KR20140121345A - Surveillance Camera Unit And Method of Operating The Same - Google Patents

Abstract

The present invention relates to a surveillance system and, particularly, to a surveillance camera unit which monitors a whole monitored area using a wide camera and can monitor a particular area designated by the wide camera among the monitored area by a subordinate camera, and to an operating method thereof. The surveillance camera unit according to the present invention comprises: a wide camera which has a fisheye lens and monitors a whole monitored area; a subordinate camera which is composed of a pen-tilt zoom (PTZ) camera and specifically monitors a particular location in the monitored area; an operating unit for changing an penning angle and a tilt angle of the subordinate camera; and a control unit for transmitting, to the operating unit, a control signal corresponding to the penning angle and the tilt angle calculated using location information on a subject received from the wide camera.

Description

Technical Field [0001] The present invention relates to a surveillance camera unit,

The present invention relates to a surveillance system, and more particularly, to a surveillance camera unit and a method of driving the surveillance camera unit capable of simultaneously monitoring a whole of a surveillance target area and a specific surveillance target area using two surveillance cameras.

Surveillance cameras are being used as the most effective tool for recording everyday crime and everyday human behavior in an increasingly complex society.

There is a negative aspect such as a surveillance camera infringement, but the necessity and importance of a surveillance camera is increasing, and thus the demand of a surveillance camera is dramatically increasing.

Various surveillance methods using surveillance cameras will be described as follows.

First, in general, a fixed surveillance camera is installed and operated to monitor a fixed observation area. However, since fixed-type surveillance cameras can monitor only a specific area, blind spots that can not be monitored even within the same space can be generated.

Second, to solve the problem of the fixed type surveillance camera, a PTZ camera in which a horizontal rotation (panning) and a vertical rotation (tilting) are possible, a photographing angle is variable, and a zoom function is combined are widely used. However, the PTZ camera is limited to the limited area.

That is, the fixed-type surveillance camera and the PTZ camera as described above monitor a local part.

In addition, since the fixed surveillance camera and the PTZ camera have a narrow monitoring angle (left and right 90 °, and 60 ° normal), if the criminal grasps the direction and angle of the fixed surveillance camera and the PTZ camera, It is possible to use an area outside the above direction and angle, or it may cause crime by deliberation. Accordingly, the fixed surveillance camera and the PTZ camera do not perform monitoring functions perfectly.

Third, in order to solve the above problems, there is a camera using a fish-eye lens (hereinafter, simply referred to as a panoramic camera). The panoramic camera can monitor a wide area by the characteristics of the fish-eye lens. However, since the panoramic camera has the characteristic of monitoring the infinite distance of all the azimuth angles, it is impossible to capture a clear image of the subject, except for a part near the center. That is, the image of the panoramic camera (Korean Patent 663483) is displayed not only as a circular image but also distorted.

Therefore, a technique for solving this problem (Patent Publication No. 1020090078463) has also been proposed. However, the resolution limit of the panoramic camera is still not solved, and therefore, the panoramic camera still has a limitation as a monitoring function.

In addition, the panorama camera is difficult to perform a zoom function due to the characteristics of the fish-eye lens. Therefore, the panoramic camera has a problem that it is possible to perform overall monitoring but not to perform detailed monitoring.

Fourth, in order to solve the problem of the panoramic camera, a technique of monitoring a large area using a plurality of cameras and performing surveillance by linking the images of the plurality of cameras with the PTZ camera (Korean Patent Laid-Open Publication No. 1020110136907) Has been proposed.

However, since a plurality of surveillance cameras are used, there is no meaning in terms of efficiency, installation cost is high, and it is difficult to find a direction to be intensively monitored by a PTZ camera.

Fifth, an unmanned monitoring method and apparatus using the panoramic camera (Patent Registration No. 10-2011-201310000) are being developed. However, the above technique uses a complicated method of dividing a circular image portion captured by a fish-eye lens into a plurality of regions, and allowing the PZT camera to search the monitored region.

