Image fusion method, computer readable storage medium and device

Abstract

The present application discloses an image fusion method, a computer-readable storage medium and a device, the method comprising: obtaining first image data output by a first image sensor and second image data output by a second image sensor, the exposure time of the first image data being less than the exposure time of the second image data; determining a first focus area of ​​interest based on the first image data, and making the first image sensor in the adjusted camera device focus on the first focus area of ​​interest; determining a second focus area of ​​interest based on the second image data, and making the second image sensor in the adjusted camera device focus on the second focus area of ​​interest; obtaining third image data output by the adjusted first image sensor and fourth image data output by the second image sensor; fusing the third image data with all fourth image data to obtain fused image data. In the above manner, the present application can avoid overexposure or underexposure of images taken by the camera device.

Description

Technical Field

[0001] The present application relates to the field of video surveillance technology, and in particular to an image fusion method, a computer-readable storage medium and a device. Background Art

[0002] With the development of surveillance cameras, customers have higher and higher requirements for the quality of surveillance images. For example, taking a conference scene as an example, the camera must not only record the display content played on the screen, but also record the activities of the speaker of the meeting. However, the conference scene recording solution in the related technology has the problem of overexposure or underexposure of brightness. Summary of the invention

[0003] The present application provides an image fusion method, a computer-readable storage medium, and a device, which can prevent images taken by a camera device from being overexposed or underexposed.

[0004] In order to solve the above technical problems, the technical solution adopted in the present application is: to provide an image fusion method, which is applied to an image processing device in a camera device, wherein the camera device also includes a first image sensor and at least one second image sensor, and the method includes: obtaining first image data output by the first image sensor and second image data output by each second image sensor, wherein the exposure time of the first image data is less than the exposure time of the second image data; based on the first image data, determining a first focus area of ​​interest, and adjusting the camera device so that the adjusted first image sensor in the camera device focuses on the first focus area of ​​interest; based on the second image data, determining a second focus area of ​​interest, and adjusting the camera device so that the adjusted second image sensor in the camera device focuses on the second focus area of ​​interest; obtaining third image data output by the adjusted first image sensor in the camera device and fourth image data output by each second image sensor in the camera device; fusing the third image data with all the fourth image data to obtain fused image data.

[0005] To solve the above technical problems, another technical solution adopted in the present application is: to provide an image processing device, which includes a memory and a processor connected to each other, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, it is used to implement the image fusion method in the above technical solution.

[0006] To solve the above-mentioned technical problems, another technical solution adopted in the present application is: providing a camera device, which includes a lens, an image processing device, a first image sensor and at least one second image sensor, the lens is used to shoot the target object to generate image light, and emit the image light into the first image sensor and at least one second image sensor, the image processing device is connected to the first image sensor and the at least one second image sensor, and the image processing device is the image processing device in the above-mentioned technical solution.

[0007] To solve the above technical problems, another technical solution adopted in the present application is: providing a computer-readable storage medium, which is used to store a computer program. When the computer program is executed by a processor, it is used to implement the image fusion method in the above technical solution.

[0008] Through the above scheme, the beneficial effects of the present application are: firstly obtain the first image data output by the first image sensor and the second image data output by each second image sensor, and the exposure time of the first image data is less than the exposure time of the second image data; then determine the first focus area of ​​interest using the first image data, and adjust the camera device so that the first image sensor in the adjusted camera device focuses on the first focus area of ​​interest; determine the second focus area of ​​interest based on the second image data, and adjust the camera device so that the second image sensor in the adjusted camera device focuses on the second focus area of ​​interest; then obtain the third image data output by the first image sensor in the adjusted camera device and the fourth image data output by each second image sensor in the adjusted camera device; fuse the third image data with all the fourth image data to obtain fused image data; this scheme first determines the focus area of ​​interest corresponding to each image sensor, and makes each image sensor focus on the corresponding focus area of ​​interest, and then fuses the image data obtained subsequently, so that the brightness of the image taken by the camera device is appropriate, avoiding the problem of overexposure or underexposure. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0010] Figure 1 It is a flowchart of an embodiment of the image fusion method provided by the present application;

[0011] Figure 2 is a flowchart of another embodiment of the image fusion method provided by the present application;

[0012] Figure 3 It is a schematic diagram of the continuous area provided by this application;

