JP5467683B2 - Stereoscopic caliper image forming device and program for stereoscopic video display device - Google Patents

Description

  The present invention relates to a stereoscopic caliper image used for estimating the width of an object displayed in an image and the distance between objects, and the width and distance in a stereoscopic video display device that stereoscopically displays an image acquired by the stereoscopic imaging device. The present invention relates to an apparatus for generating a numerical display.

  In recent years, stereoscopic image display devices have been remarkably developed. In a stereoscopic image display device, for example, a pair of left and right imaging means are arranged so as to have a parallax, a pair of captured left and right images are displayed on a monitor, and each image is separately captured by the left and right eyes and synthesized in the brain By doing so, stereoscopic viewing is achieved.

  For stereoscopic viewing, the left and right images are alternately displayed in a time-division manner, and the left and right images are alternately observed with glasses equipped with a liquid crystal shutter, and the left and right images are passed through a polarizing filter whose polarization axes are orthogonal to each other. In addition, a polarization filter glasses system that displays polarized light on the same plane and separates the left and right images using polarization filter glasses whose polarization axes are orthogonal to each other on the left and right sides, and the polarization direction is 90 for each horizontal dot line on the liquid crystal display screen. Left and right eyes separated by looking at circularly polarized glasses with left and right rotating circularly polarizing plates arranged on the left and right, with left and right eye images arranged alternately, with liquid crystal filters that change in degree Devices based on various principles, such as a circularly polarized light method, in which a video for viewing is simultaneously viewed with the left and right eyes and stereoscopically viewed, are used. There is also a method in which a stereoscopic image can be observed with the naked eye.

  The ability to discriminate the subject is remarkably improved by making the video stereoscopic. In particular, if a stereoscopic endoscope camera can be used in a medical field, a great effect is expected in supporting diagnosis and surgery of a built-in disease. Furthermore, if the dimensions of an object in a stereoscopic image and the distance between objects can be easily known, it will greatly contribute to accurate diagnosis and surgery.

  However, the image obtained from the stereoscopic endoscope camera is mainly information on the shape, arrangement, and color, and information on the size of the object displayed as the image cannot be obtained directly. Since the positional relationship between the stereoscopic camera and the human eye does not necessarily correspond, it is particularly difficult to accurately measure the size and distance of the object being stereoscopically viewed. Therefore, in general, the size and the like are often estimated based on a comparison object such as forceps reflected in the display image. As described above, there is no certainty about the size and distance of the object in the video.

The photographing method using a stereoscopic camera includes a distinction between a parallel method and an intersection method focusing on the optical axis direction of the camera. However, when obtaining the position of a certain point in a stereoscopically viewed image, there is no essential difference because both follow the method based on the intersection of the line of sight of the camera corresponding to the left and right eyes. However, since it is necessary for the object to be included in both the left and right camera fields of view in order to enable stereoscopic viewing, the intersection method allows stereoscopic viewing of objects closer to the camera, and the intersection angle of the line of sight Therefore, there is an advantage that the stereoscopic effect of the image when viewed is large.
In particular, in a stereoscopic endoscope apparatus, since the distance between the left and right cameras is narrow, the intersection method is often used.

  In diagnosis or surgery using a stereoscopic endoscope device, an operator observes the affected area displayed in a stereoscopic image photographed and displayed by a stereoscopic endoscope camera, for example, the shape of the affected area. It is expected that the surrounding conditions and colors will be used as important judgment materials for diagnosis. However, there is no appropriate means to accurately estimate the size of the affected area and the distance from other objects, and although a stereoscopic image that makes you feel the depth can be obtained, the size and distance can only be estimated based on past experience. There was no way. In addition, the size of the affected area can only be estimated using a comparison object that is copied together with a forceps or the like, but the positional relationship is not clear and it is difficult to estimate accurately.

For this reason, there is a need for a method for generating a distance image for an image captured by a stereoscopic endoscope camera. However, in a stereoscopic video display apparatus, a simple method for obtaining the distance and dimensions of the real object from the stereoscopically displayed video is not yet known.
Note that such a situation is not limited to a stereoscopic endoscope device, but also applies to a stereoscopic video display device using a commonly used stereoscopic camera, and it is possible to accurately determine the dimensions and mutual distances of things in a video. difficult.

  Patent Document 1 describes a stereoscopic imaging device in which a measurement scale having an optimum size is drawn on a monitor by a measurement scale generation circuit. The scale generation circuit for measurement disclosed in Patent Document 1 calculates the magnification of an image according to the distance to a test object separately measured for a stereoscopic camera arranged according to a parallel method in which the optical axes of the cameras do not intersect. A scale corresponding to the magnification is generated.

  In the stereoscopic imaging apparatus described in Patent Document 1, when the test object to be observed is brought to the center of the image, it is based on the position on the CCD element of the test object reflected on the camera by the newly provided stereo measurement apparatus. Thus, the distance to the test object is automatically measured, and a measurement scale corresponding to the photographing magnification of the subject is formed according to the measured distance. The formed measurement scale is automatically displayed on the monitor screen.

JP 2007-187590 (paragraphs 0027, 0030, etc.)

  The scale display described in Patent Document 1 is scaled based on the result of distance measurement of the object brought to the center of the image, and no scale is given in the depth direction. Therefore, every time an attempt is made to know the dimensions of another test object, it is necessary to move the field of view of the camera so that the test object comes to the center of the image.

Moreover, even if the distance from the camera to the test object can be obtained, the dimensions of the test object cannot be known unless the amount of movement of the camera visual field is compensated. Further, it cannot be used to know a distance between any two points, particularly a distance including a depth direction component.
The scale display described in Patent Document 1 can be applied to a stereoscopic camera using the intersection method by performing an operation that incorporates the convergence angle and the distance to the convergence point. Similarly, the dimensions of the subject and the distance between two points cannot be known.

  On the other hand, the applicant of the present application has already proposed a stereoscopic scale image forming apparatus that displays a stereoscopic scale that can also represent dimensions in the depth direction in stereoscopic images, according to Japanese Patent Application No. 2009-160664. The three-dimensional scale image forming apparatus disclosed by the present applicant can place a three-dimensional scale image with an actual scale in an appropriate direction at an arbitrary three-dimensional position in the video.

  However, even with the three-dimensional scale image forming apparatus previously disclosed by the applicant of the present application, in order to know the dimension of the test object and the distance between the two points, the operator needs to read the scale, and the exact dimension and distance It takes some skill to get.

  Therefore, the problem to be solved by the present invention is to measure the dimensions and distances of other objects with respect to an object existing at an appropriate position of a stereoscopic image captured by a stereoscopic camera. It is to provide a three-dimensional caliper image forming apparatus for determining the distance between the pointers when the pointer is raised and displaying the distance on the three-dimensional image display apparatus.

