Time synchronization testing methods and systems

Abstract

This specification provides a time synchronization testing method applied to a time synchronization testing system. The system includes a master time synchronization device, an image acquisition device, a camera, and a slave time synchronization device. The master time synchronization device, in response to a time synchronization test command, sends the current time corresponding to the current moment to the image acquisition device and sends a shooting trigger command to the camera. The camera, in response to the shooting trigger command, captures a time image of the current time displayed by the slave time synchronization device. The image acquisition device acquires the time image and determines the time synchronization result based on the time image and the current time corresponding to the current moment. By using a slave time synchronization device with time display functionality, and comparing the current time received by the image acquisition device with the current time in the time image captured by the camera, the time synchronization result between the camera and other devices in the system can be quickly and accurately tested.

Description

Technical Field

[0001] The embodiments in this specification relate to the field of computer technology, and in particular to a time synchronization testing method. Background Technology

[0002] With the widespread application of computer vision in various fields, time synchronization of multiple sensors, including cameras, has become particularly important.

[0003] For example, in virtual reality or augmented reality scenarios, when building a 3D (three-dimensional) model, multiple photos or depth information captured simultaneously by multiple cameras or sensors from different positions and angles of the same object can provide information about a particular object or scene from different angles and levels. This information can be synthesized to generate multi-angle, all-around free or stereoscopic visual effects. Therefore, ensuring the time synchronization of multiple sensors to simultaneously complete the acquisition of information about the same object from different perspectives in the same scene at the same time is particularly important. Summary of the Invention

[0004] In view of this, embodiments of this specification provide a time synchronization testing method. One or more embodiments of this specification also relate to a time synchronization testing system, a computing device, a computer-readable storage medium, and a computer program, to address the technical deficiencies existing in the prior art.

[0005] According to a first aspect of the embodiments of this specification, a time synchronization testing method is provided, applied to a time synchronization testing system, including a time synchronization testing system comprising a time synchronization master device, an image acquisition device, an image capturing device, and a time synchronization slave device, wherein...

[0006] The timing master device, in response to the time synchronization test command, sends the current time corresponding to the current moment to the image acquisition device and sends a shooting trigger command to the shooting device at the current moment;

[0007] The shooting device, in response to the shooting trigger command, captures a time image of the current time displayed by the time synchronization slave device, wherein the current time displayed by the time synchronization slave device is consistent with the current time corresponding to the current moment;

[0008] The image acquisition device acquires the time image and determines the time synchronization result based on the time image and the current time corresponding to the current moment.

[0009] According to a second aspect of the embodiments of this specification, a time synchronization testing system is provided, including a time synchronization master device, an image acquisition device, an image capturing device, and a time synchronization slave device, wherein...

[0010] The timing master device is used to respond to the time synchronization test command by sending the current time corresponding to the current time to the image acquisition device at the current time, and sending a shooting trigger command to the shooting device;

[0011] The shooting device is used to capture a time image of the current time displayed by the time synchronization slave device in response to the shooting trigger command, wherein the current time displayed by the time synchronization slave device is consistent with the current time corresponding to the current moment;

[0012] The image acquisition device is used to acquire the time image and determine the time synchronization result based on the time image and the current time corresponding to the current moment.

[0013] According to a third aspect of the embodiments of this specification, a three-dimensional modeling method is provided, comprising:

[0014] In response to a 3D modeling instruction for a target object, the time synchronization test method described above is used to perform a time synchronization test on at least two shooting devices of the target object to obtain a time synchronization result.

[0015] If the shooting time of at least two shooting devices of the target object is synchronized according to the time synchronization result, the target object is photographed according to the at least two shooting devices of the target object, and the target object is modeled in three dimensions according to the image shooting results.

[0016] According to a fourth aspect of the embodiments of this specification, a computing device is provided, comprising:

[0017] memory and processor;

[0018] The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, they implement the steps performed by the time synchronization master device, image acquisition device, shooting device, or time synchronization slave device in the above-mentioned time synchronization test method.

[0019] According to a fifth aspect of the embodiments of this specification, a computer-readable storage medium is provided that stores computer-executable instructions, which, when executed by a processor, implement the steps performed by the timing master device, image acquisition device, shooting device, or timing slave device in the above-described time synchronization test method.

[0020] According to a sixth aspect of the embodiments of this specification, a computer program is provided, wherein when the computer program is executed in a computer, it causes the computer to perform the steps executed by the time synchronization master device, image acquisition device, shooting device, or time synchronization slave device in the above-described time synchronization test method.

[0021] One embodiment of this specification implements a time synchronization testing method applied to a time synchronization testing system. The system includes a time synchronization master device, an image acquisition device, a shooting device, and a time synchronization slave device. The time synchronization master device, in response to a time synchronization test command, sends the current time corresponding to the current moment to the image acquisition device and sends a shooting trigger command to the shooting device. The shooting device, in response to the shooting trigger command, captures a time image of the current time displayed by the time synchronization slave device, wherein the current time displayed by the time synchronization slave device is consistent with the current time corresponding to the current moment. The image acquisition device acquires the time image and determines the time synchronization result based on the time image and the current time corresponding to the current moment.

[0022] Specifically, this time synchronization test method utilizes a time synchronization slave device with time display function. At a certain moment, the time synchronization master device simultaneously sends the current time synchronized with the time synchronization slave device to the image acquisition device, and triggers the shooting device to capture a time image of the current time synchronized with the time synchronization slave device. Then, by comparing the current time received by the image acquisition device with the current time in the time image captured by the shooting device, the time synchronization result between the shooting device and other devices in the system can be quickly and accurately tested. Attached Figure Description

[0023] Figure 1 This is a schematic diagram illustrating the specific application of a time synchronization testing method provided in one embodiment of this specification to a time synchronization testing system.

[0024] Figure 2 This is a flowchart of a time synchronization test method provided in one embodiment of this specification;

[0025] Figure 3 This is a time image of the current time displayed on the time display unit, captured in an embodiment of the time synchronization test method provided in this specification.

[0026] Figure 4 This is a flowchart illustrating the processing procedure of a time synchronization testing method provided in one embodiment of this specification.