[0013] Figure 4 is another schematic diagram of the continuous area provided by the present application;

[0014] Figure 5 It is a structural schematic diagram of an embodiment of a camera device provided by the present application;

[0015] Figure 6 is a structural schematic diagram of an embodiment of an image processing device provided by the present application;

[0016] Figure 7 is a structural schematic diagram of another embodiment of the camera device provided by the present application;

[0017] Figure 8 It is a structural schematic diagram of an embodiment of a computer-readable storage medium provided by the present application. DETAILED DESCRIPTION

[0018] The present application is further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0019] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0020] It should be noted that the terms "first", "second" and "third" in this application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first", "second" and "third" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0021] Taking the conference scene as an example, the conference scene recording solution in the related art has the following problems:

[0022] 1) Depth of field

[0023] Due to the distance between the screen and the speaker of the meeting, the lens of the camera used in the meeting scene is generally a large aperture lens, because a large aperture lens can effectively increase the amount of light entering. Under the same external ambient lighting conditions, a large aperture lens can reduce the use of sensor gain compared to an ordinary lens. The more gain is used, the higher the probability of noise appearing in the image. Therefore, in order to avoid the use of gain as much as possible, a large aperture lens is more commonly used in conference video lenses. However, this type of lens will cause depth of field problems. The depth of field problem is caused by physical defects in the optical design. The depth of field problem is that if the camera focuses on the speaker, the content displayed on the screen is not clear; if the camera focuses on the content displayed on the screen, the speaker may not be clear; and if a large aperture lens is to have no depth of field problem, the hardware cost will be very high.

[0024] 2) Brightness overexposure or underexposure

[0025] In order to clearly express the content, the screen has a very high brightness adaptation range, which is generally much higher than the fill light in the indoor environment. During the operation of the camera, if the camera works in linear mode, the brightness of the screen display content will be appropriate but the speaker will be underexposed, or the brightness of the speaker will be appropriate but the brightness of the screen display content will be overexposed. The solution to this problem is to use real wide dynamic to make the picture brightness uniform, that is, long frames are used for the exposure of the speaker, and short frames are used for the exposure of the screen display content, so that the exposure of each is within its own brightness adaptation range, and finally the long and short frames are merged, but the use of real wide dynamic alone still cannot solve the depth of field problem.

[0026] Since the solutions in the related art cannot effectively solve the problem of meeting the high requirements of picture quality for both the screen display content and the speaker, this application proposes an image fusion method for a camera device, which fully considers the factors of foreground and background depth of field and brightness difference in different areas, and solves the difficulties in conference video recording. A detailed description is given below.

[0027] See also Figure 1 , Figure 1 1 is a flow chart of an embodiment of an image fusion method provided by the present application. The method is applied to an image processing device in a camera device. The camera device also includes a first image sensor and at least one second image sensor. The method includes:

[0028] S11: Acquire first image data output by the first image sensor and second image data output by each second image sensor.

[0029] A target object in a target scene is photographed using a camera device to obtain image data of the target object; specifically, image data corresponding to the target object (i.e., first image data) is obtained using a first image sensor, and another image data corresponding to the target object (i.e., second image data) is obtained using a second image sensor. The target object may be a person, an object, or another animal, etc. The exposure time of the first image data is less than the exposure time of the second image data, and the exposure times of all the second image data may be different. For example, the number of the second image sensors is one, and the exposure time of the first image data corresponding to the first image sensor is less than a preset time, i.e., the first image data is data with a shorter exposure; the exposure time of the second image data corresponding to the second image sensor is greater than the preset time, i.e., the second image data is data with a longer exposure.

[0030] S12: Determine a first focus area of ​​interest based on the first image data, and adjust the camera device so that the first image sensor in the adjusted camera device focuses on the first focus area of ​​interest.

[0031] After acquiring the first image data, the first image data can be processed to generate a focused area of ​​interest corresponding to the first image sensor (i.e., the first focused area of ​​interest); then, based on the first focused area of ​​interest, an instruction corresponding to the first focused area of ​​interest (i.e., the first focusing instruction) is generated to make the first image sensor focus on the first focused area of ​​interest, thereby adjusting the first parameter of the camera device, which can be the front focal length.