  The stereoscopic caliper image forming apparatus according to the present invention includes a stereoscopic imaging device (stereoscopic camera) including a first imaging device and a second imaging device corresponding to the left eye and the right eye, and an imaging signal from the stereoscopic imaging device. An image signal generation device that generates signal signals corresponding to the left eye and right eye by signal processing, and a 3D image signal generator that generates a 3D image signal for displaying a 3D image by combining the image signals corresponding to the left eye and the right eye The apparatus is applied to a stereoscopic video display apparatus that includes the device and a display that stereoscopically displays a video that can be stereoscopically viewed based on a stereoscopic video signal.

In order to solve the above problems, a stereoscopic caliper image forming apparatus according to the present invention generates an operation panel having an operation end for designating a position of a pointer displayed in a stereoscopic image represented on a display, and generates pointer position information. A pointer image display device to be supplied, a coordinate calculation device that calculates coordinate values representing a three-dimensional position of the pointer in a coordinate system that receives pointer position information and is fixed to the stereoscopic imaging device, and 2 in the stereoscopic image A distance calculation device that calculates and supplies an actual distance value between the two pointers based on the coordinate values calculated for the two pointers. An image signal obtained by adding a pointer image to each of the image by the first imaging device and the image by the second imaging device is generated and transmitted to the display. One of the inputs entity distance value between the pointer transmitted to a display to generate an image signal to be numerically displayed, the display is characterized by displaying a real distance value between images and two pointers pointers.
The stereoscopic vernier caliper image forming apparatus of the present invention may further include a stereoscopic vernier caliper image display device so as to form a stereoscopic vernier caliper image with the positions of the two pointers as end points of the measurement length and to display the stereoscopic image on the display. .

In order to solve the above-described problem, the stereoscopic caliper image forming program according to the present invention generates position information of the first pointer image and the second pointer image for stereoscopic display on the display of the computer in the stereoscopic caliper image forming apparatus. And a pointer image display means for transmitting to the stereoscopic video signal generating device, and means for moving the position of the pointer in the stereoscopic image based on a signal input from an operation end for moving the position of the pointer image in the stereoscopic image; A coordinate calculation means for expressing the three-dimensional position of the pointer in the stereoscopic image by coordinates in a coordinate system fixed to the stereoscopic imaging device, and between the two pointers based on the coordinates specified for the two pointers in the stereoscopic image In order to calculate the actual distance and display it on the display, information on the calculated actual distance is transmitted to the stereoscopic video signal generation device. Characterized in that to function as a unit.
Furthermore, the program according to the present invention is a three-dimensional caliper image that causes a computer in the three-dimensional caliper image forming apparatus to form a three-dimensional caliper image in which the tip of the anvil and the spindle are aligned at the positions of the first and second pointers and to display the three-dimensional image on the display You may make it function as a display means.

The operator observes the stereoscopic image on the display and displays the position of the anvil and spindle of the stereoscopic caliper image displayed in the stereoscopic image by the stereoscopic caliper image forming apparatus according to the present invention, that is, the position of the end point of the measurement distance. It is possible to move the object three-dimensionally and specify any two points indicating the part of the stereoscopic image whose size is to be known and the position where the distance is to be measured in the stereoscopic image. Since the distance between the two points is sequentially displayed on the display, the size and distance of the object can be immediately known.
Since the stereoscopic caliper image is stereoscopically displayed, each part of the stereoscopic caliper image has a size corresponding to the depth distance in the stereoscopic video image. Therefore, the object of the object to which the stereoscopic caliper is applied by observing the stereoscopic caliper image is displayed. The position can be grasped intuitively.

  The coordinate system fixed to the stereoscopic imaging device using the intersection method is an orthogonal coordinate system in which a bisector that bisects the convergence angle at which the optical axes of the two imaging devices intersect is a single coordinate axis (Y axis). It is preferable that In particular, it is possible to have the second coordinate axis (X axis) on the plane including the optical axes of the two imaging devices, that is, in the direction in which the two imaging devices are arranged. Furthermore, using a coordinate system in which the origin is located at the midpoint of the line segment connecting the principal points of the optical systems of the two imaging devices can simplify coordinate calculation and distance calculation. Note that the origin may be arranged at a convergence point, which is a point where the optical axes of the two imaging devices intersect.

The coordinates of the pointer set by the operator can be easily obtained by calculation based on the display position of the pointer in the reference video screen displayed on each display as an image shown to the left eye and an image shown to the right eye. It is also easy to obtain the display position of the pointer in the reference video screen from the three-dimensional position of the pointer.
The reference video screen is set, for example, on a convergence plane that is provided perpendicular to the Y axis at a convergence point where the optical axes of the first imaging device and the second imaging device intersect. The image of the convergence point in the image shown to the left eye and the image shown to the right eye will overlap the same point on the display.
When the position of the pointer is obtained by three-dimensional coordinates fixed to a stereoscopic imaging apparatus used for stereoscopic video shooting, the distance between the two pointers can be easily obtained by calculation.

  The operator can easily adjust the position of the measurement tip (anvil) of the stereoscopic caliper image by operating the operation panel. When the operator adjusts the position of each pointer to the target object while observing the target object to be measured and the image on which the solid caliper image is displayed, a solid caliper image in which the anvil is aligned with the two pointers is displayed. The actual distance between the two pointers is automatically displayed. Whether or not the position of the pointer and the target object is three-dimensionally matched can be determined by the vision of an operator who stereoscopically views the image displayed on the display.

When the arithmetic unit calculates and displays the actual distance, for example, by giving the distance between the origin and the convergence point as a reference value, it is accurately converted between the coordinate value of the coordinate system fixed to the stereoscopic imaging device and the actual size. It can be performed.
In addition, since the coordinate system is different if the optical system of the stereoscopic imaging device is different, when creating a unique coordinate system for each stereoscopic imaging device, the reference stereoscopic scale associated with the actual size is set to a reference position such as a convergence point. The scale may be calibrated against the actual dimensions on the basis of the image obtained by arranging and photographing with the stereoscopic imaging device.

According to the present apparatus, since the distance between the pointers can be easily calculated, the stereoscopic caliper image can be followed while the position of the pointer is moved, and the distance can be displayed on the display in real time.
Further, when the shape of the stereoscopic caliper image is displayed in a size according to the distance from the stereoscopic imaging device or the Y coordinate value, the perspective of the target can be accurately grasped and accurate observation can be performed.

  The operation panel for controlling the position of the stereoscopic caliper image that is overridden by the image projected by the stereoscopic camera can be operated not only by the operator while observing the image, but also by an assistant by an operator's instruction. In addition, since it is required that the recorded stereoscopic video can be accurately operated at a later date, it is preferable that the reproducible and easy operation be possible.

