Camera synchronization method and device, electronic equipment and storage medium

Abstract

The invention discloses a camera synchronization method and device, electronic equipment and a storage medium, and belongs to the technical field of electronic equipment. The method comprises the following steps: under the condition that a first camera sends a frame synchronization signal to a second camera, determining first timestamp information when the second camera reads a target object in a second image frame based on image data corresponding to the first image frame collected by the second camera; determining second timestamp information of exposing the target object by the first camera; according to time difference information of the first timestamp information and the second timestamp information, respectively determining first acquisition time and second acquisition time when the first camera and the second camera acquire the second image frame; and sending a first acquisition control signal to the first camera at the first acquisition time, and sending a second acquisition control signal to the second camera at the second acquisition time, so that the time when the second camera reads the target object is synchronized with the exposure time of the first camera to the target object.

Description

Technical Field

[0001] The present application belongs to the technical field of electronic equipment, and specifically relates to a camera synchronization method, device, electronic equipment and storage medium. Background Art

[0002] With the rapid development of photography technology of electronic devices, using electronic devices to take photos to record life and work has become the norm.

[0003] When shooting with the camera of an electronic device, the camera (camera 1) that needs to collect depth image data and the camera (camera 2) that uses rolling exposure mode need to work synchronously. Specifically, when camera 1 and camera 2 need to work synchronously, camera 2 sends a frame synchronization signal to camera 1, so that camera 1 and camera 2 synchronously start to expose and collect the shooting scene respectively. In the process of camera 1 and camera 2 synchronously starting to expose and collect the shooting scene respectively, it is necessary to synchronize the time when camera 1 reads the main object with the time when camera 2 exposes the main object, so that the image quality captured is better.

[0004] However, there is currently a difference between the time when camera 1 reads the main object and the time when camera 2 exposes the main object, which results in poor image quality. Especially when shooting moving objects, this difference will be greater, resulting in worse image quality of the moving object. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a camera synchronization method, device, electronic device and storage medium, which can align the time when a camera that collects depth image data reads out a main object with the time when a camera that uses a rolling exposure method exposes the main object, so as to obtain a captured image with better quality.

[0006] In a first aspect, an embodiment of the present application provides a camera synchronization method, the method comprising:

[0007] When the first camera sends a frame synchronization signal to the second camera, image data corresponding to a first image frame captured by the second camera is obtained, wherein the first image frame includes a target object;

[0008] Based on the image data, determining first timestamp information when the second camera reads out the target object in a second image frame, where the second image frame is an image frame subsequent to the first image frame;

[0009] Determine second timestamp information of when the first camera exposes the target object when acquiring the second image frame;

[0010] Determine, according to the first timestamp information and the second timestamp information, time difference information between the first timestamp information and the second timestamp information;

[0011] According to the time difference information, respectively determine a first acquisition time when the first camera acquires the second image frame and a second acquisition time when the second camera acquires the second image frame;

[0012] A first acquisition control signal is sent to the first camera at the first acquisition time, and a second acquisition control signal is sent to the second camera at the second acquisition time.

[0013] In a second aspect, an embodiment of the present application provides a camera synchronization device, the device comprising:

[0014] A first acquisition module, configured to acquire image data corresponding to a first image frame captured by the second camera when the first camera sends a frame synchronization signal to the second camera, wherein the first image frame includes a target object;

[0015] A first determining module, configured to determine, based on the image data, first timestamp information when the second camera reads out the target object in a second image frame, where the second image frame is an image frame subsequent to the first image frame;

[0016] A second determining module, configured to determine second timestamp information of when the first camera exposes the target object when acquiring the second image frame;

[0017] A third determining module, configured to determine time difference information between the first timestamp information and the second timestamp information according to the first timestamp information and the second timestamp information;

[0018] A fourth determining module, configured to determine, according to the time difference information, a first acquisition time when the first camera acquires the second image frame and a second acquisition time when the second camera acquires the second image frame;

[0019] A signal sending module is used to send a first acquisition control signal to the first camera at the first acquisition time, and to send a second acquisition control signal to the second camera at the second acquisition time.

[0020] In a third aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0021] In a fourth aspect, an embodiment of the present application provides a chip, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the method described in the first aspect.