[0027] Figure 5 This is a schematic diagram of the structure of a time synchronization test system provided in one embodiment of this specification;

[0028] Figure 6 This is a structural block diagram of a computing device provided by one embodiment of this specification. Detailed Implementation

[0029] The following description sets forth many specific details to facilitate a thorough understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the scope of this specification. Therefore, this specification is not limited to the specific implementations disclosed below.

[0030] The terminology used in one or more embodiments of this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this specification. The singular forms “a,” “described,” and “the” as used in one or more embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0031] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0032] First, the terms and concepts used in one or more embodiments of this specification will be explained.

[0033] Time synchronization unit: A device that synchronizes the time of other devices.

[0034] Time synchronization device: A device that receives time synchronization information from a time synchronization unit and keeps its own time consistent with that of the time synchronization unit.

[0035] USB: Universal Serial Bus.

[0036] ETH: Ethernet interface. An Ethernet interface is a port for network data connection, connecting different computer devices together.

[0037] UART: Universal Asynchronous Receiver Transmitter, is a popular and widely used interface device in the field of digital communications.

[0038] This specification provides a time synchronization testing method. One or more embodiments of this specification also relate to a time synchronization testing system, a computing device, a computer-readable storage medium, and a computer program, which will be described in detail in the following embodiments.

[0039] See Figure 1 , Figure 1 The diagram illustrates a specific application of a time synchronization testing method provided in one embodiment of this specification to a time synchronization testing system.

[0040] Figure 1 The time synchronization test system 100 includes a time synchronization master device 1002, an image acquisition device 1004, an image capture device 1006, and a time synchronization slave device 1008. The time synchronization master device 1002 can be understood as a time synchronization unit, or a central synchronization time synchronization unit. The image capture device 1006 can be understood as a monocular camera, panoramic camera, depth camera, video camera, or other sensor. The time synchronization slave device 1008 can be understood as a time display device that displays the time through a digital tube.

[0041] Furthermore, the timing master device 1002 is communicatively connected to the shooting device 1006 and the image acquisition device 1004, the shooting device 1006 is communicatively connected to the image acquisition device 1003, and the timing master device 1002 is communicatively connected to the timing slave device 1008. For example, the timing master device 1002 is communicatively connected to the image acquisition device 1004 via a USB or UART interface, and the image acquisition device 1004 is communicatively connected to each shooting device 1006 via a USB 3.0 or ETH interface.

[0042] In practical applications, the communication connection method between the timing master device 1002, the image acquisition device 1004, the shooting device 1006, and the timing slave device 1008 is not limited to the above description. In other feasible scenarios, other more suitable communication connection methods can also be selected to realize communication between the devices.

[0043] The specific implementation of the time synchronization test method provided in the embodiments of this specification for the shooting device 1006 is as follows:

[0044] The time synchronization test system 100 starts running, and the shooting device 1006 is in an external trigger state.

[0045] The master time synchronization device 1002 synchronizes the local time to the slave time synchronization device 1008; at the same time, the slave time synchronization device 1008 displays the synchronized local time through a high-speed digital tube.

[0046] When the timing master device 1002 and the timing slave device 1008 are in stable time synchronization (i.e., their time is consistent within a preset time period), the timing master device 1002 triggers the shooting device 1006 at time t, causing the shooting device 1006 to capture the time image displayed by the timing slave device 1008; at the same time, it sends the local time at time t to the image acquisition device 1004; while receiving the local time at time t, the image acquisition device 1004 captures the time image displayed by the timing slave device 1008 captured by the shooting device 1006, and determines whether the shooting device 1006 has achieved time synchronization with other devices in the time synchronization test system 100 by comparing the difference between the received local time at time t and the time displayed by the timing slave device 1008 captured in the time image. That is, the time synchronization accuracy of the shooting device 1006 is accurately measured by using the known reliable timing master device 1002, timing slave device 1008, etc. in the time synchronization test system 100.

[0047] The time synchronization test method provided in this specification uses a time synchronization slave device with a digital tube display function. By comparing the difference between the local time received at time t and the time displayed on the time synchronization slave device in the time image, the time synchronization accuracy of the shooting device can be measured quickly and accurately.

[0048] See Figure 2 , Figure 2 A flowchart of a time synchronization test method according to an embodiment of this specification is shown. The time synchronization test method is applied to a time synchronization test system, which includes a time synchronization master device, an image acquisition device, an image capture device, and a time synchronization slave device. Specifically, the time synchronization test method includes the following steps when executed.

[0049] Step 202: In response to the time synchronization test command, the timing master device sends the current time corresponding to the current moment to the image acquisition device and sends a shooting trigger command to the shooting device.

[0050] For a detailed description of the timing master device, image acquisition device, shooting device, and timing slave device, please refer to the above embodiments, which will not be repeated here.

[0051] Among them, the shooting device (such as the camera under test) can be understood as the object under test in the time synchronization test system as the time synchronization accuracy, receiving the acquisition trigger signal of the time synchronization master device, and taking images of the time displayed in the time synchronization slave device.

[0052] Image acquisition equipment can be understood as a time image obtained by capturing images of the time displayed in the time synchronization slave device after the shooting device takes an image, and recording the time when the time synchronization master device sends a trigger signal to the shooting device, and the local time of the time synchronization master device sent the signal.

[0053] The master timing device (such as the central synchronization timing unit) can be understood as providing timing synchronization to the slave timing devices in the time synchronization test system.

[0054] A time synchronization slave device can be understood as receiving time synchronization from a time synchronization master device, synchronizing the local time with the time synchronization master device at a high refresh rate, and displaying it through a high-speed digital tube.

[0055] In practical applications, the time displayed on the time synchronization slave device is synchronized from the time synchronization master device. Therefore, before conducting time synchronization tests on the shooting device based on the time synchronization slave device, the time synchronization master device needs to synchronize its local time to the time synchronization slave device to ensure that the time on the time synchronization slave device is consistent with the time synchronization master device, so as to achieve accurate time synchronization testing of the shooting device in the future. The specific implementation method is as follows:

[0056] The response prior to the time synchronization test command also includes:

[0057] The master time synchronization device sends time synchronization information to the slave time synchronization device and synchronizes its time with the slave time synchronization device according to a preset time interval.