  The operation panel includes an operation end for designating each of the pointers in the three-axis directions of the orthogonal coordinate system and an operation end that can be immediately returned to the reference position by one operation. The reference position of the pointer or the stereoscopic caliper image is preferably the intersection of the optical axes of the two photographing devices, that is, the convergence point.

It is convenient if the operation panel is further provided with a dial that expands and contracts the distance between the pointers while fixing the measurement axis direction of the solid caliper. In addition, a switch for selecting a pointer, a switch for instructing position determination, and the like can be mounted. A commonly used pointing device such as a mouse or a joystick can be used in place of these operation terminals and switches.
In addition, if an operation end such as a tracking ball is provided on the operation panel and the stereoscopic caliper image becomes an obstacle for observing the image, it is possible to easily change the attitude of the stereoscopic caliper image. Convenient.

  When replacing the stereoscopic imaging device, it is possible to select and apply measurement parameters calibrated in advance for the stereoscopic imaging device newly combined with the stereoscopic video display device. The calibrated measurement parameters may be stored in a storage device as a database, and a set of setting values suitable for a new stereoscopic imaging device may be read and applied at the time of switching. This saves adjustment time before use. For example, when performing surgery using a stereoscopic endoscope, the preparation time before the surgeon's operation is shortened and other work is concentrated. This is preferable because it gives a margin to perform.

Note that the pointer image display device, the coordinate calculation device, and the distance calculation device can be configured by electronic circuits that execute logic. It can also be configured by a computer.
The stereoscopic caliper image forming apparatus according to the present invention can be applied to an existing stereoscopic image display apparatus having the above configuration by adding a stereoscopic caliper image forming apparatus. When the stereoscopic caliper image forming apparatus is configured by a program for causing a computer to function, the present invention can be applied by adding this program and an operation panel to the control apparatus of the existing stereoscopic video display apparatus. it can.
The stereoscopic caliper image forming apparatus of the present invention can be applied to stereoscopic video (moving images), but it goes without saying that it can also be used for stereoscopic still images.

The stereoscopic caliper image forming apparatus of the stereoscopic video display device according to the present invention allows the operator to specify the pointer position of the stereoscopic caliper image with respect to the video of the target object in the image, so that the size of the target object or between two appropriate points can be determined. Accurate distances between pointers, such as distance, can be easily obtained.
In particular, when observing or operating on an affected area using a stereoscopic endoscope apparatus, by using the stereoscopic caliper image forming apparatus according to the present invention, the operator can measure the size of the affected area or the like displayed in the image. It is useful as an auxiliary device because the distance can be easily known.

It is a block diagram of the stereoscopic caliper image forming apparatus of the stereoscopic video display apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which shows the example of a display of the display in this embodiment. It is a conceptual diagram which shows the example of a display of the solid caliper image of a display in this embodiment. It is a perspective view of the operation panel concerning this embodiment. It is a perspective view which shows the example of a change of a solid caliper image when the pointer which concerns on this embodiment is moved to the Y-axis direction. It is a perspective view explaining the relationship between the position and display size of the reference | standard figure with respect to the 1st imaging device of the stereoscopic imaging device in this embodiment, and a 2nd imaging device. It is a plane conceptual diagram explaining the relationship between the pointer position of the solid caliper according to the present embodiment and the line of sight of the left and right imaging devices. It is a side conceptual diagram explaining the relationship between the pointer position of the solid caliper according to the present embodiment and the line of sight of the left and right imaging devices. It is a conceptual diagram explaining the relationship between the coordinate of the arbitrary points which concern on this embodiment, and the corresponding point on the image stereoscopically viewed. It is a conceptual diagram explaining the left and right image planes when the stereoscopic caliper pointer according to the present embodiment is stereoscopically displayed. It is a flowchart explaining the use procedure of the solid caliper image which concerns on this embodiment. It is a flowchart explaining the pointer position setting procedure of the solid caliper of this embodiment.

  Hereinafter, a stereoscopic caliper image forming apparatus of a stereoscopic video display apparatus according to the present invention will be described in detail with reference to the drawings. In the drawings, constituent members having the same function are denoted by the same reference numerals to simplify the description and avoid duplication of description.

  FIG. 1 is a configuration diagram of a stereoscopic video display apparatus using a stereoscopic caliper image forming apparatus according to one embodiment of the present invention. A stereoscopic video display apparatus to which the stereoscopic caliper image forming apparatus of the present embodiment is applied includes a stereoscopic imaging apparatus 1, an image signal generating apparatus 2, a stereoscopic video signal generating apparatus 3, a display 4, and a stereoscopic caliper image forming apparatus 5. Is done.

The first imaging device 11 and the second imaging device 12 included in the stereoscopic imaging device 1 are cameras having substantially the same performance, and are coupled with a fixed distance between the principal points. Are arranged so as to capture a pair of left and right images and output an imaging signal. When the intersection method is used as in the present embodiment, the optical axes of the pair of imaging devices intersect with each other at a convergence angle, so that they are arranged to intersect at a convergence point 13 determined in front.
The stereoscopic imaging apparatus 1 may be a pair of cameras provided at the probe tip of the stereoscopic endoscope.

The imaging signals generated by the first imaging device 11 and the second imaging device 12 are input to the image signal generation device 2. The image signal generation device 2 performs signal processing on the imaging signals input from the imaging devices 11 and 12, and generates an image signal for each camera. In the figure, an image for viewing with the left eye is generated from the first imaging device 11, and an image for viewing with the right eye is generated from the second imaging device 12.
A pair of image signals for the left eye and right eye output from the image signal generation device 2 are combined by the stereoscopic video signal generation device 3 to become a stereoscopic video signal for display as a stereoscopic video on the display 4. Sent to.

  On the display 4, the left-eye image is displayed so that it can be seen by the left eye, and the right-eye image is displayed so that it can be seen by the right eye. By arranging the pair of images separated into the left-eye image and the right-eye image so that the images at the convergence point 13 overlap each other, the real image can be stereoscopically viewed from the two images.

  Stereoscopic methods include, for example, a time-division stereoscopic display method in which a right eye image and a left eye image are alternately switched and displayed, and observation is performed with dedicated stereoscopic glasses such as liquid crystal shutter glasses that are turned on and off in synchronization with this, Right and left images are projected onto the projector through polarization filters that are orthogonal to each other and displayed on the same screen, and polarized filter glasses that separate the left-eye image and right-eye image with polarization filter glasses, and horizontal scanning lines on the liquid crystal display surface Install a liquid crystal filter whose polarization direction changes by 90 degrees every time, and arrange images for the left eye and right eye on the liquid crystal display surface alternately for each horizontal scanning line. Various methods are known, such as a circular polarization method in which the left and right images separated by viewing with the circularly polarized glasses arranged on the left and right are viewed simultaneously with the left and right eyes, respectively.