[0032] S13: Determine a second focus area of ​​interest based on the second image data, and adjust the camera device so that the second image sensor in the adjusted camera device focuses on the second focus area of ​​interest.

[0033] After acquiring the second image data, the second image data can be processed to generate a focused area of ​​interest corresponding to the second image sensor (i.e., the second focused area of ​​interest); then based on the second focused area of ​​interest, an instruction corresponding to the second focused area of ​​interest (i.e., the second focusing instruction) is generated to make the second image sensor focus on the second focused area of ​​interest, thereby adjusting the second parameter of the camera device, which can be the back focal length.

[0034] S14: Acquire the third image data output by the adjusted first image sensor in the camera device and the fourth image data output by each of the adjusted second image sensors in the camera device.

[0035] After adjusting the first parameter of the camera device and the second parameter of the camera device, the camera device may be used to photograph an object, thereby obtaining third image data corresponding to the first image sensor and fourth image data corresponding to the second image sensor.

[0036] S15: Fusing the third image data with all the fourth image data to obtain fused image data.

[0037] After acquiring the third image data and the fourth image data, the image fusion method in the related technology can be used to fuse the third image data and the fourth image data to obtain fused image data (i.e., fused image data); for example, assuming that the camera device includes an image processing device, a first image sensor, a second image sensor A1 and a second image sensor A2, the first image sensor generates the 1st to 30th frames of image data I1, the second image sensor A1 generates the 1st to 30th frames of image data I2, and the second image sensor A2 generates the 1st to 30th frames of image data I3, and one frame of image data is extracted from the image data I1-I3 in sequence and fused to obtain fused image data, that is, the first frame of image data I1, the first frame of image data I2 and the first frame of image data I3 are fused to obtain the first frame of fused image data, and so on, to finally obtain 10 frames of fused image data.

[0038] In a specific embodiment, the first image sensor operates in a true wide dynamic mode to generate long frame data s1_l and short frame data s1_s; the second image sensor operates in a true wide dynamic mode to generate long frame data s2_l and short frame data s2_s; the short frame data s1_s is used to determine a first focus area of ​​interest, and the long frame data s2_l is used to determine a second focus area of ​​interest; the first focus area of ​​interest and the second focus area of ​​interest are used to adjust a first parameter of the camera device and a second parameter of the camera device, respectively; if the number of frames of the short frame data s1_s is 50 frames and the number of frames of the long frame data s2_l is 50 frames, then the fused image data finally generated is 25 frames.

[0039] This embodiment provides a method for fusing images for a camera device. According to the ambient brightness characteristics of the display screen and the speaker, the image data of each image sensor in the true wide dynamic mode is fused to meet the brightness independence between the screen display content and the speaker and meet the target brightness requirement, thereby achieving the requirement that the camera device simultaneously takes into account the clear screen display content and the clear image quality of the speaker in a conference scene.

[0040] See also Figure 2 , Figure 2 : is a flow chart of another embodiment of the image fusion method provided by the present application. The method is applied to an image processing device in a camera device. The camera device also includes a first image sensor and at least one second image sensor. The method includes:

[0041] S21: Acquire first image data output by the first image sensor and second image data output by each second image sensor.

[0042] S21 is the same as S11 in the above embodiment and will not be described again.

[0043] S22: Divide the first image data and the second image data into blocks respectively to obtain a plurality of first sub-data blocks and a plurality of second sub-data blocks.

[0044] After acquiring the first image data and the second image data, the first image data is block-processed according to the set block-processing rule to obtain a plurality of first sub-data blocks; similarly, the second image data is block-processed according to the same block-processing rule as the first image data to obtain second sub-data blocks, and the first sub-data blocks correspond to the second sub-data blocks one by one; for example, the size of the first image data and the second image data is 32×32, and they are evenly divided into sub-data blocks of size 8×8, thereby obtaining 16 first sub-data blocks and second sub-data blocks respectively.

[0045] S23: Determine a first focus area of ​​interest based on the multiple first sub-data blocks, and adjust the camera device so that the first image sensor in the adjusted camera device focuses on the first focus area of ​​interest.

[0046] The average value of the brightness of the first sub-data block can be calculated first to obtain a first brightness average value; then, it is determined whether the first brightness average value is greater than a first preset brightness threshold; if the first brightness average value is greater than the first preset brightness threshold, the first sub-data block is determined as a first candidate sub-data block; and then, based on all first candidate sub-data blocks, a first focus area of ​​interest is generated.