[0022] In a fifth aspect, an embodiment of the present application provides a computer program product, which is stored in a storage medium and is executed by at least one processor to implement the method described in the first aspect.

[0023] In an embodiment of the present application, when the first camera sends a frame synchronization signal to the second camera, the first timestamp information when the second camera reads out the target object in the second image frame is determined through the image data corresponding to the first image frame captured by the second camera, and the second timestamp information when the first camera exposes the target object when capturing the second image frame is determined, and then the first acquisition time when the first camera captures the second image frame and the second acquisition time when the second camera captures the second image frame are determined according to the time difference information between the first timestamp information and the second timestamp information, respectively. In this way, a first acquisition control signal can be sent to the first camera at the first acquisition time, and a second acquisition control signal can be sent to the second camera at the second acquisition time, so that the exposure time of the target object when the first camera captures the second image frame based on the first acquisition control signal can be synchronized with the time when the second camera reads out the target object when capturing the second image frame based on the second acquisition control signal, so that a captured image with better quality can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic diagram of a histogram of flight time provided by the prior art;

[0025] Figure 2 It is a working schematic diagram of VCSEL and SPAD provided by the prior art;

[0026] Figure 3 It is a schematic diagram of exposure readout of a dTOF sensor provided by the prior art;

[0027] Figure 4 It is a schematic diagram of exposure readout of a Bayer raw RGB sensor provided by the prior art;

[0028] Figure 5 It is a schematic diagram of the synchronization of the Bayer raw RGB sensor and the dTOF sensor provided by the prior art;

[0029] Figure 6 is a flowchart of a camera synchronization method provided by some embodiments of the present application;

[0030] Figure 7 is a schematic diagram of synchronization between a Bayer raw RGB sensor and a dTOF sensor provided in some embodiments of the present application;

[0031] Figure 8 is a schematic diagram of the structure of a camera synchronization system provided by some embodiments of the present application;

[0032] Fig. 9 is a schematic diagram of the structure of a camera synchronization system provided by some embodiments of the present application;

[0033] Fig.10 is a flowchart of a camera synchronization method provided by some embodiments of the present application;

[0034] Fig.11 is a schematic structural diagram of a camera synchronization device shown in some embodiments of the present application;

[0035] Fig.12 is a schematic diagram of the structure of an electronic device shown in some embodiments of the present application;

[0036] Fig.13 It is a schematic diagram of the hardware structure of an electronic device shown in some embodiments of the present application. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0038] The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or N. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0039] Before introducing the technical solutions of the embodiments of the present application, the professional terms involved in the embodiments of the present application are first introduced:

[0040] dTOF sensor: A direct Time-of-Flight (dTOF) camera that collects depth image data.

[0041] Bayer raw RGB sensor: A camera that uses rolling shutter exposure. This camera is used to collect RGB image data.

[0042] The dTOF sensor includes a vertical cavity surface emitting laser (VCSEL), a single-photon avalanche diodes (SPAD) and a time-to-digital converter (TDC).

[0043] VCSEL: used to emit surface-emitting laser.

[0044] SPAD: used to receive laser.

[0045] TDC: Used to measure the round trip time of laser.

[0046] Frame Synchronization Signal (fsync), which is used in computer systems to synchronize the transmission of image data, ensure that the image can be displayed correctly on the monitor, and avoid image tearing or unstable picture problems. In a binocular stereo camera system, the fsync signal is used to synchronize the operation of the two camera sensors to ensure that they can accurately capture synchronized image frames. For example, in a binocular camera, the fsync of one camera sensor (such as the left camera) is set to INPUT, while the fsync of the other camera sensor (such as the right camera) is set to OUTPUT, so that the right camera can drive the left camera.

[0047] Before introducing the technical solution of the embodiment of the present application, the background technology of the embodiment of the present application is first introduced:

[0048] The dTOF sensor includes multiple pixels, each of which has several SPADs. The laser emitting units in the VCSEL are in array form. When emitting lasers, the VCSEL emits lasers in columns. After the lasers are irradiated to the main object, the reflected lasers are received by the SPAD units in each pixel of the dTOF sensor. After the SPAD units receive the lasers in the column, they calculate the flight time of each laser in the column and make a histogram of the flight time of each laser in the column. For example, Figure 1 As shown, the flight time with the highest frequency is selected and used to calculate the depth of the main object.