[0058] In this context, providing time synchronization to the time synchronization slave device can be understood as the time synchronization master device sending its local time to the time synchronization slave device, i.e., the local time can be understood as the time of the time synchronization master device; the preset time interval can be set according to the actual application, and this specification embodiment does not impose any limitation on it, such as the preset time interval being 2 milliseconds, etc.

[0059] Specifically, the master time synchronization device sends the local time to the slave time synchronization device for time display, and synchronizes the time with the slave time synchronization device according to the preset time interval to ensure the time consistency between the master time synchronization device and the slave time synchronization device, thereby ensuring the accuracy of the time synchronization test of the shooting device based on the slave time synchronization device.

[0060] In practical implementation, since the subsequent shooting equipment needs to capture images of the current time displayed by the time synchronization slave device, and compare the captured time image with the current time recorded by the image acquisition device to achieve time synchronization judgment between the devices, the time synchronization slave device needs to have a time display unit for real-time time display. Therefore, the time synchronization slave device includes a time display unit that displays the current time synchronized with the time synchronization master device. The specific implementation method is as follows:

[0061] The time synchronization slave device includes a time display unit;

[0062] Accordingly, after providing time synchronization to the time synchronization slave device, the method further includes:

[0063] The time synchronization slave device displays the time synchronized by the time synchronization master device through the time display unit, wherein the time display unit includes a high-speed digital tube.

[0064] Specifically, the master time synchronization device sends the local time to the slave time synchronization device, and displays it through the time display unit of the slave time synchronization device. The display period is generally not less than 0.1ms. The time display unit can be understood as the display screen of the slave time synchronization device. The display screen uses a high-speed data tube to ensure fast time synchronization and avoid the inconsistency between the local time sent by the master time synchronization device to the slave time synchronization device and the time displayed by the time display unit of the slave time synchronization device.

[0065] After the master time synchronization device synchronizes its local time to the slave time synchronization device for display, the master time synchronization device can respond to the time synchronization test command by sending the current time corresponding to the current time to the image acquisition device at the current time (e.g., time t), and simultaneously sending a shooting trigger command to the shooting device at time t. The time synchronization test command can be triggered by the user according to actual needs. For example, if the user wants to perform time synchronization tests on several shooting devices, they can first set up the relationship between these shooting devices and the master time synchronization device, the slave time synchronization device, and the image acquisition device, and then generate and send the time synchronization test command to the master time synchronization device through clicking or other operations, so that the master time synchronization device can perform the above operations. Of course, the time synchronization test command can also be triggered according to a pre-set trigger program.

[0066] Step 204: The shooting device, in response to the shooting trigger command, captures a time image of the current time displayed by the time synchronization slave device.

[0067] The time synchronization slave device displays the current time, which is consistent with the current time corresponding to the current moment.

[0068] Specifically, upon receiving a shooting trigger command from the master time synchronization device at the current moment, the shooting device, in response to the shooting trigger command, simultaneously captures a time image of the current time displayed on the slave time synchronization device. Therefore, if the slave time synchronization device includes a time display unit, the shooting device captures the time image of the current time displayed on the time display unit. The specific implementation method is as follows:

[0069] The step of capturing a time image of the current time displayed by the time synchronization slave device includes:

[0070] The shooting device captures a time image of the current time displayed by the time display unit, wherein the time display unit displays the time synchronized from the master timer to the slave timer.

[0071] Specifically, in response to the shooting trigger command sent by the timing master device, the shooting device captures a time image of the current time displayed on the time display unit of the timing slave device. The current time displayed on the time display unit is consistent with the current time of the authorized master device, so that the time synchronization accuracy of the shooting device can be quickly and accurately measured by comparing the time image of the current time captured by the shooting device with the current time sent by the timing master device to the image acquisition device at the current moment.

[0072] See Figure 3 , Figure 3 This image shows a time image of the current time displayed on a time display unit in a time synchronization test method provided according to an embodiment of this specification.

[0073] In practical applications, the shooting device can be understood as a camera. During the shooting process, the shooting delay varies depending on the exposure time. Therefore, to minimize the shooting delay and avoid affecting the time synchronization test of the shooting device, the exposure time of the camera is adjusted before shooting. The specific implementation method is as follows:

[0074] Before capturing a time image of the current time displayed by the time synchronization slave device in response to the capture trigger command, the method further includes:

[0075] The shooting device, in response to the exposure setting command, adjusts the exposure time during shooting according to the preset exposure conditions.

[0076] In practice, the exposure mode of the shooting device can be set to manual. Before the shooting device takes a picture, it can respond to the exposure setting command triggered by the user and adjust the exposure time during shooting according to the preset exposure conditions. For example, the preset exposure condition is that the shooting delay of the shooting device cannot exceed a certain time threshold. Under this preset exposure condition, the exposure time of the shooting device can be adjusted to 100us, etc.

[0077] The preset exposure conditions can be set according to actual needs, while the exposure time can be adjusted in real time according to the actual preset exposure conditions.

[0078] Then, after adjusting the exposure time, the shooting device can capture a time image of the current time displayed by the time display unit of the time synchronization slave device at time t.

[0079] Step 206: The image acquisition device acquires the time image and determines the time synchronization result based on the time image and the current time corresponding to the current moment.

[0080] Taking the current time as time t as an example, while the capturing device captures the time image of the current time displayed on the time display unit of the time synchronization slave device at time t, the image acquisition device receives the current time at time t sent by the time synchronization master device, and also acquires the time image of the current time displayed on the time display unit of the time synchronization slave device captured by the capturing device at time t. Therefore, based on the time image of the current time displayed on the time display unit of the time synchronization slave device captured by the capturing device at time t, and the current time at time t received from the time synchronization master device, the time synchronization accuracy of the capturing device is accurately determined. The specific implementation method is as follows:

[0081] The process of acquiring the time image and determining the time synchronization result based on the time image and the current time corresponding to the current moment includes:

[0082] The image acquisition device acquires a time image of the current time displayed by the time synchronization slave device in response to the trigger command, and records the current time corresponding to the current moment sent by the time synchronization master device;

[0083] The time synchronization result is determined based on the time image and the current time corresponding to the current moment.