[0047] Further, it is determined whether the number of consecutive first candidate sub-data blocks among all the first candidate sub-data blocks is greater than a preset number; if the number of consecutive first candidate sub-data blocks among all the first candidate sub-data blocks is greater than the preset number, the area corresponding to the consecutive first candidate sub-data blocks is determined as the first focus interest area, that is, the first focus interest area is a connected area.

[0048] In a specific embodiment, the area corresponding to the first sub-data block whose brightness is greater than the first preset brightness threshold in the first image data (recorded as the block area) is first obtained; then it is determined whether the number of continuous block areas (recorded as continuous areas) in all the block areas is greater than the preset number. If so, the continuous area is used as the first focus area of ​​interest, and the front focal length is adjusted. Specifically, the purpose of counting the block areas is to allow the first image sensor to focus only on the area of ​​interest. For example, taking a meeting scene as an example, the purpose of counting the block areas is to allow the first image sensor to focus only on the content displayed on the screen. Since the content displayed on the screen is all highlighted statistical values, short exposure is generally used in the exposure method.

[0049] Furthermore, the reason for using the continuous area that meets the above conditions as the first focus interest area is that the block area in the recorded video screen that meets the first preset brightness threshold may not be the area where the screen display content is located, and the goal of this solution is to consider the screen display content, so it is necessary to identify the screen display area, and the screen display area is a continuous area in the video screen. Based on this feature, the non-connected area is eliminated to achieve that the final block area is the screen display area.

[0050] It can be understood that a continuous area refers to a block area in the area that is adjacent to at least one other block area, for example, Figure 3 As shown, the block areas are numbered 7-9 and 12-14, and the area formed by these block areas is a continuous area; or Figure 4 As shown, the block areas are numbered 5, 7-8, and 12-13, but since the block area 5 and all the remaining block areas are not adjacent, the area formed by the block areas 7-8 and 12-13 is a continuous area.

[0051] S24: Determine a second focus region of interest based on the first focus region of interest and the second sub-data block, and adjust the camera device so that the second image sensor in the adjusted camera device focuses on the second focus region of interest.

[0052] Calculate the average value of the brightness of each second sub-data block corresponding to the same second image sensor to obtain a second brightness average value; determine whether the second brightness average value is greater than a second preset brightness threshold; if the second brightness average value is greater than the second preset brightness threshold, determine the second sub-data block as a second candidate sub-data block, and the second preset brightness threshold may be substantially the same as the first preset brightness threshold; based on all second candidate sub-data blocks corresponding to the same second image sensor, generate a corresponding second focus area of ​​interest.

[0053] Further, the regions corresponding to all first candidate sub-data blocks are obtained to obtain the first region of interest; the regions corresponding to all second candidate sub-data blocks are obtained to obtain the second region of interest; and the overlapping region between the first region of interest and the second region of interest is calculated to obtain the second focused region of interest. Figure 4 As shown, if the first focus interest area includes areas 2-4 and 7-9, and the second focus interest area includes areas 2-3 and 7-8, then the overlapping area includes areas 2-3 and 7-8.

[0054] It can be understood that the purpose of obtaining the second region of interest is to allow the second image sensor to focus only on the area where the speaker is located. The speaker has a lower brightness statistical value than the content displayed on the screen. In order to improve the brightness, a long exposure is generally used in the exposure method. For the above-mentioned solution of using the overlapping area of ​​the first region of interest and the second region of interest as the second focus region of interest, the premise is that the speaker's activity range is the area in front of the screen. Compared with the traditional method of detecting the speaker by frame difference method, the solution based on the overlapping area (i.e., the region of interest with the speaker as the object) avoids the delay between frames and the calculation process of the difference between frames, and has higher processing efficiency.

[0055] In a specific embodiment, the first parameter is the front focal length, the camera device also includes a lens, the lens includes a focusing lens group, and a first focusing instruction can be generated to adjust the position of the focusing lens group, that is, the first focusing instruction is used to adjust the position of the focusing lens group; the second parameter is the back focal length, and a second focusing instruction is generated to adjust the position of the second image sensor, that is, the second focusing instruction is used to adjust the position of the second image sensor.