[0049] Specifically, refer to Figure 1 ,from Figure 1 The flight time T3 with the highest frequency is selected from the multiple flight times shown, and the laser corresponding to the flight time T3 generates dTOF raw data. Then, a serial communication interface standard for mobile devices, such as MIPI (Mobile Industry Processor Interface), is used to transmit the dTOF raw data to the main control platform of the electronic device, so that the main control platform calculates the dTOF raw data to obtain the depth of the main object.

[0050] refer to Figure 2 , Figure 2 The working diagram of VCSEL and SPAD is shown in Figure 2 In FIG. 1 , LDD1-LDDX are each column of lasers emitted by the VCSEL, each large rectangle 21 is a pixel of the dTOF sensor, and the small rectangles 22 forming the large rectangle are a SPAD unit contained in the pixel represented by the large rectangle 21. Figure 2 In the figure, after each column of laser is emitted, it is received by the SPAD unit in the dTOF sensor.

[0051] It should be noted that Figure 2 The "DP" in the dTOF sensor refers to the reference pixel point in the dTOF sensor. The dTOF sensor contains multiple pixels, including the photosensitive pixel point "MP" and the reference pixel point "DP" (in Figure 2 The photosensitive pixel “MP” is Figure 2 Each large rectangle 21 in.

[0052] When you need to shoot a certain scene, after opening the camera application to display the preview image, the dTOF sensor and Bayer raw RGB sensor are ready to start working. At this time, the dTOF sensor and Bayer raw RGB sensor need frame synchronization. At this time, the Bayer raw RGB sensor sends an fsync signal to the dTOF sensor.

[0053] After receiving the first fsync signal, the dTOF sensor starts the first column exposure (i.e., the emission and reception of the first column of laser in the VCSEL), and then reads the exposure data (i.e., generates dTOF raw data), such as Figure 3 shown.

[0054] It should be noted that in Figure 3 In the figure, the first column group, the second column group, ..., and the Nth column group are respectively the first column laser, the second column laser, ..., and the Nth column laser. The laser of each column group has two states: exposure and readout. The row 31 below the state is an exposure schematic diagram, and the row 32 is a readout schematic diagram. Specifically, for each column group, for example, each vertical line in the box 311 below the first column group is used to represent the exposure of each pixel of the dTOF sensor to the laser of the first column group, that is, one vertical line is used to represent the exposure of one pixel of the dTOF sensor to the laser of the first column group, and each vertical line in the box 321 below the first column group is used to represent the readout (i.e., the generated dTOF raw data) of each pixel of the dTOF sensor to the laser of the first column group, that is, one vertical line is used to represent the readout of one pixel of the dTOF sensor to the laser of the first column group.

[0055] The exposure readout of the Bayer raw RGB sensor belongs to the Rolling shutter method, such as Figure 4 As shown, the Bayerraw RGB sensor reads out exposure data after receiving the fsync signal, while the exposure is before the FSYNC signal.

[0056] Bayer raw RGB sensor and dTOF sensor are based on fsync signal synchronization. Figure 3 and Figure 4 From the comparison, we can see that the exposure of Bayer raw RGB sensor is before the fsync signal, while the exposure of dTOF sensor is after the fsync signal by controlling the laser column by column. The exposure readout of a single column takes more than 1ms. Therefore, the synchronization effect of Bayer raw RGB sensor and dTOF sensor is poor. Figure 5 shown.

[0057] exist Figure 5 In the figure, based on the fsync signal time axis, when the main object is exposed, the depth position of the main object obtained by exposing the main object based on the dTOF sensor is position 51, and when the main object is exposed based on the Bayer raw RGB sensor, the exposure center position is position 52. Position 51 and position 52 are not synchronized, and there is a large difference ΔA between position 51 and position 52, which leads to poor imaging quality.