The stereoscopic caliper image forming apparatus 5 includes a pointer image display device 21, a coordinate calculation device 22, a distance calculation device 23, an operation panel 24, a storage device 25, and a stereoscopic caliper image display device 26.
Pointer position information designated by the operator using the operation panel 24 is generated by the pointer display device 21 and transmitted from the pointer display device 21 to the stereoscopic video signal generation device 3. The stereoscopic video signal generation device 3 combines the image signal generated for the left and right eyes by the image signal generation device 2 from the imaging signal generated by the stereoscopic imaging device 1 and the received position information of the pointer. The stereoscopic image signal obtained by overlapping the stereoscopic image of the object acquired by the imaging device 1 and the stereoscopic image of the pointer is displayed on the display 4.

FIG. 2 is a conceptual diagram showing a display example on the display surface 41 of the display 4. On the display surface 41, a stereoscopic image 46 based on a parallax method for determining the depth based on the parallax between the left and right eyes is displayed.
On the display surface 41 of the display 4, both the left-eye image supplied from the first imaging device 11 and the right-eye image supplied from the second imaging device 12 are displayed. In order to obtain the stereoscopic image 46 from such a display, it is necessary to separate the image for the left eye and the image for the right eye and view them separately for the left eye and the right eye.

  As described above, there are several methods for stereoscopic viewing, such as a time-division stereoscopic display method and a polarizing filter glasses method. In this embodiment, two images are arranged side by side and viewed with different eyes. Any specific method may be used as long as it is a parallax method for visualization.

The display surface 41 shown in FIG. 2 further includes a solid caliper represented by two pointers 42 and 43 and a connecting line 44 connecting the pointers, and a distance display frame 45 for displaying the actual distance of the pointers 42 and 43. It is displayed. In FIG. 2, the two pointers 42 and 43 indicate not the outline of the object image 46 but three-dimensionally the end points of the dimension to be known inside.
Further, the pointers 42 and 43 may be displayed larger as the position of the pointer is closer and smaller as the pointer is farther so as to facilitate intuitive grasp of the sense of distance.

  In order to improve the reality of the image, the caliper image can be displayed in three dimensions instead of representing the caliper with the two pointers 42 and 43 and the straight line 44 connecting the pointers. FIG. 3 shows an example of a caliper image 47 for stereoscopic display in which a caliper shape having a frame 48 and a vernier 49 is designed to resemble a micrometer. The caliper image 47 is three-dimensionally represented on the screen of the display 4 using computer graphics (CG).

  The pointers 42 and 43 are in contact with the anvil 38 of the caliper image 47 and the spindle 39 (striking the caliper jaw), and the measurement axis Yn axis of the caliper image 47 is placed on the connecting line 44 connecting the two pointers 42 and 43. Is set. The distance and interval are measured along the Yn axis. Further, the operation panel 24 is provided with a pointer device such as a tracking ball 37, and by operating the pointer device 37, the inclination of the frame 48 is adjusted with the Yn axis as a rotation axis so as not to obstruct the background stereoscopic image. can do. Note that the vernier caliper image 47 to be stereoscopically displayed may be displayed translucently so as not to interfere with the background image.

When the pointers 42 and 43 are brought into contact with the target measurement positions using the operation panel 24, the respective coordinates are calculated by the coordinate calculation device 22, and the three-dimensional caliper image display device 26 selects the three-dimensional caliper image corresponding to the pointer position. Graphics are formed, and the distance calculation unit 23 calculates the distance between the pointers. Display information of the formed stereoscopic caliper image and the obtained distance are transmitted to the stereoscopic video signal generation device 3 and incorporated into the stereoscopic video signal, and the stereoscopic caliper image is stereoscopically displayed on the display screen 41, and the distance value is displayed on the display screen. 41 is displayed in a distance display frame 45 in 41.
Note that the distance display frame 45 need not be stereoscopically displayed, and may be displayed in a planar manner.

FIG. 4 is a perspective view showing an example of an operation panel used in the stereoscopic caliper image forming apparatus of the present embodiment. The operation panel 24 is a device that designates how to apply the caliper, that is, the three-dimensional position of the pointer.
As shown in FIG. 4, a seesaw key 31, a cross key 32, several push button switches 33, 34, and 35, and a vernier 36 with a ratchet stop are arranged on the operation panel 24. In order to increase the degree of freedom of operation, a tracking ball 37 or a joystick (not shown) may be further provided.

The seesaw key 31 is a switch for instructing movement of the pointer in the depth direction (Y-axis direction). The seesaw key 31 is a switch that is provided on the side surface of the operation panel 24 and swings in the front-rear direction. When the end on the opposite side of the seesaw key 31 is pushed in, the designated pointer is displayed far away (in the positive Y-axis direction). If the end on the near side is pushed in, the pointer moves in the direction approaching the near side (Y-axis negative direction). Actually, for example, the Y coordinate value of the pointer in the coordinate system fixed to the stereoscopic imaging apparatus can be increased or decreased to move in the Y axis direction.
The seesaw key 31 may designate the movement direction and speed of the pointer according to the depth of depression and the duration of depression.

  The cross key 32 is a switch that is provided on the upper surface of the operation panel and swings in two directions to direct movement of the pointer in the image in the horizontal direction (X-axis direction) and vertical direction (Z-axis direction). This switch is equivalent to two seesaw keys. The horizontal arm of the cross key 32 controls the movement of the pointer in the horizontal direction by, for example, increasing or decreasing the X coordinate value. If the right side of the arm is pushed in, the pointer moves to the right in the horizontal direction (X-axis positive direction). If the left side is pushed in, the pointer moves to the left side in the horizontal direction (X-axis negative direction). For example, the vertical arm controls the vertical movement of the pointer in the image by increasing or decreasing the Z coordinate value, and if the upper side of the arm is pushed in, the pointer moves upward (Z-axis positive direction). If the lower side is pushed in, it moves downward (Z-axis negative direction). Note that the cross key 32 may be configured to move at a high speed in the direction determined as described above by long pressing.

The push button switches 33, 34, and 35 are switches that determine the position of the pointer, give a command for returning to the initial position of the pointer, and select the pointer to be operated by pressing the button. Note that four or more push button switches may be provided as necessary.
The vernier 36 with a ratchet stop is provided on the side surface of the operation panel 24, and is used to increase or decrease the distance without changing the direction connecting the anvil 38 of the stereoscopic caliper image and the spindle 39. It has the same function as a vernier in a micrometer.

  The operator can move the position of the pointer to an arbitrary position in the video by using the seesaw key 31 and the cross key 32 on the operation panel 24. The position of the pointer can be expressed by XYZ coordinates in an orthogonal coordinate system fixed to the stereoscopic imaging apparatus. Here, for convenience, the origin of the coordinate system is placed at the midpoint of the line connecting the principal points of the optical systems in the two imaging devices, the X axis is placed on the line connecting the principal points, and the Y axis is the origin. An XYZ orthogonal coordinate system in which the Z axis is taken in a direction perpendicular to the X axis and the Y axis on a line connecting the convergence point 13 and the convergence point 13 is used.