[0084] Let's take the current time as time t as an example for a detailed explanation.

[0085] Specifically, the image acquisition device acquires a time image displayed by the timing slave device at time t in response to the trigger command, and records the current time corresponding to time t sent by the timing master device; then, based on the time image and the current time corresponding to time t, the time synchronization result of the acquisition device is determined.

[0086] In practical applications, the time synchronization result of the shooting device can be quickly and accurately determined simply by the difference between the time image and the current time at time t. The specific implementation method is as follows:

[0087] The step of determining the time synchronization result based on the time image and the current time corresponding to the current moment includes:

[0088] The image acquisition device determines the current time in the time image, calculates the difference between the current time determined from the time image and the current time corresponding to the current moment, obtains the difference calculation result, and determines the time synchronization result based on the difference calculation result.

[0089] The difference calculation result can be understood as the accuracy of time synchronization between the shooting device and other devices in the time synchronization test system. When the accuracy result is large, it is considered that the time synchronization effect of each device in the time synchronization test system is poor, and when the accuracy result is small, it is considered that the time synchronization effect of each device in the time synchronization test system is good.

[0090] Specifically, the image acquisition device obtains the current time from the time image, then calculates the difference between the current time obtained from the time image and the recorded current time at time t, and finally determines the time synchronization result of each device in the time synchronization test system based on the difference calculation result.

[0091] In practice, there may be two or more shooting devices. In the case of multiple shooting devices, the master time synchronization device will send a shooting trigger command to each shooting device at the current moment. Each shooting device will then capture a time image of the same time displayed by the slave time synchronization device according to the shooting trigger command. Similarly, the image acquisition device will calculate the difference between the current time determined in each time image and the current time corresponding to the current moment, and obtain multiple difference calculation results. Then, based on each difference calculation result, the time synchronization result between the shooting device and other devices in the time synchronization test system is determined. Thus, based on the reliable master time synchronization device, slave time synchronization device, and image acquisition device in the time synchronization test system, the accuracy of the shooting device can be accurately determined.

[0092] Taking the shooting devices including shooting device 1 and shooting device 2 as an example, shooting device 1 acquires time image 1, and shooting device 2 acquires time image 2.

[0093] Then, the image acquisition device calculates the difference between the current time obtained from time image 1 and the current time recorded at time t to obtain the first difference calculation result; similarly, the image acquisition device calculates the difference between the current time obtained from time image 2 and the current time recorded at time t to obtain the second difference calculation result; then, based on the first difference calculation result, the time synchronization result between the shooting device 1 and other devices in the time synchronization test system is determined, and based on the second difference calculation result, the time synchronization result between the shooting device 2 and other devices in the time synchronization test system is determined.

[0094] To quickly obtain the time synchronization result of the shooting equipment, the time synchronization result of the shooting equipment can be determined by calculating only the difference at time t using the method described above. The specific implementation method is as follows:

[0095] The step of determining the time synchronization result based on the difference calculation result includes:

[0096] The image acquisition device, upon determining that the difference calculation result is less than or equal to a preset threshold, determines that the time synchronization master device, the image acquisition device, the shooting device, and the time synchronization slave device are synchronized; and

[0097] If the difference calculation result is greater than the preset threshold, it is determined that the time of the master time synchronization device, the image acquisition device, the shooting device, and the slave time synchronization device are out of sync.

[0098] The preset threshold can be set according to the actual application, and the embodiments in this specification do not impose any limitations on it.

[0099] Specifically, for the image acquisition device, if the difference calculation result is less than or equal to a preset threshold, the time synchronization of the shooting device with the master time synchronization device, the image acquisition device, and the slave time synchronization device in the time synchronization test system is determined; and

[0100] If the difference calculation result is greater than the preset threshold, it is determined that the shooting device, the master time synchronization device, the image acquisition device, and the slave time synchronization device in the time synchronization test system are out of sync.

[0101] Continuing with the previous example, the difference calculation result corresponding to shooting device 1 is the first difference calculation result, and the difference calculation result corresponding to shooting device 2 is the second difference calculation result. If the image acquisition device determines that the first difference calculation result is less than or equal to a preset threshold, then the shooting device 1 in the time synchronization test system is time-synchronized with the timing master device, the image acquisition device, and the timing slave device. In this case, the accuracy value of shooting device 1 can be understood as the first difference calculation result. Conversely, if the first difference calculation result is greater than the preset threshold, then the shooting device 1 in the time synchronization test system is time-dissynchronized with the timing master device, the image acquisition device, and the timing slave device. If the second difference calculation result is less than or equal to a preset threshold, then the accuracy value of the shooting device 1 can be understood as the result of the second difference calculation. Similarly, if the image acquisition device determines that the shooting device 2 in the time synchronization test system is synchronized with the time synchronization master device, the image acquisition device, and the time synchronization slave device, then the accuracy value of the shooting device 2 can be understood as the result of the second difference calculation. If the second difference calculation result is greater than a preset threshold, then the shooting device 2 in the time synchronization test system is not synchronized with the time synchronization master device, the image acquisition device, and the time synchronization slave device, then the accuracy value of the shooting device 2 can be understood as the result of the second difference calculation.

[0102] Of course, in practical applications, when the time synchronization testing system is first started, the shooting equipment may be unstable. Therefore, judging the time synchronization status of the shooting equipment based on a single test at a particular moment may lead to misjudgment. To avoid this, in practical applications, the time synchronization status of the shooting equipment can be tested multiple times at various moments. Finally, the time synchronization result of the shooting equipment can be determined based on the results of multiple tests, thus ensuring the accuracy of time synchronization for all devices in the time synchronization testing system. The specific implementation method is as follows:

[0103] There are multiple time images, and each time image corresponds to the current time at the time when the time image is acquired;

[0104] Accordingly, determining the time synchronization result based on the time image and the current time corresponding to the current moment includes:

[0105] The image acquisition device determines the current time in each time image, and calculates the difference between the current time determined from each image and the current time corresponding to the acquisition time of each time image to obtain multiple difference calculation results. Based on the multiple difference calculation results, the time synchronization result is determined.