[0058] In order to solve the above problems, the embodiments of the present application provide a camera synchronization method, device, electronic device and storage medium. When a first camera sends a frame synchronization signal to a second camera, the first timestamp information when the second camera reads out the target object in the second image frame is determined through the image data corresponding to the first image frame captured by the second camera, and the second timestamp information when the first camera exposes the target object when capturing the second image frame is determined. Then, according to the time difference information between the first timestamp information and the second timestamp information, the first acquisition time when the first camera captures the second image frame and the second acquisition time when the second camera captures the second image frame are determined respectively. In this way, a first acquisition control signal can be sent to the first camera at the first acquisition time, and a second acquisition control signal can be sent to the second camera at the second acquisition time. Therefore, the exposure time of the target object when the first camera captures the second image frame based on the first acquisition control signal can be synchronized with the time when the second camera reads out the target object when capturing the second image frame based on the second acquisition control signal, so that a captured image with better quality can be obtained.

[0059] The technical solution of the embodiment of the present application can be applied to a scenario in which a camera that collects depth image data and a camera that uses a rolling exposure method are synchronized.

[0060] The camera synchronization method provided in the embodiment of the present application is described in detail below through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0061] Figure 6 It is a flow chart of a camera synchronization method provided in an embodiment of the present application. The executor of the camera synchronization method may be an electronic device, which may be but is not limited to a personal computer (PC), a smart phone, a tablet computer or a personal digital assistant (PDA).

[0062] like Figure 6 As shown, the camera synchronization method provided in the embodiment of the present application may include steps 610 to 660.

[0063] Step 610: When the first camera sends a frame synchronization signal to the second camera, image data corresponding to the first image frame captured by the second camera is obtained.

[0064] The first camera and the second camera may be two cameras of the electronic device, for example, one camera is a main camera and the other camera is a secondary camera. Specifically, the first camera may send a frame synchronization signal to the second camera, for example, the first camera may be a Bayer raw RGB sensor, and the second camera may be a dTOF sensor.

[0065] It should be noted that, in the following embodiments, the first camera is a Bayer raw RGB sensor and the second camera is a dTOF sensor.

[0066] The first image frame may be an image frame that the second camera starts to capture after receiving a frame synchronization signal. The first image frame may include a target object, where the target object may be a main object in the first image frame, such as a person.

[0067] The above-mentioned image data may be image-related data of the first image frame, for example, may be raw data of the first image frame.

[0068] Step 620: Determine, based on the image data, first timestamp information when the second camera reads out the target object in the second image frame.

[0069] The second image frame may be an image frame subsequent to the first image frame.

[0070] The first timestamp information may be timestamp information determined when the second camera reads the target object in the second image frame, and specifically may be timestamp information predicted based on the image data when the second camera reads the target object in the second image frame.

[0071] In some embodiments of the present application, in order to accurately determine the first timestamp information when the second camera reads the target object in the second image frame, step 620 may specifically include:

[0072] Performing depth post-processing on the image data to obtain first depth information of the target object in the first image frame;

[0073] Determining second depth information of the target object in the second image frame according to the first depth information;

[0074] According to the second depth information, first timestamp information when the second camera reads out the target object located at the second depth information is determined.

[0075] The first depth information may be depth information of the target object in the first image frame.

[0076] The second depth information may be depth information of the target object in the second image frame.

[0077] In some embodiments of the present application, by performing depth post-processing on the image data, first depth information of the target object in the first image frame can be obtained, and then based on the first depth information, second depth information of the target object in the second image frame can be predicted, and based on the second depth information, the first timestamp information when the second camera reads out the target object located at the second depth information can be determined.

[0078] In an embodiment of the present application, by performing depth post-processing on the image data, the first depth information of the target object in the first image frame is obtained, and then based on the first depth information, the second depth information of the target object in the second image frame can be determined, and based on the second depth information, the first timestamp information when the second camera reads out the target object located at the second depth information can be accurately determined.

[0079] In some embodiments of the present application, in order to accurately obtain the first depth information of the target object in the first image frame, the depth post-processing of the image data to obtain the first depth information of the target object in the first image frame may specifically include:

[0080] Performing depth post-processing on the image data to obtain a depth image corresponding to the image data;

[0081] Based on the depth image, first depth information of the target object in the first image frame is obtained.

[0082] In some embodiments of the present application, depth post-processing can be performed on the image data to obtain a depth image corresponding to the image data, and then based on the depth image, first depth information of the target object in the first image frame can be obtained. Specifically, the first depth information of the target object in the first image frame can be determined based on the relationship between the pixel value of each pixel in the depth image and the Z value of the pixel of the second camera.