Therefore, if the location coordinates of a wide area camera (panorama camera) and a subordinate camera (PTZ camera) with wide area monitoring function change depending on the area or location to be installed, a complicated setting process must be performed in order to execute the monitoring function. Therefore, the conventional surveillance camera unit composed of the wide-area camera (panoramic camera) and the subordinate camera (PTZ camera) has a problem that it is difficult to install and use.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a surveillance camera capable of monitoring a whole surveillance target area using a wide- A surveillance camera unit and a driving method thereof are provided.

According to an aspect of the present invention, there is provided a surveillance camera unit comprising: a wide-area camera configured to include a fish-eye lens and to monitor an entire surveillance target area; A subordinate camera configured by a PTZ (Pen-Tilt Zoom) camera to closely monitor a specific position of the monitored area; A driver for changing a panning angle and a tilt angle of the slave camera; And a control unit for transmitting to the driving unit a control signal corresponding to a panning angle and a tilt angle of the slave camera calculated using the position information of the subject received from the wide area camera, An interface for performing communication with the driving unit; A storage for storing mapping information between the panning angle and the tilt angle according to positional information of the subject photographed by the wide area camera; A sensor for analyzing the position information of the subject using the photographing information received from the wide area camera; And a controller for calculating a panning angle and a tilt angle of the slave camera using the positional information and the mapping information received from the sensor, and transmitting the generated control signal to the driving unit.

According to another aspect of the present invention, there is provided a method for driving a surveillance camera unit, the surveillance camera unit including a fish-eye lens, the surveillance camera unit including a wide-area camera for monitoring the entire surveillance target area and a PTZ (Pen- A slave camera having a panning angle and a tilt angle of the slave camera calculated by using the position information of the subject received from the wide area camera; A surveillance camera unit including a control unit for transmitting a control signal corresponding to each angle to the driving unit, the method comprising: receiving an image of a subject; Wherein the controller is configured to calculate a tilt angle and a tilt angle of the slave camera based on mapping information between the panning angle and the tilt angle according to positional information of the subject photographed by the wide area camera and positional information of the subject received from the wide- ; Generating a control signal corresponding to the panning angle and the tilt angle and transmitting the generated control signal to the driving unit; Changing a panning angle and a tilting angle of the slave camera according to the control signal; And the slave camera having the panning angle and the tilting angle changed precisely monitors the subject.

The surveillance camera unit according to the present invention is easy to install and can effectively perform a surveillance function with a small cost.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is an exemplary view showing a configuration of a surveillance camera unit according to the present invention; Fig.
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surveillance camera unit.
FIG. 3 is an exemplary view showing that light information of a subject enters through a fisheye lens of a wide-angle camera applied to a surveillance camera unit according to the present invention, and the incident light information is picked up by each pixel of the sensor constituting the control unit.
4 is an exemplary view for explaining a method of controlling a panning angle of a slave camera applied to a surveillance camera unit according to the present invention;
5 is a view for explaining a method of controlling a tilt angle of a slave camera applied to a surveillance camera unit according to the present invention;

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a diagram illustrating the configuration of a surveillance camera unit according to the present invention. FIG. 2 is a block diagram of a control unit applied to a surveillance camera unit according to the present invention. The optical information of the subject enters through a fisheye lens of a wide-angle camera applied to the sensor, and the incident optical information is picked up by each pixel of the sensor constituting the control unit. FIG. 4 is a view for explaining a method of controlling a panning angle of a slave camera applied to a surveillance camera unit according to the present invention, and FIG. 5 is a view for explaining a method of controlling a tilt angle of a slave camera applied to a surveillance camera unit according to the present invention And FIG.

1, the surveillance camera unit according to the present invention includes a wide-area camera 100 that monitors the entire surveillance target area, a slave camera 200 that closely monitors a specific area of the surveillance target area, A driving unit 400 for changing a panning angle and a tilt angle of the camera and a control signal corresponding to a panning angle and a tilt angle of the slave camera calculated using the position information of the subject received from the wide area camera 100, And a control unit 300 for controlling the display unit.

First, the wide area camera 100 performs a function of monitoring the entire monitored area. For example, the wide-area camera 100 may be a panoramic camera equipped with a fish-eye lens.

Next, the slave camera 200 performs a function of monitoring a specific area of the monitored area in detail.

For example, a PTZ (Pen-Tilt Zoom) camera may be applied to the slave camera 200.