[0056] Furthermore, if Figure 5As shown, the camera device includes a lens 51, a beam splitter prism 52, a first image sensor 53 and a second image sensor 54. The first image sensor 53 and the second image sensor 54 present a complete system combination in this solution. The first image sensor 53 and the second image sensor 54 receive the low beam of the same lens 51 through the beam splitter prism 52. After the light is introduced from the lens 51, the beam splitter prism 52 splits the light into the first image sensor 53 and the second image sensor 54 respectively; the first image sensor 53 adopts a front focus adjustment method, that is, focusing by adjusting the focusing lens group (not shown in the figure) in the lens 51; the second image sensor 54 adopts a back focus adjustment method, and focusing is achieved by changing the horizontal distance between the second image sensor 54 and the beam splitter prism 52. In this way, the two image sensors (including the first image sensor 53 and the second image sensor 54) can each focus on the area of ​​interest when sharing the same lens 51.

[0057] In one embodiment, taking a conference scene as an example, the first image sensor focuses on the highlighted content corresponding to the screen, and the second image sensor focuses on the low-brightness content corresponding to the speaker. Considering that the screen does not move during the meeting, the focus is achieved by adjusting the position of the focusing lens group in the lens. After one focusing is completed, the focusing lens group in the lens is locked and unchanged; and the speaker may move during the meeting, so the second focus area of ​​interest may need to be adjusted frequently. Considering that the focusing lens group in the lens needs to be shared with the first image sensor, the focusing method adopts the method of adjusting the physical distance between the second image sensor and the dichroic prism.

[0058] S25: Acquire the adjusted third image data output by the first image sensor in the camera device and the adjusted fourth image data output by each second image sensor in the camera device.

[0059] S26: Fusing the third image data with all the fourth image data to obtain fused image data.

[0060] S25-S26 are the same as S14-S15 in the above embodiment and will not be described again here.

[0061] This embodiment proposes to obtain the real wide dynamic data of two image sensors, and use the long frame data of one image sensor and the short frame data of the other image sensor as the data operation objects, so that the image sensors are focused on the corresponding focus interest area, and then the data captured by the adjusted camera device are re-fused into a new image; by adopting the image fusion solution, the image quality can be guaranteed, and it can be applied to conference scenes, which solves the foreground and background depth problems and can also meet the requirements of appropriate exposure brightness between the screen display content and the speaker; in addition, the concept of overlapping area is proposed, and by extracting the overlapping area of ​​the first interest area and the second interest area as the operation object, the coordinate position of the speaker is captured in a non-intelligent and non-frame difference situation, and this is used as the focus object, and the interest area of ​​the moving target is used as the precondition for subsequent focusing. Under the premise that all image sensors use the same lens, the front focus and back focus methods respectively meet the focus clarity of the foreground and background, which can avoid the problem of overexposure or underexposure of the image, so that the overall brightness of the image is uniform and the image details are clearer.

[0062] See also Figure 6 , Figure 6 It is a structural diagram of an embodiment of an image processing device provided by the present application. The image processing device 60 includes a memory 61 and a processor 62 connected to each other. The memory 61 is used to store a computer program. When the computer program is executed by the processor 62, it is used to implement the image fusion method in the above embodiment.

[0063] See also Figure 7 , Figure 7 It is a structural schematic diagram of another embodiment of the camera device provided by the present application. The camera device 70 includes a lens 71, an image processing device 72, a first image sensor 73 and at least one second image sensor 74. The lens 71 is used to shoot the target object to generate image light, and emit the image light into the first image sensor 73 and the at least one second image sensor 74. The image processing device 72 is connected to the first image sensor 73 and the at least one second image sensor 74. The image processing device 72 is the image processing device in the above technical solution.

[0064] like Figure 7 As shown, the camera device 70 also includes a beam splitter prism 75, which is arranged on the output light path of the lens 71. The beam splitter prism 75 is used to split the image light into a first image light and at least one beam of second image light, and respectively emit the first image light and the second image light into the first image sensor 73 and the corresponding second image sensor 74.

[0065] See also Figure 8 , Figure 8It is a structural diagram of an embodiment of a computer-readable storage medium provided in the present application. The computer-readable storage medium 80 is used to store a computer program 81. When the computer program 81 is executed by a processor, it is used to implement the image fusion method in the above embodiment.