[0106] Specifically, when the timing master device sends the current time of the corresponding moment to the image acquisition device at multiple moments, and sends a shooting trigger command to the shooting device, it can obtain multiple time images, as well as the time corresponding to each time image and the current time received by the image acquisition device.

[0107] Then, based on the specific implementation described above, the difference calculation results corresponding to each moment are obtained; and then, based on all the difference calculation results, the time synchronization result is determined.

[0108] For example, the master time synchronization device synchronously sends the current time corresponding to time t to the image acquisition device at time t, and sends a shooting trigger command to the shooting device at time t; the shooting device, in response to the shooting trigger command, captures a time image at time t displayed by the slave time synchronization device; the image acquisition device captures the time image at time t, and performs a difference calculation based on the time image at time t and the current time corresponding to time t, to obtain the difference calculation result at time t; similarly,

[0109] The master time synchronization device synchronously sends the current time corresponding to time t+1 to the image acquisition device at time t+1, and sends a shooting trigger command to the shooting device; the shooting device, in response to the shooting trigger command, captures a time image at time t+1 displayed by the slave time synchronization device; the image acquisition device captures the time image at time t+1, and performs difference calculation based on the time image at time t+1 and the current time corresponding to time t+1 to obtain the difference calculation result at time t+1; and

[0110] The master time synchronization device synchronously sends the current time corresponding to time t+1 to the image acquisition device at time t+1, and sends a shooting trigger command to the shooting device; the shooting device, in response to the shooting trigger command, captures the time image at time t+1 displayed by the slave time synchronization device; the image acquisition device captures the time image at time t+1, and performs difference calculation based on the time image at time t+1 and the current time corresponding to time t+1 to obtain the difference calculation result at time t+1.

[0111] Finally, based on the difference calculation results at time t, time t+1, and time t+1, the time synchronization result between the shooting device and other devices in the time synchronization test system can be determined. Through this method of multiple tests, the time synchronization result between the shooting device and other devices in the time synchronization test system can be accurately determined.

[0112] In practical applications, the difference calculation results at certain moments are clearly unusable. Including them in the final time synchronization result might affect its accuracy. Therefore, after obtaining multiple difference calculation results, it is necessary to filter out obviously unusable results and then accurately determine the time synchronization result based on the filtered results. The specific implementation method is as follows:

[0113] The step of determining the time synchronization result based on the multiple difference calculation results includes:

[0114] The image acquisition device filters the multiple difference calculation results to obtain the filtered target difference calculation results, determines the mean of the difference calculation results based on the target difference calculation results, and determines the time synchronization result based on the mean of the difference calculation results.

[0115] The method for filtering multiple difference calculation results can be set according to the actual application. For example, the difference calculation results with a large difference between the current time and the current time of the corresponding moment in the time image can be filtered out.

[0116] After filtering multiple difference calculation results to obtain the target difference calculation result, the mean of the difference calculation results can be calculated based on this target difference calculation result, and the time synchronization result can be determined based on the mean of the difference calculation results. The specific implementation method is as follows:

[0117] The step of determining the time synchronization result based on the mean of the difference calculation results includes:

[0118] The image acquisition device, upon determining that the average value of the difference calculation result is less than or equal to the preset threshold, determines that the time synchronization master device, the image acquisition device, the shooting device, and the time synchronization slave device are synchronized; and

[0119] If the average value of the difference calculation result is greater than the preset threshold, it is determined that the time of the master time synchronization device, the image acquisition device, the shooting device, and the slave time synchronization device are out of sync.

[0120] Specifically, the specific implementation method for determining the time synchronization result is based on the mean of the difference calculation results. This can be found in the above embodiment where the specific implementation method for determining the time synchronization result is directly based on the difference calculation results, and will not be repeated here.

[0121] In practical applications, this time synchronization test system can include multiple shooting devices. Each shooting device can test the time synchronization accuracy between itself and other devices in the time synchronization test system according to this time synchronization test method.

[0122] For example, this time synchronization test system includes a time synchronization master device, an image acquisition device, three shooting devices (shooting device 1, shooting device 2, and shooting device 3), and a time synchronization slave device. Then, through this time synchronization test method, the time synchronization accuracy of shooting device 1, shooting device 2, and shooting device 3 in the time synchronization test system with other devices can be tested respectively. That is, the time synchronization accuracy of the shooting devices can be tested based on the accurate time of the known reliable time synchronization master device, time synchronization slave device, etc. in the time synchronization test system.

[0123] The time synchronization test method provided in the embodiments of this specification can simultaneously test the time synchronization accuracy of multiple shooting devices in a time synchronization test system, thereby improving test efficiency.

[0124] The time synchronization test method provided in this specification utilizes a time synchronization slave device with time display function. At a certain moment, the time synchronization master device simultaneously sends the current time synchronized with the time synchronization slave device to the image acquisition device, and triggers the shooting device to capture a time image of the current time synchronized with the time synchronization slave device. Then, by comparing the current time received by the image acquisition device with the current time in the time image captured by the shooting device, the time synchronization result between the shooting device, the time synchronization master device, the time synchronization slave device, and the image acquisition device in the time synchronization test system can be quickly and accurately determined.

[0125] The following is in conjunction with the appendix Figure 4 Taking the application of the time synchronization test method provided in this specification in determining the time synchronization accuracy of the camera under test as an example, the time synchronization test method will be further explained. Among other things, Figure 4 The present specification shows a flowchart of a time synchronization testing method according to an embodiment, which includes the following steps.

[0126] Figure 4 It includes a central synchronization time synchronization unit (i.e., the time synchronization master device), an image acquisition device, a time synchronization slave device and a display unit (i.e., the time display unit), and a camera under test (i.e., the shooting device); wherein, the central synchronization time synchronization unit and the image acquisition device are connected via USB or UART communication, and the image acquisition device and the camera under test are connected via USB3.0 or ETH communication.

[0127] Step 402: The central synchronization time unit synchronizes the local time to the time synchronization slave device, and displays the synchronized time through the display unit of the time synchronization slave device.