  If the three-dimensional positions of the two pointers 42 and 43 are determined, a solid caliper image 47 in which the anvil 38 and the spindle 39 are brought into contact with these pointers can be easily formed, and a straight line connecting the pointers can be easily drawn. The distance between the pointers is also given. In order to determine the three-dimensional positions of the pointers 42 and 43, it is sufficient to have the seesaw key 31 and the cross key 32 for adjusting the three degrees of freedom for each pointer.

The operation end for moving the pointer can be replaced with a combination of the seesaw key 31 and the cross key 32 with a trackball 37 or a joystick. These have a difference in operability, and there is a preference of the operator, so that they may be selected.
Further, the tracking ball 37 rotates the frame 48 around the rotation axis (Yn axis) of the three-dimensionally displayed caliper image 47 when the shadow of the frame 48 of the three-dimensionally displayed caliper image 47 interferes with the image observation. Can be used for.

It goes without saying that the form of the three-dimensional caliper image is not determined only by the position of the pointer in the two-dimensional screen, but is determined according to the three-dimensional position. Further, the shape of the stereoscopic caliper image can be displayed in a size according to the distance from the stereoscopic imaging device or the Y coordinate value.
For example, FIG. 5 is a diagram for explaining how the stereoscopic caliper image changes when the pointer moves in the Y-axis direction without changing the distance in the screen. FIG. 6 is a perspective view for explaining the relationship between the position of the reference graphic and the display size with respect to the first imaging device and the second imaging device of the stereoscopic imaging device.

FIG. 6 shows a reference solid figure, a convergence point 13 formed by the optical axis of the first image pickup device 11 and the optical axis of the second image pickup device 12 intersecting, and an intermediate point between the main points 14 and 15 of the two image pickup devices. A state in which the size of the solid figure images 21, 22, and 23 projected onto the display device 4 changes depending on the position on the Y axis when placed on the Y axis connecting the point O is shown.
As shown in FIG. 6, a convergence surface 18 that is perpendicular to a plane including the optical axes of the two imaging devices is assumed at the position of the convergence point 13. Here, for example, a line connecting the principal points 14 and 15 of the first imaging device 11 and the second imaging device 12 is a reference line 19, and a distance from the reference line 19 to the convergence surface 18 is Dc.

When a solid figure exists on the convergence surface 18, the three-dimensional figure image 21 displayed on the display 4 has a predetermined size multiplied by a predetermined magnification defined by an optical system, an electronic circuit, a display device, and the like. Become.
The three-dimensional graphic image 22 is an image when the reference three-dimensional graphic is displayed as being located closer to the imaging device than the convergence surface 18. Here, if the distance from the reference line 19 to the reference 3D figure corresponding to the 3D figure image 22 is Ds, the size of the 3D figure image 22 is Dc of the 3D figure image 21 displayed as being on the convergence plane 18. / Ds times enlarged and displayed.

  The three-dimensional graphic image 23 is an image when the reference three-dimensional graphic is arranged at a position farther from the imaging device than the convergence surface 18. Here, if the distance from the reference line 19 to the standard graphic corresponding to the three-dimensional graphic image 23 is D1, the size of the three-dimensional graphic image 23 is Dc / of the three-dimensional graphic image 21 displayed as being on the convergence surface 18. The display is reduced to D1 times.

Thus, even for an object of the same size, if the distance from the imaging device 2 changes, the size of the image displayed on the display 4 changes regularly according to the distance, and the image observer It is possible to accurately awaken the sense of perspective of the image in the video.
Therefore, the object of measurement is intuitively observed by observing the image of the three-dimensional caliper applied to the measurement object by changing the size according to the distance as described above with respect to the image of the three-dimensional caliper for measuring the distance or interval. The depth position can be inferred.

  FIG. 5A shows a stereoscopic caliper image when the pointer A and the pointer B exist on substantially the same XZ plane in the present embodiment. FIG. 5B shows a case in which the pointer B is in a state of being moved away along the Y axis in the depth direction even though the pointer A and the pointer B in FIG. A solid caliper image is shown.

  In FIG. 5A, the anvil portion aligned with the pointer B is close to the size of the spindle portion aligned with the pointer A. On the other hand, in FIG. 5B, the anvil image corresponding to the pointer B becomes smaller corresponding to the distance, the frame becomes thinner near the anvil, and the stereoscopic caliper image is inclined. Even if the distance between the image of the pointer A and the image of the pointer B on the screen does not change, it is intuitively clear that the pointer B is moving away.

Even when the depth positions of the pointers are different, the distance between the two pointers can be obtained correctly by using the coordinate values of the pointer A and the pointer B. In this embodiment, however, the stereoscopic caliper image is obtained from the stereoscopic imaging device. Alternatively, by displaying the size according to the Y coordinate value, the perspective of the target can be accurately grasped, and intuitive observation becomes possible.
In addition, attaching labels to the pointers A and B and changing the size of the labels according to the perspective are also effective for intuitively observing the perspective of the target.

The display size of the stereoscopic caliper and the pointer label can be determined based on the calculation corresponding to the Y coordinate value, but the reference stereoscopic scale is photographed with a stereoscopic imaging device, and the relationship between the Y coordinate and the dimension is actually measured. Confirmed results can also be used.
For example, by placing a reference three-dimensional scale having a predetermined shape at an appropriate position on the optical axis and taking a real image, the size of the three-dimensional scale image in the image at the photographed position, that is, the Y coordinate position is determined. Therefore, it is possible to obtain a conversion factor between the size of the actual object and the image within the use range by using the results of photographing at a plurality of different positions within an appropriate range. For the intermediate position, a reasonable coefficient can be obtained by interpolation calculation.
Since the conversion coefficient obtained in this way is a result including the influence of nonlinearity of the optical system and unforeseen disturbances, it is not necessary to perform a complicated correction operation in order to match the actual condition.

FIG. 7 is a conceptual plan view illustrating the relationship between the position of the pointer that determines the positions of the anvil and spindle of the solid caliper and the line of sight of the left and right imaging devices, and FIG. 8 is a conceptual side view thereof. In the displayed example, it is assumed that the left-eye imaging device 11 and the right-eye imaging device 12 are accommodated in the distal end tube 16 of the stereoscopic endoscope.
The positions of the left eye imaging device 11 and the right eye imaging device 12 are fixed by separating the main point 14 of the left eye imaging device 11 and the main point 15 of the right eye imaging device 12 by an appropriate distance 2d. A pair of left and right stereoscopic images are captured by an intersection method in which both optical axes intersect at a convergence point 53.