Next, the driving unit 400 performs a function of changing the panning angle and the tilt angle of the slave camera using the control signal transmitted from the controller 300.

4, from the reference point (0 degree) to the slave camera 200, it is assumed that the slave camera 200 and the subject 500 are on the same plane, And the angle (P) formed by the straight line between the subject 500 and the subject 500. That is, the subject 500 and the slave camera 200 are arranged with a panning angle P of 0 to 360 degrees.

The driving unit 400 rotates the slave camera 200 on the horizontal plane according to the panning angle P.

5, the tilt angle T refers to an angle between a straight line where the ground surface of the slave camera 200 is perpendicular to a line and a straight line between the slave camera and the subject 500, as shown in FIG.

The tilt angle T is changed according to the distance between the subject 500 and the slave camera 200. For example, when the subject 500 is disposed at the vertical lower end of the slave camera 200 as shown in FIG. 5A, the tilt angle T is 0 degrees. As the subject 500 is farther from the slave camera 200 the tilt angle T increases and if the subject 500 is far away from the slave camera 200, (T) approaches 90 degrees.

That is, the tilt angle T forms an angle of 0 degrees or more and a smaller angle than 90 degrees.

Finally, the control unit 300 calculates the panning angle and the tilt angle of the slave camera 200 using the position information of the subject 500 received from the wide area camera 100, And generates a control signal corresponding to each angle.

The driving unit 400 rotates the slave camera 200 in the direction of the subject 500 by changing the panning angle and the tilt angle of the slave camera 200 according to the control signal. In addition, as the slave camera 200 is rotated in the direction of the subject 500, the slave camera 200 can precisely monitor the subject 500.

2, the control unit 300 includes an interface 310 for performing communication with the wide area camera 100 and the driving unit 400, an object 310 A storage 330 for storing the panning angle and the mapping information of the tilt angle according to the position information of the subject 500 and the position information of the subject 500 using the photographing information received from the wide- And the tilting angle of the slave camera 200 using the position information and the mapping information received from the detector 340. The panning angle and tilt angle of the slave camera 200 are calculated, And a controller 320 for generating a control signal for controlling the driving unit 400 and transmitting the control signal to the driving unit.

The present invention as described above includes a wide-area camera (panoramic camera) 100 having a fisheye lens for monitoring the entire area of the monitored area, and a slave camera capable of precisely monitoring a specific area of the monitored area PTZ (Pen-Tilt Zoom)) 200 and a driving method thereof.

That is, according to the present invention, installation on the field can be standardized, and the installation of the wide-area camera (camera with fish-eye lens) 100 and the slave camera (PTZ) The panning angle P and the tilt angle T of the slave camera 200 can be changed by the combination of the programs and the change of the panning angle P and the tilt angle T can be changed And a ZOOM-IN function of the slave camera 200 to precisely monitor a specific area of the monitored area, and a driving method thereof.

As shown in FIG. 1, the surveillance camera unit according to the present invention includes a wide-area camera 100 having a fisheye lens capable of wide-area imaging and a slave camera 200 associated therewith as a single unit. That is, in the surveillance camera unit according to the present invention, a wide-area camera 100 and a slave camera 200, to which a fisheye lens is attached, are mechanically connected to a single unit so that wide- .

The surveillance camera unit according to the present invention can photograph the entire area of the downward surface in the horizontal direction of the wide-area camera 100 by the wide-area camera 100 having the function of a fish-eye lens. In this case, resolution of the wide-area camera 100 in which the number of pixels is limited has a limitation in confirming the accurate shape of the subject 500.

3 and 5 (A) and 5 (B)) taken at the center of the sensor, that is, at the center of the screen, the wide- Since the distance of the light source 100 is not so long, it provides a clear image. However, the image of the subject (FIGS. 3 and 5 (C)) picked up by the pixel apart from the center of the image is not clear because the distance between the subject 500 and the wide-area camera 100 is far.

In order to solve this problem, the present invention performs the function of clearly capturing a subject of a specific area by the slave camera 200.