[0128] Step 404: The central synchronization time unit, in response to the time synchronization test command, performs a trigger operation on the camera under test at time t, such as triggering external IO (Input / Output) to the camera under test.

[0129] Step 406: The central synchronization time unit simultaneously sends the time at time t to the image acquisition device.

[0130] Step 408: The camera under test responds to the trigger operation of the central synchronization time unit, takes a picture of the time synchronization slave device that is synchronized with the time of the central synchronization time unit, and displays the time image at time t on the display unit.

[0131] Step 410: The image acquisition device records the time at time t sent by the central synchronization time unit and acquires the time image at time t captured by the camera under test. By comparing the time at time t sent by the central synchronization time unit and the time in the time image at time t captured by the camera under test, the time synchronization accuracy between the camera under test, the central synchronization time unit, the image acquisition device, and the time slave device is determined.

[0132] That is, the difference is the time synchronization accuracy.

[0133] The time synchronization testing method provided in this specification utilizes a time synchronization slave device with time display functionality. At time t, the central synchronization unit simultaneously sends the current time synchronized with the time synchronization slave device to the image acquisition device, and a time image synchronized with the time synchronization slave device, triggered by the camera under test. Then, by comparing the current time received by the image acquisition device with the current time in the time image captured by the camera under test, the time synchronization result between the capturing device and other time-reliable devices in the time synchronization testing system is quickly and accurately determined. Furthermore, this method can achieve simultaneous time synchronization verification between multiple capturing devices, is fast, convenient, and reproducible, and can simultaneously determine the time synchronization accuracy of multiple capturing devices.

[0134] In addition, the shooting device can also be a sensor, as long as the sensor can acquire the time synchronized by the master device through the authorized slave device, and the image acquisition device can also acquire the time acquired by the sensor from the master device; then the shooting device can test the time synchronization accuracy of the sensor through the time synchronization test method provided in the above embodiment; the specific time synchronization test method can be found in the detailed description of the above embodiment, and will not be repeated here.

[0135] In practical applications, this time synchronization test method can be applied to image synchronization acquisition systems. First, the time synchronization accuracy of multiple cameras is tested using this method. Then, multiple photos of the object to be modeled (e.g., indoor space) are taken from different positions and angles using the multiple cameras after the time synchronization accuracy test. Finally, 3D modeling of the interior is performed based on the multiple photos taken.

[0136] Corresponding to the above method embodiments, this specification also provides embodiments of a time synchronization testing system. Figure 5 A schematic diagram of the structure of a time synchronization test system provided in one embodiment of this specification is shown. Figure 5 As shown, the system includes:

[0137] The system includes a timing master device 502, an image acquisition device 504, an image capturing device 506, and a timing slave device 508.

[0138] The timing master device 502 is used to respond to the time synchronization test command by sending the current time corresponding to the current time to the image acquisition device 504 at the current time, and sending a shooting trigger command to the shooting device 506.

[0139] The shooting device 506 is used to capture a time image of the current time displayed by the time synchronization slave device 508 in response to the shooting trigger command, wherein the current time displayed by the time synchronization slave device 508 is consistent with the current time corresponding to the current moment;

[0140] The image acquisition device 504 is used to acquire the time image and determine the time synchronization result based on the time image and the current time corresponding to the current moment.

[0141] Optionally, the timing master device 502 is also used to provide timing to the timing slave device 508 and to synchronize time with the timing slave device 508 according to a preset time interval.

[0142] Optionally, the time synchronization slave device 508 includes a time display unit;

[0143] The time synchronization slave device 508 is also used to display the time synchronization of the time synchronization master device 502 through the time display unit, wherein the time display unit includes a high-speed digital tube.

[0144] Optionally, the shooting device 506 is also used to capture a time image of the current time displayed by the time display unit, wherein the time display unit displays the time synchronized from the time synchronization master device 502 to the time synchronization slave device 508.

[0145] Optionally, the shooting device 506 is also configured to adjust the exposure time during shooting according to preset exposure conditions in response to an exposure setting command.

[0146] Optionally, the image acquisition device 504 is further configured to acquire a time image of the current time displayed by the time synchronization slave device 508, captured by the shooting device 506 in response to the trigger command, and record the current time corresponding to the current moment sent by the time synchronization master device 502;

[0147] The time synchronization result is determined based on the time image and the current time corresponding to the current moment.

[0148] Optionally, the image acquisition device 504 is further configured to determine the current time in the time image, and perform a difference calculation between the current time determined from the time image and the current time corresponding to the current moment to obtain a difference calculation result, and determine the time synchronization result based on the difference calculation result.

[0149] Optionally, the image acquisition device 504 is further configured to, when determining that the difference calculation result is less than or equal to a preset threshold, determine the time synchronization of the timing master device 502, the image acquisition device 504, the shooting device 506, and the timing slave device 508; and

[0150] If the difference calculation result is greater than the preset threshold, it is determined that the time of the timing master device 502, the image acquisition device 504, the shooting device 506, and the timing slave device 508 are out of sync.

[0151] Optionally, there are multiple time images, and each time image corresponds to the current time at the time when the time image is acquired;

[0152] The image acquisition device 504 is further configured to determine the current time in each time image, and to perform a difference calculation between the current time determined from each image and the current time corresponding to the acquisition time of each time image, to obtain multiple difference calculation results, and to determine the time synchronization result based on the multiple difference calculation results.

[0153] Optionally, the image acquisition device 504 is further configured to filter the multiple difference calculation results to obtain the filtered target difference calculation results, determine the mean of the difference calculation results based on the target difference calculation results, and determine the time synchronization result based on the mean of the difference calculation results.

[0154] Optionally, the image acquisition device 504 is further configured to, when determining that the average of the difference calculation results is less than or equal to the preset threshold, synchronize the time of the timing master device 502, the image acquisition device 504, the shooting device 506, and the timing slave device 508; and

[0155] If the average value of the difference calculation result is greater than the preset threshold, it is determined that the time of the master time synchronization device 502, the image acquisition device 504, the shooting device 506, and the slave time synchronization device 508 are out of sync.