  In order to make a three-dimensional image, the image of that part needs to be included in either of the image pickup screens of the two image pickup devices 11 and 12. Therefore, the region that can be stereoscopically viewed is a shaded portion in the figure where the fields of view 55 of the two imaging devices overlap. In the side view of FIG. 8, the region is shaded by a diagonal line in the figure, which is limited by the visual field 56 in the vertical direction.

  Note that the first imaging device 11 for the left eye can be expressed by the coordinates of an orthogonal coordinate system in which the origin O is arranged at the midpoint of the line segment fixed to the stereoscopic imaging device 1 and connecting the principal points 14 and 15 of the two imaging devices. The main point 14 is at the position (−d, 0, 0), and the main point 15 of the second imaging device 12 for the right eye is at the position (d, 0, 0).

  The first pointer 42 and the second pointer 43 set in the stereoscopically viewable region are such that the line of sight of the pointers 42 and 43 viewed from the first imaging device 11 is the XZ plane (convergence plane) 54 at the convergence point 53. The projected points 63 and 65 are displayed on the display 4 as instruction points in the left-eye image.

Further, the points 64 and 66 obtained by projecting the line of sight of the pointers 42 and 43 from the second imaging device 12 onto the convergence surface 54 are displayed on the display 4 as instruction points in the right-eye image.
When the instruction point displayed on the display 4 is stereoscopically viewed with both eyes in this way, the first pointer 42 and the second pointer 43 can be seen to exist at their actual positions in the stereoscopic video.

FIG. 9 is a diagram for explaining the relationship between the coordinates of a point such as a pointer at an appropriate position and the coordinates of the position where the line of sight seen from the left and right imaging devices intersects the convergence plane.
7 and 8, assuming that the first pointer 42 is at the position P (X, Y, Z) shown in FIG. 9, the line of sight of the first pointer 42 viewed from the first imaging device 11 is converged. The coordinates of the point Cl projected onto the XZ plane (convergence plane: Y = L) at the point 53 are (X1, L, Zc), and the line of sight of the first pointer 42 viewed from the second imaging device 12 is projected onto the convergence plane. Assume that the coordinates of the point Cr are (Xr, L, Zc). Here, the distance between the principal points of the first imaging device 11 and the second imaging device 12 is 2d, and the distance between the connection point between the principal points and the convergence point 53 is L.

From the similarity triangle of the similarity ratio Y: (LY) shown in FIG. 9, since Y: (LY) = 2d: (X1-Xr),
Y / L = 2d / (2d + X1-Xr)
From many similar triangles with a similarity ratio Y: L,
Z / Zc = Y / L
X / (Xl + Xr) = Y / L
Therefore, if the coordinates of Cl (X1, L, Zc) and Cr (Xr, L, Zc) are known, the coordinates of P (X, Y, Z) can be easily obtained.

Incidentally, X, Y, and Z are obtained by the following expressions.
X = d (Xl + Xr) / (2d + X1-Xr)
Y = 2dL / (2d + X1-Xr)
Z = 2dZc / (2d + X1-Xr)
That is, in the left-eye image and the right-eye image for stereoscopically displaying the pointer, the coordinates when the line of sight of the camera looking through the pointer is projected onto the convergence plane (Y = L) are Cl (X1, L, Zc). And Cr (Xr, L, Zc), the coordinates of the pointer position P (X, Y, Z) corresponding to the entity are logically obtained.

Conversely, if the coordinates of P (X, Y, Z) are given, the coordinates of Cl (X1, L, Zc) and Cr (Xr, L, Zc) can be logically obtained.
Incidentally, Zc, Xl, and Xr are obtained by the following equations.
Zc = ZL / Y
Xl = (XL-d (LY)) / Y
Xr = (XL−d (L + Y)) / Y
Therefore, when the position P of the pointer is given, it is possible to ideally generate a left-eye image and a right-eye image for stereoscopically viewing the pointer.
More realistically, left and right images can be generated in a coordinate space obtained as a result of actual shooting of the reference pattern, for example, using the technique described in Japanese Patent Application No. 2009-160664 disclosed by the applicant of the present application.

  When measuring the diameter and distance of an object using a solid caliper, the operator needs to determine the solid positions of the first pointer 42 and the second pointer 43 by operating the operation panel 24 illustrated in FIG. is there. When the first pointer 42 is selected by using the push button switch of the operation panel 24, the first pointer 42 is initially set to the position of the convergence point 53 as a reference point, that is, the coordinates (0, L) by the function of the pointer image display device 21. , 0). The convergence point 53 is a common center point in the left-eye and right-eye image planes.

Therefore, the operator operates the seesaw key 31 and the cross key 32 on the operation panel 6 to move the first pointer 42 in each of the XYZ directions to the target position P.
The seesaw key 31 has a function of, for example, transmitting a command to increase or decrease the Y value to the pointer image display device 21 to move the position of the pointer in the Y-axis direction. The cross key 32 has a function of moving the pointer position in the X-axis and Z-axis directions by increasing or decreasing the X value and the Z value in the pointer image display device 21, respectively.

  Since the pointer image display device 21 always generates the stereoscopic image information of the pointer using the coordinate value of the pointer and sends it to the stereoscopic video signal generation device 3, the coordinates (X, Y, Z) that change during movement are Since the line of sight through the pointers of the imaging devices 11 and 12 is reflected on the position projected onto the convergence surface 54, the pointer can be stereoscopically viewed at any time.

  The operator can determine that the pointer has reached the target position by visually comparing the three-dimensional position of the three-dimensional pointer with the three-dimensional position of the object in the three-dimensional image on the three-dimensional video screen 41 of the display 4. Then, the push button switch is operated to determine the position of the first pointer 42. When the position of the first pointer 42 is confirmed, a pin image such as an insect pin may be set at the confirmed position at the same time and used as a mark.

Also, there is a utilization method in which a pin image of a mark is first set at the position of an object in the image and a pointer is guided by pinning.
In the above procedure, the pointer is moved in the screen of the stationary camera to align the position of the first pointer 42. However, the pointer position is fixed in the image of the camera, and the shooting direction and target of the camera are fixed. The first pointer 42 can be aligned by changing the distance of.
An anvil 38 of a micrometer-type stereoscopic caliper image 47 as shown in FIG. 3 abuts on the first pointer 42 to move or deform the stereoscopic caliper image following the movement of the first pointer 42. .

Next, when the second pointer 43 is selected, the second pointer 43 also first moves to the position of the convergence point 53 (0, L, 0) which is the reference point. Therefore, as with the first pointer 42, the seesaw key 31 and the cross key 32 are operated to move the second pointer 43 to the target position, and then the push button switch is operated to determine the position.
When the spindle 39 of the micrometer-type stereoscopic caliper image 47 comes into contact with the second pointer 43 and the second pointer 42 moves, the stereoscopic caliper image is moved or deformed following this movement.