That is, in the present invention, the position of the subject 500 is firstly checked using the wide-angle camera 100, and then the position of the subject 500 is secondly closely monitored using the slave camera 200 have. The control unit 300 calculates a panning angle P and a tilt angle T of the slave camera 200 so that the slave camera 200 can point to the position of the subject 500, And generates a control signal corresponding to the panning angle P and the tilt angle T, respectively. The driving unit 400 changes the panning angle P and the tilt angle T of the slave camera 200 according to the control signal.

Hereinafter, a method of driving the surveillance camera unit will be described in detail.

The panning angle and the tilt angle mapping information according to the position information of the subject 500 photographed by the wide-area camera 100 are stored in the storage 330.

That is, the panning angle and the tilt angle mapping information corresponding to the respective position information of the subject 500 photographed by the wide-area camera 100 are stored in the storage 330.

Here, the mapping information may have all the specific coordinates and all the specific panning angles or all the specific tilt angles mapped on a one-to-one basis. However, in this case, the mapping information can be enormous. Accordingly, the mapping information may include information on a certain specific coordinates as a reference, information on a specific panning angle or a specific tilt angle corresponding thereto, and information on the panning angle and tilt angle for all specific coordinates from the information You can include simple calculations.

For example, the position information of the subject in the areas (B) and (C), and the information about the panning angle and the tilt angle corresponding to the position information are stored in the detail information, And the tilt angle change information in the interval are stored in the picture information, the control unit may determine whether or not the objects between the areas (B) and (C) The panning angle and the tilt angle can be calculated.

Next, a user or a seller who purchases the surveillance camera unit (hereinafter, simply referred to as a 'user') mounts the wide area camera 100 and the slave camera 200 at specific locations in the surveillance area.

The user installing the surveillance camera unit sets the panning angle P of the wide area camera 100 and the slave camera 200.

That is, to precisely control the panning angle P of the slave camera 200, the reference coordinates (0 degrees) of the wide area camera 100 and the reference coordinates (0 degrees) of the slave camera 200 are matched .

This setting can be performed using the wide area camera 100 and the sensor or input / output device set in the slave camera 200. [

In addition to the above method, the user can set the reference coordinates of the wide area camera 100 and the slave camera 200 to be the same using various methods.

For example, the user can input the current panning angle P or the coordinates of the direction corresponding to the panning angle (hereinafter, simply referred to as 'setting panning angle') that the slave camera 200 is heading to (330). ≪ / RTI > In this case, the control unit 300 may drive the driving unit 400 according to the panning angle calculated based on the position information, based on the setting panning angle.

Further, the user installing the surveillance camera unit sets the tilt angle (T) between the wide area camera 100 and the slave camera 200.

That is, similar to the panning angle P, the user can input information (hereinafter, simply referred to as 'set tilt angle') of the current tilt angle T of the slave camera 200 to the storage 330, Lt; / RTI > In this case, the control unit 300 may drive the driving unit 400 according to the tilt angle calculated based on the positional information with reference to the set tilt angle.

Next, while monitoring the monitored area, the controller 300 photographs a subject located in the monitored area and calculates a panning angle (P) of the subject 500.

In this case, the control unit 300 may calculate the panning angle P of the subject when the subject is detected by a separate motion sensor, , The panning angle (P) of the subject can be calculated. However, the controller 300 may first calculate the tilt angle T and then calculate the panning angle P.

3A shows a state in which optical information of the subject 500 is incident through a fisheye lens of the wide-angle camera 100. FIG. 3A shows a state in which the optical information of the subject 500 is incident on the fisheye lens of the wide- (B) and (C) show optical information that is incident on subjects that are separated from a vertical lower end of the wide-angle camera 100 by a predetermined angle (tilt angle).

Here, the subject 500 corresponding to (C) is farther away from the vertical lower end of the wide-angle camera 100 than the subject 500 corresponding to (B). The tilt angle T between the wide-angle camera 100 or the slave camera 200 corresponding to the object C and the tilt angle T between the subject 500 and the wide- 100) or the tilt angle (T) of the slave camera (200).

3B shows a state in which the incident light information is picked up by the pixels of the detector 340 through the fisheye lens of the wide-angle camera 100. FIG. As shown in FIG. 3 (b), the image obtained by the wide-area camera 100 has a circular shape.