[0066] The computer-readable storage medium 80 may be a server, a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or other media that can store program codes.

[0067] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only illustrative, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0068] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0069] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0070] The above descriptions are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An image fusion method, characterized in that: An image processing device applied to a camera device, wherein the camera device further includes a first image sensor and at least one second image sensor, and the method includes: Acquire first image data output by the first image sensor and second image data output by each of the second image sensors, wherein an exposure time of the first image data is shorter than an exposure time of the second image data; Determine a first focus area of ​​interest based on the first image data, and adjust the camera device so that a first image sensor in the adjusted camera device focuses on the first focus area of ​​interest; Determine a second focus area of ​​interest based on the second image data, and adjust the camera device so that a second image sensor in the adjusted camera device focuses on the second focus area of ​​interest; Acquire the third image data output by the first image sensor in the adjusted camera device and the fourth image data output by each of the second image sensors in the adjusted camera device; fusing the third image data with all the fourth image data to obtain fused image data; Wherein, the method further comprises: Dividing the first image data and the second image data into blocks respectively to obtain a plurality of first sub-data blocks and a plurality of second sub-data blocks, wherein the first sub-data blocks correspond to the second sub-data blocks in a one-to-one manner; Determining the first focus area of ​​interest based on the multiple first sub-data blocks; Determining the second focused area of ​​interest based on the first focused area of ​​interest and the second sub-data block; The step of determining the first focus area of ​​interest based on the multiple first sub-data blocks includes: Calculating an average value of brightness of the first sub-data block to obtain a first brightness average value; Determining whether the first brightness average value is greater than a first preset brightness threshold; If yes, determining the first sub-data block as a first candidate sub-data block; generating the first focused interest region based on all the first candidate sub-data blocks; The step of determining the second focused area of ​​interest based on the first focused area of ​​interest and the second sub-data block includes: Calculating an average value of brightness of each second sub-data block corresponding to the same second image sensor to obtain a second brightness average value; Determine whether the second brightness average value is greater than a second preset brightness threshold; If yes, determining the second sub-data block as a second candidate sub-data block; generating a corresponding second focused region of interest based on the first focused region of interest and all the second candidate sub-data blocks corresponding to the same second image sensor; The step of generating a corresponding second focus region of interest based on the first focus region of interest and all the second candidate sub-data blocks corresponding to the same second image sensor includes: Acquire regions corresponding to all the first candidate sub-data blocks in the first focused region of interest to obtain a first region of interest; Acquire regions corresponding to all the second candidate sub-data blocks to obtain a second region of interest; An overlapping area between the first region of interest and the second region of interest is calculated to obtain the second focused region of interest.

2. The image fusion method according to claim 1, characterized in that: The step of generating the first focused interest area based on all the first candidate sub-data blocks comprises: Determining whether the number of consecutive first candidate sub-data blocks among all the first candidate sub-data blocks is greater than a preset number; If so, the area corresponding to the continuous first candidate sub-data blocks is determined as the first focus area of ​​interest.

3. The image fusion method according to claim 1, characterized in that: The camera device further includes a lens, and the lens includes a focusing lens group. The method further includes: Generate a first focusing instruction to adjust the position of the focusing lens group; A second focus adjustment instruction is generated to adjust the position of the second image sensor.

4. An image processing device, characterized in that: The invention comprises a memory and a processor connected to each other, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, it is used to implement the image fusion method according to any one of claims 1 to 3.

5. A camera device, characterized in that: It includes a lens, an image processing device, a first image sensor and at least one second image sensor, the lens is used to shoot a target object to generate image light, and emit the image light into the first image sensor and the at least one second image sensor, the image processing device is connected to the first image sensor and the at least one second image sensor, and the image processing device is the image processing device described in claim 4.

6. The imaging device according to claim 5, characterized in that The camera device also includes a beam splitter prism, which is arranged on the output light path of the lens and is used to split the image light into a first image light and at least one beam of second image light, and respectively emit the first image light and the second image light into the first image sensor and the corresponding second image sensor.

7. A computer-readable storage medium for storing a computer program, characterized in that: When the computer program is executed by a processor, it is used to implement the image fusion method according to any one of claims 1 to 3.

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