[0156] The time synchronization test system provided in this specification uses a time synchronization slave device with time display function. At a certain moment, the time synchronization master device simultaneously sends the current time synchronized with the time synchronization slave device to the image acquisition device, and triggers the shooting device to capture a time image of the current time synchronized with the time synchronization slave device. Then, by comparing the current time received by the image acquisition device with the current time in the time image captured by the shooting device, the time synchronization result between the shooting device and other devices in the time synchronization test system can be quickly and accurately determined.

[0157] The above is an illustrative scheme of a time synchronization test system according to this embodiment. It should be noted that the technical solution of this time synchronization test system and the technical solution of the time synchronization test method described above belong to the same concept. For details not described in detail in the technical solution of the time synchronization test system, please refer to the description of the technical solution of the time synchronization test method described above.

[0158] Another embodiment of this specification also provides a three-dimensional modeling method, including:

[0159] In response to a 3D modeling instruction for a target object, the time synchronization test method described above is used to perform a time synchronization test on at least two shooting devices of the target object to obtain a time synchronization result.

[0160] If the shooting time of at least two shooting devices of the target object is synchronized according to the time synchronization result, the target object is photographed according to the at least two shooting devices of the target object, and the target object is modeled in three dimensions according to the image shooting results.

[0161] The target object can be understood as any type of item, such as a building, a vehicle, etc.

[0162] Specifically, in virtual reality or augmented reality scenarios, building a 3D (three-dimensional) model involves multiple cameras or sensors simultaneously capturing multiple photos or depth information from different positions and angles of the same object (i.e., the target object, such as a room). This provides information about a particular thing or scene from different angles and levels, and this information can be synthesized to generate multi-angle, all-around free or stereoscopic visual effects. In this case, ensuring the time synchronization of multiple cameras or sensors to simultaneously acquire information about the same object from different perspectives within the same scene at the same time is particularly important.

[0163] After receiving a 3D modeling instruction for a target object, the 3D modeling method provided in this specification can first perform a time synchronization test on at least two shooting devices of the target object using the time synchronization test method described in the above embodiment to obtain the time synchronization result. Only when the shooting time of at least two shooting devices of the target object is synchronized according to the time synchronization result will the target object be photographed according to the at least two shooting devices of the target object, and the target object will be 3D modeled according to the image shooting result; so as to ensure the accuracy of the 3D model of the target object.

[0164] Figure 6A structural block diagram of a computing device 600 according to one embodiment of this specification is shown. The components of the computing device 600 include, but are not limited to, a memory 610 and a processor 620. The processor 620 is connected to the memory 610 via a bus 630, and a database 650 is used to store data.

[0165] The computing device 600 also includes an access device 640, which enables the computing device 600 to communicate via one or more networks 660. Examples of these networks include Public Switched Telephone Network (PSTN), Local Area Network (LAN), Wide Area Network (WAN), Personal Area Network (PAN), or combinations of communication networks such as the Internet. The access device 640 may include one or more of any type of wired or wireless network interface (e.g., a network interface card (NIC)), such as an IEEE 802.11 Wireless Local Area Network (WLAN) wireless interface, a Wi-MAX (Worldwide Interoperability for Microwave Access) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a Near Field Communication (NFC) interface, and so on.

[0166] In one embodiment of this specification, the above-described components of the computing device 600 and Figure 6 Other components not shown in the figure may also be connected to each other, for example, via a bus. Figure 6 The computing device structure block diagram shown is for illustrative purposes only and is not intended to limit the scope of this specification. Those skilled in the art may add or replace other components as needed.

[0167] The computing device 600 can be any type of stationary or mobile computing device, including mobile computers or mobile computing devices (e.g., tablet computers, personal digital assistants, laptop computers, notebook computers, netbooks, etc.), mobile phones (e.g., smartphones), wearable computing devices (e.g., smartwatches, smart glasses, etc.) or other types of mobile devices, or stationary computing devices such as desktop computers or personal computers (PCs). The computing device 600 can also be a mobile or stationary server.

[0168] The processor 620 is used to execute the following computer-executable instructions, which, when executed by the processor, implement the steps performed by the timing master device, image acquisition device, shooting device, or timing slave device in the above-mentioned time synchronization test method.

[0169] The above is an illustrative scheme of a computing device according to this embodiment. It should be noted that the technical solution of this computing device and the technical solution of the time synchronization test method described above belong to the same concept. For details not described in detail in the technical solution of the computing device, please refer to the description of the technical solution of the time synchronization test method described above.

[0170] An embodiment of this specification also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps performed by the time synchronization master device, image acquisition device, imaging device, or time synchronization slave device in the above-described time synchronization test method.

[0171] The above is an illustrative scheme of a computer-readable storage medium according to this embodiment. It should be noted that the technical solution of this storage medium and the technical solution of the time synchronization test method described above belong to the same concept. For details not described in detail in the technical solution of the storage medium, please refer to the description of the technical solution of the time synchronization test method described above.

[0172] An embodiment of this specification also provides a computer program, wherein when the computer program is executed in a computer, it causes the computer to perform the steps executed by the time synchronization master device, image acquisition device, shooting device, or time synchronization slave device in the above-described time synchronization test method.

[0173] The above is an illustrative example of a computer program according to this embodiment. It should be noted that the technical solution of this computer program and the technical solution of the time synchronization testing method described above belong to the same concept. Details not described in detail in the computer program's technical solution can be found in the description of the technical solution of the time synchronization testing method described above.

[0174] The foregoing description of this specification describes specific embodiments. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0175] The computer instructions include computer program code, which may be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium may be appropriately added to or subtracted according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media may not include electrical carrier signals and telecommunication signals.

[0176] It should be noted that for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of this specification.

[0177] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0178] The preferred embodiments disclosed above are intended only to help illustrate this specification. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made based on the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that those skilled in the art can better understand and utilize this specification. This specification is limited only by the claims and their full scope and equivalents.