4, the panning angle P of the slave camera 200 is set such that the subject 500 picked up from the wide-area camera 100 is positioned at a reference point of the sensor 330 0 deg.) Of a predetermined angle.

4, when the 6 o'clock direction of the detector (sensor) 340 is set as a reference point (0 degree), the subject 500 photographed from the wide area camera 200 is set at 8 o'clock The subject 500 has a panning angle P corresponding to the angle formed by the subject 500 from the 6 o'clock direction.

That is, the controller 320 calculates the panning angle P of the subject 500 using the information as described above. The calculation of the panning angle P is easily calculated by the XY coordinates of the subject 500 from the pixel positioned at the center among the pixels of the sensor constituting the sensor 340. [

In this case, the controller 300 detects the movement of the subject 500 through the detector 340, confirms that the subject 500 exists, and then determines the panning angle P as described above Can be calculated.

Accordingly, the detector 340 and the controller 320 may detect the subject 500 itself. To this end, the sensor 330 may further include a motion detection sensor.

Next, while monitoring the monitored area, the controller 300 photographs a subject located in the monitored area and calculates a tilt angle (T) of the subject 500.

That is, as shown in FIG. 5, the controller 320 calculates the distance of the subject 500 displayed on the sensor from the pixel located at the center among the pixels of the sensor constituting the sensor 340 The tilt angle T of the subject 500 is calculated.

In this case, the farther the subject 500 is from the center point of the sensor, the more distant the distance between the subject and the wide-area camera 100 becomes. That is, the subject, which is spaced apart from the center point by 2 x S, is farther away from the center point by more than twice the distance from the center point by S. The mapping information is stored in the storage 330 as described above.

The control unit 300 calculates the tilt angle T using the position information of the wide area camera 100, the slave camera 200, and the subject 500 and the mapping information, . In order to obtain the tilt angle T, first, the angle of incidence of the light of the subject 500 incident on the wide-angle camera 100 should be known.

In order to calculate the tilt angle T, a complex calculation formula is generally used. In the present invention, the tilt angle T is simply calculated using the above description and the method shown in FIG. .

5 shows a simple input method of inputting information of each pixel by an actual information input method. 5, the position of the subject photographed by the wide-area camera 100 is mapped with the distance of the subject, and is stored in the storage 330. Accordingly, The controller 300 determines the actual distance from the wide area camera 100 to the subject by calculating the distance of the subject from the center point of the tilting angle of the slave camera 340. [ T) can be calculated.

As shown in Fig. 5, the method uses a circular coordinate mark plate of the same type as that of a fish-eye lens constituting the wide-angle camera 100, and the pixels on the circular arc of each circle have the same tilt angle Is using the point. Here, each area of the circular coordinate indicating plate corresponds to each pixel of the detector 340.

That is, in the past, the tilt angle was calculated using a complex calculation formula. In this case, since the angle of incidence of the reflected light from the subject coming into the fish-eye lens of the wide-area camera 100 varies depending on the design of the lens and the design of the optical system, it becomes a difficult formula to calculate the optical path of the entire optical system. The relationship between the incident light obtained by this method and the pixel of the sensor is that it is difficult to match the pixel of the actual sensor due to the design tolerance of the lens. Also, since the assembly error occurs during the assembly process between the lens and the sensor when producing the product, a quality control system is required for the final product production.

In order to solve the above-described conventional problems, in the present invention, Coordinate angle Input table and , After completing the incidence angle and the coordinates used in the present invention, it is possible that each arc of the pixel Captured  A very simple method of inputting the incident angle information along an arc is used.

That is, in order to determine the final incidence angle, Coordinate angle The input table  For each arc, since the angles of incidence from the sensor, each arc and the central angle have already been calculated, Captured  Inputting the angle of incidence corresponding to each arc and inputting only the up and down and left and right modifications to the deviation from the original calculation from the pixel, the calculation of the angle of incidence is completed.

The calculated incidence angle and the distance between the wide area camera 100 and the slave camera 200 are calculated Tilt angle  As a result, The tilt angle (T)  It is easily calculated.

In this case, if the wide area camera 100 is installed within 10 meters from the ground, and the distance between the wide area camera 100 and the slave camera 200 is within 50 centimeters, The error of the tilt angle T does not occur largely even if the information of the incident angle of light is used as the coordinate information of the slave camera 200 as it is.