[0083] It should be noted that determining the first depth information of the target object in the first image frame based on the depth image is not limited to the calculation method mentioned above, and can also be other calculation methods, which are not limited in the embodiments of the present application.

[0084] In an embodiment of the present application, depth post-processing is performed on image data to obtain a depth image corresponding to the image data, and then based on the depth image, first depth information of the target object in the first image frame can be accurately obtained.

[0085] In some embodiments of the present application, the target object may be an object in motion, that is, the target object is an object moving in the shooting scene.

[0086] In order to accurately determine the second depth information of the target object in the second image frame, determining the second depth information of the target object in the second image frame according to the first depth information may specifically include:

[0087] Determining displacement information of the target object from the acquisition of the first image frame to the acquisition of the second image frame according to the motion posture of the target object;

[0088] Based on the displacement information and the first depth information, second depth information of the target object in the second image frame is determined.

[0089] In some embodiments of the present application, the displacement information of the target object from the time when the first image frame is captured to the time when the second image frame is captured can be predicted based on the motion posture of the target object. Specifically, the displacement information of the target object from the time when the first image frame is captured to the time when the second image frame is captured can be predicted through a motion detection algorithm and a motion speed estimation algorithm, and then the second depth information of the target object in the second image frame can be predicted based on the displacement information and the first depth information.

[0090] It should be noted that the above-mentioned prediction of the displacement information of the target object from the capture of the first image frame to the capture of the second image frame by the motion detection algorithm and the motion speed estimation algorithm is only an example in the present application. Of course, there may be other ways to predict the displacement information of the target object from the capture of the first image frame to the capture of the second image frame, which is not limited in the embodiments of the present application.

[0091] In an embodiment of the present application, according to the motion posture of the target object, the displacement information of the target object from capturing the first image frame to capturing the second image frame can be determined, and then based on the displacement information and the first depth information, the second depth information of the target object in the second image frame can be accurately determined.

[0092] Step 630: Determine second timestamp information when the first camera exposes the target object when capturing the second image frame.

[0093] Among them, the second timestamp information may be the timestamp information when the first camera exposes the target object when capturing the second image frame. Specifically, it may be the exposure center timestamp information when the first camera exposes the target object. For example, the total exposure time of the first camera to the target object is 0.5ms, then the second timestamp information is 0.25ms after the first camera starts to expose the target object.

[0094] In some embodiments of the present application, in order to accurately determine the second timestamp information of the first camera exposing the target object, step 630 may specifically include:

[0095] Obtaining the exposure time of the first camera when acquiring the second image frame, and the time when the first camera reads out the exposure data;

[0096] Second timestamp information of when the first camera exposes the target object is determined according to the exposure time and the readout time.

[0097] The exposure time may be the time taken by the first camera to expose the image when acquiring the second image frame, that is, Figure 4 The time t1 used for exposure.

[0098] The readout time may be the time for reading the exposure data, that is, Figure 4 The time t2 used for reading out.

[0099] In some embodiments of the present application, by obtaining the exposure time of the first camera when capturing the second image frame and the readout time of the exposure data by the first camera, the second timestamp information of the exposure of the target object by the first camera can be determined based on the exposure time and the readout time.

[0100] Specifically, the second timestamp information T of the first camera exposing the target object can be determined according to the exposure time and the readout time according to the following formula (1):

[0101]

[0102] In some embodiments of the present application, the exposure time of the first camera when capturing the second image frame and the readout time of the exposure data by the first camera can be obtained according to the performance of the camera, and the exposure time and readout time of different cameras are uncertain.

[0103] In an embodiment of the present application, the second timestamp information of the first camera exposing the target object can be accurately determined through the exposure time of the first camera when capturing the second image frame and the readout time of the exposure data by the first camera.

[0104] Step 640: Determine time difference information between the first timestamp information and the second timestamp information according to the first timestamp information and the second timestamp information.

[0105] The time difference information may be the difference information between the first timestamp information and the second timestamp information, that is, Figure 5 The difference in ΔA.

[0106] Step 650: Determine, according to the time difference information, a first acquisition time when the first camera acquires the second image frame and a second acquisition time when the second camera acquires the second image frame.

