Direction presentation apparatus, direction presentation method, and program

A direction presentation apparatus, comprising circuitry configured to:

• calculate a second instructed force sense vector from a first instructed force sense vector, using a first vector, a second vector, a third vector, a fourth vector, a first angle, and a second angle, wherein
• the first vector represents an azimuth vector in a camera coordinate system and corresponds to a first azimuth in an external coordinate system,
• the camera coordinates refer to coordinates capable of representing the direction with respect to the camera's orientation,
• the external coordinates refer to coordinates capable of representing north, south, east and west,
• the second vector represents an azimuth vector in a force sense presentation device coordinate system and corresponds to a second azimuth in the external coordinate system,
• the force sense presentation device coordinates refer to coordinates capable of representing the direction with respect to the force sense presentation device's orientation,
• the third vector is in the camera coordinate system and represents an orientation of gravitational force being applied to the camera,
• the fourth vector is in the force sense presentation device coordinate system and represents an orientation of gravitational force being applied to the force sense presentation device,
• the first angle is in the external coordinate system and represents an orientation of the camera,
• the second angle is in the external coordinate system and represents an orientation of the force sense presentation device,
• the second instructed force sense vector represents a vector representing a direction input to the force sense presentation device in the force sense presentation device coordinate system, and
• the first instructed force sense vector represents a vector corresponding to a predetermined direction presented to a guided person in the camera coordinate system.

A direction presentation method, comprising:

• an instructed direction calculating step of calculating a second instructed force sense vector from a first instructed force sense vector, using a first angle and a second angle, wherein
• the first angle is in an external coordinate system and represents an orientation of a camera that takes an image in front of a guided person,
• the second angle is in the external coordinate system and represents an orientation of a force sense presentation device that presents the guided person with a predetermined direction,
• the external coordinates refer to coordinates capable of representing north, south, east and west,
• the second instructed force sense vector represents a vector representing a direction input to the force sense presentation device in a force sense presentation device coordinate system,
• the first instructed force sense vector represents a vector corresponding to the predetermined direction in a camera coordinate system,
• the force sense presentation device coordinates refer to coordinates capable of representing the direction with respect to the force sense presentation device's orientation, and
• the camera coordinates refer to coordinates capable of representing the direction with respect to the camera's orientation.

A direction presentation method, comprising:

• an instructed direction calculating step of calculating a second instructed force sense vector from a first instructed force sense vector, using a first vector, a second vector, a third vector, a fourth vector, a first angle, and a second angle, wherein
• the first vector represents an azimuth vector in a camera coordinate system and corresponds to a first azimuth in an external coordinate system,
• the camera coordinates refer to coordinates capable of representing the direction with respect to the camera's orientation,
• the external coordinates refer to coordinates capable of representing north, south, east and west,
• the second vector represents an azimuth vector in a force sense presentation device coordinate system and corresponds to a second azimuth in the external coordinate system,
• the force sense presentation device coordinates refer to coordinates capable of representing the direction with respect to the force sense presentation device's orientation,
• the third vector is in the camera coordinate system and represents an orientation of gravitational force being applied to the camera,
• the fourth vector is in the force sense presentation device coordinate system and represents an orientation of gravitational force being applied to the force sense presentation device,
• the first angle is in the external coordinate system and represents an orientation of the camera,
• the second angle is in the external coordinate system and represents an orientation of the force sense presentation device,
• the second instructed force sense vector represents a vector representing a direction input to the force sense presentation device in the force sense presentation device coordinate system, and
• the first instructed force sense vector represents a vector corresponding to a predetermined direction presented to a guided person in the camera coordinate.