1, X1 is the distance between the subject 500 and the wide area camera 100, X2 is the distance between the wide area camera 100 and the ground, X3 is the distance between the wide area camera 100 and the subject 100, X4 is the distance between the slave camera 200 and the subject 500 and X5 is the distance between the wide area camera 100 and the slave camera 200. [

In this case, when the distance between the wide area camera 100 and the slave camera 200 is within 50 centimeters, the distance between the wide area camera 100 and the subject 500, the tilt angle and the panning angle, A distance between the camera 200 and the subject 500, a tilt angle and a panning angle.

However, in order to monitor more precisely, the distance, the tilt angle and the panning angle calculated between the wide area camera 100 and the subject 500 are set to a distance between the wide area camera 100 and the slave camera 200 X5).

Next, the controller 300 calculates a control signal for controlling the driving unit using the panning angle P and the tilt angle T calculated through the above processes, and transmits the calculated control signal to the driving unit 400.

That is, the control unit 300 controls the panning angle P and the tilt angle T so that the driving unit 400 can rotate the slave camera 200 by the panning angle P and the tilt angle T, (T), and transmits the control signal to the driving unit (400).

Next, the driving unit 400 changes the panning angle P and the tilt angle T of the slave camera 200 using the control signal.

Lastly, the slave camera 200 can precisely monitor the subject using a zoom-in function or the like while the panning angle P and the tilt angle T are changed by the driving unit 400.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

100: Wide area camera 200: Dependent camera
300: control unit 400:

Claims (6)

A wide-angle camera composed of a fisheye lens for monitoring the entire surveillance target area;
A subordinate camera configured by a PTZ (Pen-Tilt Zoom) camera to closely monitor a specific position of the monitored area;
A driver for changing a panning angle and a tilt angle of the slave camera; And
And a control unit for transmitting a control signal corresponding to a panning angle and a tilt angle of the slave camera calculated using the position information of the subject received from the wide area camera to the driving unit,
Wherein,
An interface for performing communication with the wide area camera and the driving unit;
A storage for storing mapping information between the panning angle and the tilt angle according to positional information of the subject photographed by the wide area camera;
A sensor for analyzing the position information of the subject using the photographing information received from the wide area camera; And
And a controller for calculating the panning angle and the tilt angle of the slave camera using the position information and the mapping information received from the sensor, and generating the control signal and transmitting the control signal to the driving unit. The method according to claim 1,
Wherein,
Wherein the panning angle calculating unit calculates the panning angle using the XY coordinates at which the subject displayed on the sensor is detected from pixels located at the center among the pixels of the sensor constituting the sensor. The method according to claim 1,
Wherein,
Wherein the tilt angle of the subject is calculated using a distance between the pixels located at the center among the pixels of the sensor constituting the sensor and the subject displayed on the sensor. A slave camera configured by a fisheye lens and configured to monitor a specific position of the monitored area in detail, the slave camera being composed of a wide-area camera that monitors the entire monitored area and a PTZ (Pen-Tilt Zoom) And a control unit for transmitting a control signal corresponding to a panning angle and a tilt angle of the slave camera calculated using the position information of the subject received from the wide area camera to the driving unit, The unit receiving an image of a subject;
Wherein the controller is configured to calculate a tilt angle and a tilt angle of the slave camera based on mapping information between the panning angle and the tilt angle according to positional information of the subject photographed by the wide area camera and positional information of the subject received from the wide- ;
Generating a control signal corresponding to the panning angle and the tilt angle and transmitting the generated control signal to the driving unit;
Changing a panning angle and a tilting angle of the slave camera according to the control signal; And
And the sub camera having the panning angle and the tilting angle changed precisely monitors the subject. 5. The method of claim 4,
Wherein,
Wherein the panning angle calculating unit calculates the panning angle using the XY coordinates at which the subject displayed on the sensor is detected from the pixel located at the center among the pixels of the sensor constituting the sensor. 5. The method of claim 4,
Wherein,
Wherein a tilt angle of the subject is calculated using a distance between the pixels located at the center among the pixels of the sensor constituting the sensor and the subject displayed on the sensor.

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