[0107] The first acquisition time may be the determined acquisition time when the first camera acquires the second image frame, that is, the time when the first camera starts to expose and read out the second image frame.

[0108] The second acquisition time may be the determined acquisition time when the second camera acquires the second image frame, that is, the time when the second camera starts to expose and read out the second image frame.

[0109] Step 660: Send a first acquisition control signal to the first camera at the first acquisition time, and send a second acquisition control signal to the second camera at the second acquisition time.

[0110] Among them, the first acquisition control signal can be a control signal transmitted to the first camera, and the first acquisition control signal can be a control signal that enables the first camera to start acquiring the second image frame, that is, the exposure and readout of the first column of lasers are started after the first camera receives the first acquisition control signal.

[0111] The second acquisition control signal may be a control signal transmitted to the second camera, and the second acquisition control signal may be a control signal that enables the second camera to start acquiring the second image frame, that is, the second camera starts exposure and reading after receiving the second acquisition control signal.

[0112] In some embodiments of the present application, a first acquisition control signal is sent to the first camera at a first acquisition time, and a second acquisition control signal is sent to the second camera at a second acquisition time, so that the exposure time of the target object when the first camera acquires the second image frame based on the first acquisition control signal is synchronized with the time when the second camera reads out the target object when acquiring the second image frame based on the second acquisition control signal, that is, Figure 7 As shown, based on the fsync signal time axis, the depth position of the target object obtained after the target object is exposed and read out based on the dTOF sensor is position 71, and when the target object is exposed based on the Bayer raw RGB sensor, the exposure center position is position 72. Figure 5 , Figure 7 Position 71 and position 72 in are synchronized.

[0113] In the above embodiment, steps 610 to 660 are all executed by the server of the electronic device itself, and specifically may be executed by the main control platform of the electronic device. However, since the main control platform of the electronic device has to execute more tasks, if the above steps 610 to 660 are all executed by the main control platform, it may affect the execution efficiency of other tasks.

[0114] Therefore, in order to solve the above problem, in some embodiments of the present application, the electronic device may further include a micro control unit, and the above steps 650 to 660 may specifically include:

[0115] Based on the microcontroller unit, a first acquisition time when the first camera acquires the second image frame and a second acquisition time when the second camera acquires the second image frame are determined according to the time difference information; a first acquisition control signal is sent to the first camera at the first acquisition time, and a second acquisition control signal is sent to the second camera at the second acquisition time.

[0116] In some embodiments of the present application, in addition to the server of the electronic device itself, a micro control unit may be additionally provided in the electronic device. The above steps 610-640 may be executed by the server of the electronic device itself. After the server obtains the time difference information between the first timestamp information and the second timestamp information, the time difference information may be sent to the micro control unit. The micro control unit determines, according to the time difference information, a first acquisition time when the first camera acquires the second image frame and a second acquisition time when the second camera acquires the second image frame; sends a first acquisition control signal to the first camera at the first acquisition time, and sends a second acquisition control signal to the second camera at the second acquisition time, that is, the micro control unit executes the process of the above steps 650-660.

[0117] In an embodiment of the present application, a microcontroller unit determines, based on time difference information, a first acquisition time when the first camera acquires the second image frame and a second acquisition time when the second camera acquires the second image frame; a first acquisition control signal is sent to the first camera at the first acquisition time, and a second acquisition control signal is sent to the second camera at the second acquisition time. This can save the computing burden of the electronic device and improve the computing efficiency of the first acquisition time and the second acquisition time.

[0118] In order to better understand the internal structure of the electronic device that is the execution subject in the embodiment of the present application, as well as the internal working principle of the electronic device, the execution subject of the camera synchronization method provided in the embodiment of the present application is described in detail below.

[0119] like Figure 8 As shown, the electronic device may include: a first camera 910 , a second camera 920 and a main control platform 930 .

