Patent ID: 9706135
Date: 2017-07-11
CPC Classifications: G06T,H04N

Claim:
1. A method, comprising: determining, by circuitry of a camera that captures an image of a scene, position information of a virtual camera with respect to a position of the camera, the position information including a position and an orientation of the virtual camera, the orientation including a yaw (θ generating a cut-out image from the image according to the position information; determining, by the circuitry, a set of pixel positions for the cut-out image; generating, by the circuitry, a virtual camera rotation matrix to be applied to the set of pixel positions, the virtual camera rotation matrix expressing a combination of at least one of the yaw, the pitch and the roll; generating, by the circuitry, a perspective-corrected plane for the cut-out image by applying the virtual camera rotation matrix to the set of pixel positions, the perspective-corrected plane being represented with x, y and z coordinates; transforming, by the circuitry, the perspective-corrected plane by dividing each of the x and y coordinates by the z coordinate and by zooming-in by a focal length of the camera to determine a corresponding transformed pixel position for each of the set of pixel positions and to generate a set of transformed pixel positions for the set of pixel positions; mapping, by the circuitry, each of the transformed pixel positions to an associated pixel in a portion of the image; and establishing, by the circuitry, a value for each pixel of the cut-out image at pixel positions of the set of pixel positions and corresponding to the set of transformed pixel positions using a value of the corresponding associated pixel in the portion of the image, wherein the roll is calculated according to equation (1): φ ρ the predetermined camera pitch axis and the predetermined camera roll axis define a horizontal plane of the scene.