Claims

1. A time synchronization testing method, applied to a time synchronization testing system, the time synchronization testing system comprising a time synchronization master device, an image acquisition device, at least two imaging devices, and a time synchronization slave device, wherein, The timing master device, in response to the time synchronization test command, sends the current time corresponding to the current moment to the image acquisition device at the current moment, and at the same time sends shooting trigger commands to the at least two shooting devices respectively; The at least two shooting devices, in response to the shooting trigger command, capture a time image of the same time displayed by the time synchronization slave device, wherein the current time displayed by the time synchronization slave device is consistent with the current time corresponding to the current moment; The image acquisition device acquires the time image and, based on the time image and the current time corresponding to the current moment, determines the time synchronization result between the at least two shooting devices and the time synchronization master device, time synchronization slave device, and image acquisition device in the time synchronization test system.

2. The time synchronization test method according to claim 1, further comprising, before responding to the time synchronization test command: The master time synchronization device sends time synchronization information to the slave time synchronization device and synchronizes its time with the slave time synchronization device according to a preset time interval.

3. The time synchronization test method according to claim 2, wherein the time synchronization slave device includes a time display unit; Accordingly, after providing time synchronization to the time synchronization slave device, the method further includes: The time synchronization slave device displays the time synchronized by the time synchronization master device through the time display unit, wherein the time display unit includes a high-speed digital tube.

4. The time synchronization test method according to claim 3, wherein capturing a time image of the current time displayed by the time synchronization slave device includes: The shooting device captures a time image of the current time displayed by the time display unit, wherein the time display unit displays the time synchronized from the master timer to the slave timer.

5. The time synchronization test method according to claim 1, further comprising, before capturing a time image of the current time displayed by the time synchronization slave device in response to the capture trigger command: The shooting device, in response to the exposure setting command, adjusts the exposure time during shooting according to the preset exposure conditions.

6. The time synchronization test method according to claim 1, wherein acquiring the time image and determining the time synchronization result between the at least two capturing devices and the time synchronization master device, time synchronization slave device, and image acquisition device in the time synchronization test system based on the time image and the current time corresponding to the current moment includes: The image acquisition device acquires a time image of the current time displayed by the time synchronization slave device in response to the trigger command, and records the current time corresponding to the current moment sent by the time synchronization master device; Based on the time image and the current time corresponding to the current moment, determine the time synchronization results between the at least two shooting devices and the time synchronization master device, time synchronization slave device, and image acquisition device in the time synchronization test system.

7. The time synchronization test method according to claim 1 or 6, wherein determining the time synchronization result between the at least two shooting devices and the time synchronization master device, time synchronization slave device, and image acquisition device in the time synchronization test system based on the time image and the current time corresponding to the current moment includes: The image acquisition device determines the current time in the time image, calculates the difference between the current time determined from the time image and the current time corresponding to the current moment, obtains the difference calculation result, and determines the time synchronization result based on the difference calculation result.

8. The time synchronization test method according to claim 7, wherein determining the time synchronization result based on the difference calculation result includes: The image acquisition device, when determining that the difference calculation result is less than or equal to a preset threshold, determines that the time synchronization of the timing master device, the image acquisition device, the shooting device, and the timing slave device is synchronized. as well as If the difference calculation result is greater than the preset threshold, it is determined that the time of the master time synchronization device, the image acquisition device, the shooting device, and the slave time synchronization device are out of sync.

9. The time synchronization test method according to claim 1, wherein there are multiple time images, and each time image corresponds to the current time at the time the time image is acquired; Accordingly, determining the time synchronization results between the at least two capturing devices and the time synchronization master device, time synchronization slave device, and image acquisition device in the time synchronization test system based on the time image and the current time corresponding to the current moment includes: The image acquisition device determines the current time in each time image, and calculates the difference between the current time determined from each image and the current time corresponding to the acquisition time of each time image to obtain multiple difference calculation results. Based on the multiple difference calculation results, the time synchronization result is determined.

10. The time synchronization test method according to claim 9, wherein determining the time synchronization result based on the plurality of difference calculation results includes: The image acquisition device filters the multiple difference calculation results to obtain the filtered target difference calculation results, determines the mean of the difference calculation results based on the target difference calculation results, and determines the time synchronization result based on the mean of the difference calculation results.

11. The time synchronization test method according to claim 10, wherein determining the time synchronization result based on the mean of the difference calculation results includes: The image acquisition device determines that the time synchronization of the master time synchronization device, the image acquisition device, the shooting device, and the slave time synchronization device is less than or equal to a preset threshold when the mean value of the difference calculation result is less than or equal to a preset threshold. as well as If the average value of the difference calculation result is greater than the preset threshold, it is determined that the time of the master time synchronization device, the image acquisition device, the shooting device, and the slave time synchronization device are out of sync.

12. A time synchronization test system, comprising a time synchronization master device, an image acquisition device, at least two imaging devices, and a time synchronization slave device, wherein, The timing master device is used to respond to the time synchronization test command by sending the current time corresponding to the current time to the image acquisition device at the current time, and sending shooting trigger commands to the at least two shooting devices respectively; The at least two shooting devices are configured to, in response to the shooting trigger command, capture a time image of the current time displayed by the time synchronization slave device, wherein the current time displayed by the time synchronization slave device is consistent with the current time corresponding to the current moment; The image acquisition device is used to acquire the time image and, based on the time image and the current time corresponding to the current moment, determine the time synchronization result between the at least two shooting devices and the time synchronization master device, time synchronization slave device, and image acquisition device in the time synchronization test system.

13. The time synchronization test system according to claim 12, wherein the time synchronization slave device includes a time display unit; The time synchronization slave device displays the time synchronized by the time synchronization master device through the time display unit, wherein... The time display unit includes a high-speed digital tube.

14. A three-dimensional modeling method, comprising: In response to a 3D modeling instruction for a target object, the time synchronization test method according to any one of claims 1-11 is used to perform a time synchronization test on at least two shooting devices of the target object to obtain a time synchronization result. If the shooting time of at least two shooting devices of the target object is synchronized according to the time synchronization result, the target object is photographed according to the at least two shooting devices of the target object, and the target object is modeled in three dimensions according to the image shooting results.

15. A computer program product, characterized in that, Includes computer instructions that, when executed by a processor, implement the steps of the method described in any one of claims 1-11 or 14.

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