing (step S401), the second image processing (step S402) of the image processing unit 109, and the background creation processing (step S403) of the composition processing unit 106 are the first embodiment. Is the same. In FIG. 7, the same processes as those in the flowchart of the first embodiment shown in FIG.

  Similar to the first embodiment, the image processing unit 109 performs first image processing (step S401) and second image processing (step S402), and the composition processing unit 106 performs background generation processing (step S403).

  Next, as a camera icon composition process, the composition processing unit 106 reads the camera icon data and the camera position data stored in the storage unit 105, and responds to the camera position on the map according to the camera position data according to the camera icon data. The camera icons 801 are combined (step S701).

  Then, the composition processing unit 106 synthesizes the thumbnail image 505 in an arrangement in which the imaging direction side has a long upper base at a position away from the position where the camera is installed on the map by a predetermined distance in the imaging direction. The output image thus generated is generated (step S702). An example in which the thumbnail image 505 is combined with the camera icon 801 at this time is shown in FIG. When the center coordinate of the camera icon 801 is (X1, Y1), the image angle data is θ, and the distance between the center point of the camera icon 801 and the center point of the thumbnail image 505 to be combined is D, the combining processing unit 106 The coordinates of the center point of the thumbnail image 505 to be performed are combined with the background as (X1 + D × sin θ, Y1 + D × cos θ) to generate an output image. D is a predetermined distance. The composition processing unit 106 sends the output image generated in this way to the output unit 107.

  The output unit 107 outputs the output image data generated by the synthesis processing unit 106 (step S405).

  FIG. 9 is an example of an output image of the second embodiment in the monitoring system installed in the store. In FIG. 9, 91 is a map, 92 is a camera icon, and 93 is a thumbnail image. A plurality of camera icons 92 are combined according to the positions of the plurality of cameras on the map 91, and a plurality of thumbnail images 93 corresponding to the camera icons 92 are respectively combined according to the example of FIG.

  In order to indicate that the thumbnail image 93 corresponds to the camera icon 92, the thumbnail image 93 and the camera icon 92 are connected by a line, or the centers are connected by a line, It is also preferable to represent the camera icon 92 by connecting it on the screen. Further, the direction of the camera icon 92 may be fixed or rotated in accordance with the pan direction. In addition, the distance D is changed according to the focal length of the zoom lens, the size of the thumbnail image 93 is enlarged / reduced according to the focal length of the zoom lens, and the display mode of the thumbnail image 93 is appropriately changed. Also good.

  When the output image of the second embodiment shown in FIG. 9 is compared with the output image of the first embodiment shown in FIG. 6, in the output image of the second embodiment, camera icons are combined on the map, and the combined camera icon is displayed. A thumbnail image is synthesized at a position separated by a predetermined distance in the imaging direction. Therefore, in addition to being able to intuitively grasp that the upper side of the thumbnail image is the direction that floats toward the front of the map, it is possible to intuitively grasp the imaging direction.

  The configuration of the camera control terminal in the present embodiment can be realized in hardware by a CPU, memory, or other LSI of an arbitrary computer, and is realized by a program loaded in the memory as software. Here, functional blocks realized by the cooperation are depicted. Therefore, those skilled in the art will understand that these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.

DESCRIPTION OF SYMBOLS 10 Camera control terminal 20 Surveillance camera 30 Network 40 Image display apparatus 101 Communication processing part 102 Decoding processing part 103 Zoom data processing part 104 Pan data processing part 105 Storage part 106 Composition processing part 107 Output part 108 Operation part 109 Image processing part

Claims (8)

A receiving unit that receives captured image data of a captured image captured by the camera;
Map data indicating a map of an area where the camera is installed, camera position data indicating the position of the camera, trapezoid data indicating a trapezoidal shape with a long upper base and a short lower base, and the imaging direction of the camera A storage unit for storing angle data indicating a horizontal angle;
A first image processing using the trapezoidal data stored in the storage unit is performed on the captured image, and the captured image that has been subjected to the first image processing is used as the angle data stored in the storage unit. An image processing unit for performing second image processing to be rotated according to the
A combining unit that combines the captured image that has been subjected to the second image processing at a position corresponding to the camera position data with respect to the map data, and generates an output image;
An image processing apparatus comprising: an output unit that outputs an output image generated by the combining unit. 2. The image processing according to claim 1, wherein the first image processing is image processing for converting the captured image into a trapezoidal shape having a long upper base and a short lower bottom using the trapezoidal data stored in the storage unit. The image processing apparatus described. 2. The image processing according to claim 1, wherein the first image processing is image processing in which the captured image is cut into a trapezoidal shape having a long upper base and a short lower bottom using the trapezoidal data stored in the storage unit. Image processing apparatus. The first image processing is image processing in which a trapezoidal frame having a long upper base and a short lower base is added to the captured image using the trapezoidal data stored in the storage unit. The image processing apparatus according to 1. The first image processing is image processing in which a trapezoidal icon having a long upper base and a short lower base is added adjacent to the captured image using the trapezoid data stored in the storage unit. The image processing apparatus according to claim 1. The synthesis unit is
The camera icon is combined with the position of the camera on the map from the icon data, the map data, and the camera position data stored in the storage unit, and the direction according to the angle data based on the camera icon The image processing apparatus according to claim 1, wherein an output image is generated by synthesizing the captured images image-processed by the image processing unit at positions separated by a predetermined distance. A receiving step for receiving image data of a captured image captured by the camera;
Angle data indicating a horizontal angle of the imaging direction of the camera, map data indicating a map of an area where the camera is installed, camera position data indicating the position of the camera, A storage step for storing trapezoidal data indicating the shape of a short trapezoid;
The captured image received by the receiving unit is subjected to first image processing using the trapezoidal data stored in the storage unit, and the captured image subjected to the first image processing is stored in the storage unit. An image processing step for performing a second image processing to be rotated according to the angle data;
A synthesizing step of synthesizing the captured image image-processed in the image processing step at a position corresponding to the camera position data with respect to the map data to generate an output image;
And an output step of outputting the output image combined in the combining step. An image processing program used in a computer connected to a camera via a communication line and outputting a captured image captured by the camera,
A receiving function for receiving image data of a captured image captured by the camera;
Angle data indicating a horizontal angle of the imaging direction of the camera, map data indicating a map of an area where the camera is installed, camera position data indicating the position of the camera, A storage function for storing the trapezoid data indicating the shape of the short trapezoid in the storage unit;
The captured image received by the reception function is subjected to first image processing using the trapezoidal data stored in the storage unit, and the captured image subjected to the first image processing is stored in the storage unit. An image processing function for performing second image processing to be rotated in accordance with the angle data,
A synthesis function for generating an output image by synthesizing the captured image image-processed by the image processing function at a position corresponding to the camera position data with respect to the map data;
An image processing program for causing a computer to realize an output function for outputting the output image.

Images