In order to make the positional relationship between the pointers easy to understand, the first pointer 42 and the second pointer 43 may be always coupled by a coupling line 44 on the screen. The connecting line 44 is preferably displayed as a thin transparent line so that a background image can be seen.
Further, since the coordinate values of the pointers 42 and 43 are always grasped, the distance between the two pointers can be calculated by the distance calculation device 23 even during movement. Accordingly, the calculation result is transmitted to the stereoscopic video signal generation device 3, and the distance value between the two during movement can be displayed on the distance numerical value display 45 on the display surface 41 of the display 4.

  The seesaw key 31 and the cross key 32 are moved along each axis of the orthogonal coordinate system. However, when the measurement direction does not change, such as when the measurement object sandwiched between the pointers 42 and 43 expands or contracts, the movement for each coordinate axis is performed. In addition, since only the distance between the pointers is directly changed, the ratchet vernier 36 on the operation panel 24 can be operated. Since the vernier 36 is the same as the operation unit of the micrometer that is familiar to the user, there is an advantage that the vernier 36 is handled and familiar to the operator.

  Further, the operation panel 24 is provided with a push button switch for resetting, and when the pointer position is greatly deviated or when the photographing object is changed, the pointer position is converged at a convergence point 53 at a time. It can be moved to a reference position. With this function, it is possible to quickly specify the position of the pointer even when the object moves away from the screen.

FIG. 10 is a diagram for explaining the concept of the left-eye image and the right-eye image for enabling the stereoscopic display of the stereoscopic caliper corresponding to the pair of pointers 42 and 43. FIG. 10A shows an image for the left eye of a solid caliper, and FIG. 10B shows an image for the right eye of the same solid caliper. For simplicity, in the figure, the anvil and spindle of the solid caliper image are represented by black triangles, and the display of the solid caliper image is omitted.
The left-eye image 61 of the three-dimensional caliper shown in FIG. 10A is a portion that is observed with the left eye of a person when displayed on the display 4 together with the left-eye image captured by the first imaging device 11. It becomes. Further, the right-eye image 62 of the three-dimensional caliper shown in FIG. 10B is a portion that is observed with the right eye of the person when displayed on the display 4 together with the right-eye video imaged by the second imaging device 12. It becomes.

  As can be seen with reference to FIGS. 7, 8, etc., the points 63, 64: 65, 66 displayed in FIG. 10 are the lines of sight of the actual point 42:43 of the three-dimensional position as viewed from the imaging devices 11, 12. Is displayed as a position corresponding to the convergence surface 54 (y = L). The images 61 and 62 in FIGS. 10A and 10B can also be referred to as projection views of the first pointer 42 and the second pointer 43 on the convergence surface 54. Images 61 and 62 in FIGS. 10A and 10B are displayed on the display 4, and the screens seen by the left and right eyes are synthesized in the brain, so that the three-dimensional caliper is observed in three dimensions. It is to make it.

  When the left-eye image 61 in FIG. 10A and the right-eye image 62 in FIG. 10B are compared, the height (Z value) of each point displayed for one point is the left-eye image 61 and the right-eye image. The same value is obtained in the image 62. When the X value is larger in the right-eye image 62 than in the left-eye image 61, the pointer position indicated by the point is closer to the imaging device 1 than the convergence surface 54, and when the value in the right-eye image 62 is small. It can be seen that the pointer position is farther than the convergence surface 54.

In FIG. 10, a convergence point 53 corresponding to the center position in both images and an appropriate point 57 shown in FIGS. 7 and 8 are shown together.
Here, the explanation is made using an orthogonal coordinate system in which the origin is set at the midpoint between the principal points of the two imaging devices. However, even when other coordinate systems capable of coordinate conversion are used, they are essentially equivalent. Needless to say.

FIG. 11 is a flowchart for explaining the procedure for using the stereoscopic caliper image according to the present embodiment, and FIG. 12 is a flowchart for explaining the procedure for setting the pointer position of the solid caliper according to the present embodiment.
Prior to using the three-dimensional caliper, three-dimensional imaging of the object to be measured is performed (S01). Stereoscopic imaging is an operation for acquiring a left-eye image and a right-eye image by the first imaging device 11 and the second imaging device 12. The imaging device may be a video camera. The acquired left-eye image and right-eye image are displayed on the display 4 by performing processing for stereoscopic display (S02). The object to be measured displayed on the display 4 can be observed as a three-dimensional image in accordance with a stereoscopic method such as using stereoscopic glasses.

Next, the position of the first pointer 42 is determined (S03).
The position of the first pointer 42 is determined according to the procedure shown in FIG. First, the pointer image display device 21 displays the positions of the first pointer 42 and the second pointer 43 on the screen 41 of the display 4 (S11). As the three-dimensional caliper image, a three-dimensional caliper shape replica image in which the anvil and the spindle are appropriately associated with the positions of the first pointer 42 and the second pointer 43 may be displayed. Note that it is preferable that the stereoscopic caliper image is stereoscopically displayed in accordance with the actual size and orientation using a computer graphics technique.

The operator operates the seesaw switch 31 and the cross key 32 of the operation panel 24 while confirming the position of the image of the first pointer 42 displayed on the display 4 in a stereoscopic view, and the three-dimensional position corresponding to one end point of the measurement target. (S12).
Command signals output from the switches are transmitted to the pointer image display device 21 to change the position of the pointer as commanded. The position information of the pointer is transmitted to the stereoscopic video signal generation device 3, incorporated in the stereoscopic image, and displayed on the display 4.

Whether or not the position of the first pointer 42 is a three-dimensional position that meets the purpose is determined by visually determining the positional relationship with the object to be measured. The depth position of the pointer can be visually determined by the operator in comparison with the image on the screen.
When the three-dimensional caliper image is displayed, the corresponding anvil portion moves as the first pointer 42 moves. The anvil portion displayed on the display 4 changes in size according to the Y coordinate value of the first pointer 42.

If it can be determined that the first pointer 42 is in the desired position, the push button switch is pressed to determine the position, and the subsequent operation of the movement key relating to the first pointer 42 is invalidated (S13).
Thereby, the position of the first pointer 42 shown in FIG. 11 can be determined (S03). A pin image may be set as a mark at the position of the first pointer 42 whose position has been determined. In addition, when the stereoscopic caliper image is displayed, the position of the anvil of the stereoscopic caliper image is determined when the position of the first pointer 42 is determined.

Further, the second pointer 43 is selected, and the image of the second pointer 43 is moved to the three-dimensional position corresponding to the other end point of the measurement object according to the procedure shown in FIG. After confirmation, the push button switch is pressed to determine the position (S04-S06).
When the three-dimensional caliper image is displayed, the spindle portion moves as the second pointer 42 moves. The size of the spindle portion displayed on the display 4 changes according to the Y coordinate value of the second pointer 43.