[0120] The first camera 910 is used to send a frame synchronization signal to the second camera 920;

[0121] The second camera 920 is used to collect image data of the first image frame and send the image data to the main control platform 930 when receiving the frame synchronization signal;

[0122] The main control platform 930 is used to determine, based on the image data, the first timestamp information when the second camera reads out the target object in the second image frame; determine the second timestamp information when the first camera exposes the target object when capturing the second image frame; determine the time difference information between the first timestamp information and the second timestamp information according to the first timestamp information and the second timestamp information; determine the first acquisition time when the first camera captures the second image frame and the second acquisition time when the second camera captures the second image frame according to the time difference information; send a first acquisition control signal to the first camera at the first acquisition time, and send a second acquisition control signal to the second camera at the second acquisition time.

[0123] The first image frame may include a target object.

[0124] The second image frame may be an image frame subsequent to the first image frame.

[0125] In an embodiment of the present application, when the first camera sends a frame synchronization signal to the second camera, the main control platform determines the first timestamp information when the second camera reads out the target object in the second image frame by receiving the image data corresponding to the first image frame captured by the second camera and sent by the second camera, and determines the second timestamp information when the first camera exposes the target object when capturing the second image frame, and then determines the first acquisition time when the first camera captures the second image frame and the second acquisition time when the second camera captures the second image frame according to the time difference information between the first timestamp information and the second timestamp information, respectively. In this way, a first acquisition control signal can be sent to the first camera at the first acquisition time, and a second acquisition control signal can be sent to the second camera at the second acquisition time, so that the exposure time of the target object when the first camera captures the second image frame based on the first acquisition control signal can be synchronized with the time when the second camera reads out the target object when capturing the second image frame based on the second acquisition control signal, so that a captured image with better quality can be obtained.

[0126] Above Figure 8 The structure of the electronic device shown is a schematic diagram of the structure corresponding to the embodiment of the camera synchronization method, when all steps 610 to 660 are executed by the main control platform of the electronic device. The following describes the content structure of the electronic device when the above steps 610 to 640 are executed by the main control platform and steps 650 to 660 are executed by the micro control unit, as well as the execution process of the electronic device:

[0127] refer to Fig. 9 , the electronic device may include: a first camera 910, a second camera 920, a main control platform 930 and a micro control unit 940;

[0128] The first camera 910 is used to send a frame synchronization signal to the second camera 920;

[0129] The second camera 920 is used to collect image data of the first image frame and send the image data to the main control platform 930 when receiving the frame synchronization signal;

[0130] The main control platform 930 is used to determine, based on the image data, the first timestamp information when the second camera reads out the target object in the second image frame; determine the second timestamp information when the first camera exposes the target object when capturing the second image frame; determine the time difference information between the first timestamp information and the second timestamp information according to the first timestamp information and the second timestamp information, and send the time difference information to the micro control unit 940;

[0131] The micro control unit 940 is used to determine the first acquisition time and the second acquisition time when the first camera and the second camera acquire the second image frame respectively according to the time difference information; send a first acquisition control signal to the first camera at the first acquisition time, and send a second acquisition control signal to the second camera at the second acquisition time.

[0132] In an embodiment of the present application, after the time difference information is calculated by the main control platform, the first acquisition time and the second acquisition time when the first camera and the second camera acquire the second image frame can be determined based on the microcontroller unit. In this way, a first acquisition control signal can be sent to the first camera at the first acquisition time, and a second acquisition control signal can be sent to the second camera at the second acquisition time, which can save the computing burden of the electronic device and improve the computing efficiency of the first acquisition time and the second acquisition time.

[0133] In order to better understand the solution of the embodiment of the present application, the camera synchronization method provided by the embodiment of the present application is described below by taking the example of sending the time difference information to the microcontroller unit so that the microcontroller unit determines the first acquisition time and the second acquisition time, and sending the first acquisition control signal to the first camera at the first acquisition time, and sending the second acquisition control signal to the second camera at the second acquisition time, that is, based on Fig. 9 The electronic device shown is used to illustrate the camera synchronization method provided in an embodiment of the present application.

[0134] Fig.10 is a flowchart of a camera synchronization method provided in an embodiment of the present application. The execution subject of the camera synchronization method may be Fig. 9 Electronic equipment shown.

[0135] like Fig.10 As shown, the camera synchronization method provided in the embodiment of the present application may include steps 1110 to 1180.

[0136] Step 1110: When the first camera sends a frame synchronization signal to the second camera, image data corresponding to the first image frame captured by the second camera is obtained.

[0137] This step 1110 is consistent with the above-mentioned step 610 and will not be repeated here.

