Information processing device, and generation method

A generation method performed by an information processing device, the generation method comprising:

• acquiring a background image, point cloud data representing three-dimensional coordinates corresponding to each pixel of the background image, and a camera position when the background image was generated;
• determining a superimposition position in the background image;
• calculating a plane as a region including the superimposition position by using the point cloud data;
• calculating a background image angle as an angle between a straight line connecting the camera position and the superimposition position and the calculated plane;
• acquiring a foreground image associated with a foreground image angle as an angle equal to or close to the background image angle and indicating a target object;
• performing projective transformation on the foreground image in the image capturing direction in the background image so that a camera posture as a rotation matrix corresponding to the foreground image in a world coordinate system becomes equal to a camera posture as a rotation matrix corresponding to the background image in the world coordinate system;
• and
• superimposing the foreground image on the background image,
• wherein the foreground image angle is an angle between a plane on which the target object was set when an original image of the foreground image was generated and a straight line representing an image capturing direction as a direction in which the image of the target object is captured.

An information processing device comprising:

• a processor to execute a program;
• and
• a memory to store the program which, when executed by the processor, performs processes of,
• acquiring a background image, point cloud data representing three-dimensional coordinates corresponding to each pixel of the background image, and a camera position when the background image was generated,
• determining a superimposition position in the background image,
• calculating a plane as a region including the superimposition position by using the point cloud data,
• calculating a background image angle as an angle between a straight line connecting the camera position and the superimposition position and the calculated plane,
• acquiring a foreground image associated with a foreground image angle as an angle equal to or close to the background image angle and indicating a target object,
• performing projective transformation on the foreground image in the image capturing direction in the background image so that a camera posture as a rotation matrix corresponding to the foreground image in a world coordinate system becomes equal to a camera posture as a rotation matrix corresponding to the background image in the world coordinate system, and
• superimposing the foreground image on the background image,
• wherein the foreground image angle is an angle between a plane on which the target object was set when an original image of the foreground image was generated and a straight line representing an image capturing direction as a direction in which the image of the target object is captured.