  Even during the movement of the second pointer 43, the coordinates of the second pointer 43 are calculated one by one by the coordinate calculation device 22, and the distance calculation device 23 uses these coordinate values between the first pointer 42 and the second pointer 43. The distance is calculated one by one. The calculated result is organized by the stereoscopic video signal generating device 3 and displayed in real time on the distance numerical value display 45 on the display surface 41 of the display 4 (S05).

Therefore, when the position of the second pointer 43 is confirmed (S06), if the distance value displayed on the distance numerical value display 45 is read at that time, the value is designated by the first pointer 42 and the second pointer 43. This is the distance in the measurement target (S07).
The distance displayed here can be an actual distance converted from the coordinate value to the actual size.

In the present embodiment, the measurement position of the object is determined using a stereoscopic caliper image, but the measurement position can also be determined using the pointer itself without displaying the stereoscopic caliper image. By omitting the stereoscopic caliper image, the state around the object can be more clearly displayed on the display 4. Note that the pointer is preferably displayed in a size corresponding to the Y-axis direction distance of the point position.
In addition, as an application destination of the stereoscopic caliper image forming apparatus, a stereoscopic imaging apparatus arranged in an intersecting manner is cited, but in a stereoscopic imaging apparatus arranged in a parallel manner, by appropriately adjusting the three-dimensional position of the stereoscopic caliper image The stereoscopic caliper image forming apparatus of the present invention can be applied.

  By using the stereoscopic caliper image forming apparatus of the present invention, it becomes possible to stereoscopically measure the size of the object displayed on the stereoscopic video apparatus and the distance between the objects, and thus particularly a stereoscopic endoscope apparatus is used. Effective in diagnosis and surgery.

DESCRIPTION OF SYMBOLS 1 Stereoscopic imaging device 2 Image signal generation device 3 Video signal generation device 4 Display 5 Stereoscopic caliper image generation device 11 1st imaging device 12 2nd imaging device 13 Convergence points 14 and 15 Main point 16 Endoscope tube 18 Convergence Surface 19 Reference line 21 Pointer image display device 22 Coordinate operation device 23 Distance operation device 24 Operation panel 25 Storage device 31 Y-axis seesaw switch 32 Cross key 33 Push button switch 34 Push button switch 35 Push button switch 36 Vernier 37 with ratchet Tracking Ball 38 Anvil 39 Spindle 41 Display screen 42 Pointer image 43 Pointer image 44 Bonding line 45 Distance numerical display 46 Object image 47 Solid caliper image 48 Frame 49 Ratcheted vernier 51, 52 Optical axis 53 Convergence point 54 Image 62 image 63, 64, 65, 66 points are displayed for the right eye of the convergence plane 55 stereoscopic display area horizontal boundary 56 three-dimensional display area vertical boundary 57 observation points 61 for the left eye

Claims (8)

In a stereoscopic video display device including a stereoscopic imaging device including a first imaging device and a second imaging device, an image signal generation device, a stereoscopic video signal generation device, and a display,
An operation panel including an operation end for designating a position of a pointer displayed in the stereoscopic image represented on the display;
A pointer image display device that generates and supplies position information of the pointer;
A coordinate system in which positional information of the pointer is input and fixed to the stereoscopic imaging device, and an angle at which the optical axis of the first imaging device and the optical axis of the second imaging device intersect is divided into two equal parts. A coordinate calculation device for calculating a coordinate value representing a three-dimensional position of the pointer in an orthogonal coordinate system having a bisector as one coordinate axis ;
A distance calculation device that calculates and supplies an actual distance value between the two pointers based on coordinate values calculated for the two pointers in the stereoscopic image;
With
The stereoscopic video signal generation device inputs position information of the pointer, generates an image signal obtained by adding a pointer image to each of the image by the first imaging device and the image by the second imaging device, and Transmit to the display, input an actual distance value between the two pointers to generate a numerical display image signal and transmit to the display,
A three-dimensional caliper image forming device of a three-dimensional image display device, wherein the display displays an actual distance value between the pointer image and the two pointers. The position of the three-dimensional image of the pointer in each of the image by the first imaging device and the image by the second imaging device is at a convergence point that is the intersection of the optical axes of the first imaging device and the second imaging device. The coordinates of the point at which the line of sight of the first imaging device passes the convergence plane perpendicular to the one coordinate axis to the position where the pointer should be and the line of sight of the second imaging device toward the pointer pass. 2. The three-dimensional caliper image forming apparatus according to claim 1 , wherein the three-point caliper image forming apparatus is designated by coordinates of points to be performed. Furthermore, a solid caliper image display device is provided that forms and supplies an image signal for displaying a solid caliper image with the position of the two pointers as the end point of the measurement length,
The stereoscopic video signal generation device inputs an image signal for displaying the stereoscopic caliper image, and displays the image by adding the stereoscopic caliper image to each of the image by the first imaging device and the image by the second imaging device. An image signal is generated and transmitted to the display,
Said display stereoscopic caliper image forming apparatus according to claim 1 or 2, wherein the displaying 3-dimensional stereo caliper image. The said operation panel is provided with the operation end which moves the position of the said pointer in an image | video to the position of the intersection of the optical axis of the said 2 imaging device, The any one of Claim 1 to 3 characterized by the above-mentioned. Stereoscopic caliper image forming device. The stereoscopic vernier caliper image forming apparatus according to any one of claims 1 to 4 , wherein the first imaging device and the second imaging device are cameras of a stereoscopic endoscope. A stereoscopic endoscope apparatus comprising the stereoscopic caliper image forming apparatus according to claim 5 . Position of a pointer image applied to a stereoscopic image display device including a stereoscopic imaging device including a first imaging device and a second imaging device, an image signal generation device, a stereoscopic video signal generation device, and a display In a three-dimensional caliper image forming apparatus provided with an operation panel having an operation end for moving the image in a three-dimensional image and a computer,
The computer
Pointer position information is supplied to the stereoscopic video signal generation device, and a pointer image is added to each of the image by the first imaging device and the image by the second imaging device, and the position of the pointer is displayed on the display. Pointer image display means for displaying the image in three dimensions;
Means for moving the position of the pointer in the stereoscopic image represented on the display based on a signal input from an operation end of the operation panel;
A coordinate system in which the three-dimensional position of the pointer is fixed to the stereoscopic imaging device, and the angle at which the optical axis of the first imaging device and the optical axis of the second imaging device intersect is equally divided into two, etc. Coordinate calculation means represented by the coordinates of an orthogonal coordinate system with a segment as one coordinate axis ;
Based on the coordinates specified for the two pointers in the stereoscopic image, the actual distance between the two pointers is calculated and transmitted to the video signal generation device, and the distance is displayed on the display as a numerical value. A program for functioning as a computing means. 8. The program according to claim 7, wherein the pointer image display means forms a three-dimensional caliper image having the position of the pointer as an end point of the measurement length and displays it on the display in three dimensions.

Images