[0138] Step 1120: perform depth post-processing on the image data to obtain first depth information of the target object in the first image frame.

[0139] Step 1130: Determine second depth information of the target object in the second image frame according to the first depth information.

[0140] Step 1140: Determine, according to the second depth information, first timestamp information when the second camera reads out the target object located at the second depth information.

[0141] The above steps 1120 to 1140 are consistent with the process of determining the first timestamp information according to the image data in the above embodiment, and will not be repeated here.

[0142] Step 1150: Determine second timestamp information when the first camera exposes the target object when capturing the second image frame.

[0143] Step 1160: Determine time difference information between the first timestamp information and the second timestamp information according to the first timestamp information and the second timestamp information.

[0144] Steps 1150 to 1160 here are consistent with the above-mentioned steps 630 to 640 and will not be repeated here.

[0145] The above steps 1110 to 1160 are executed by the main control platform of the electronic device.

[0146] Step 1170: Send the time difference information to the micro control unit.

[0147] Step 1180, the micro control unit determines the first acquisition time and the second acquisition time when the first camera and the second camera acquire the second image frame respectively according to the time difference information, and sends a first acquisition control signal to the first camera at the first acquisition time, and sends a second acquisition control signal to the second camera at the second acquisition time.

[0148] In the embodiments of this application, the above Figure 6 The camera synchronization method provided may be executed by a camera synchronization device. In the embodiment of the present application, the camera synchronization device provided by the embodiment of the present application is described by taking the camera synchronization method executed by the camera synchronization device as an example.

[0149] Fig.11 The figure is a schematic diagram of the structure of a camera synchronization device according to an exemplary embodiment.

[0150] like Fig.11 As shown, the camera synchronization device 1200 may include:

[0151] A first acquisition module 1210 is configured to acquire image data corresponding to a first image frame captured by the second camera when the first camera sends a frame synchronization signal to the second camera, wherein the first image frame includes a target object;

[0152] A first determining module 1220 is used to determine, based on the image data, first timestamp information when the second camera reads out the target object in a second image frame, where the second image frame is an image frame subsequent to the first image frame;

[0153] A second determining module 1230 is used to determine second timestamp information of when the first camera exposes the target object when acquiring the second image frame;

[0154] A third determining module 1240, configured to determine time difference information between the first timestamp information and the second timestamp information according to the first timestamp information and the second timestamp information;

[0155] A fourth determining module 1250 is used to determine, according to the time difference information, a first acquisition time when the first camera acquires the second image frame and a second acquisition time when the second camera acquires the second image frame;

[0156] The signal sending module 1260 is used to send a first acquisition control signal to the first camera at the first acquisition time, and to send a second acquisition control signal to the second camera at the second acquisition time.

[0157] In an embodiment of the present application, when the first camera sends a frame synchronization signal to the second camera, the first timestamp information when the second camera reads out the target object in the second image frame is determined through the image data corresponding to the first image frame captured by the second camera, and the second timestamp information when the first camera exposes the target object when capturing the second image frame is determined, and then the first acquisition time when the first camera captures the second image frame and the second acquisition time when the second camera captures the second image frame are determined according to the time difference information between the first timestamp information and the second timestamp information, respectively. In this way, a first acquisition control signal can be sent to the first camera at the first acquisition time, and a second acquisition control signal can be sent to the second camera at the second acquisition time, so that the exposure time of the target object when the first camera captures the second image frame based on the first acquisition control signal can be synchronized with the time when the second camera reads out the target object when capturing the second image frame based on the second acquisition control signal, so that a captured image with better quality can be obtained.

[0158] In some embodiments of the present application, the first determining module 1220 may specifically include:

[0159] A first determining unit, configured to perform depth post-processing on the image data to obtain first depth information of the target object in the first image frame;

[0160] A second determining unit, configured to determine second depth information of the target object in the second image frame according to the first depth information;

[0161] A third determining unit is configured to determine, according to the second depth information, first timestamp information when the second camera reads out the target object located at the second depth information.

[0162] In some embodiments of the present application, the first determining unit is specifically configured to:

[0163] Performing depth post-processing on the image data to obtain a depth image corresponding to the image data;

[0164] Based on the depth image, first depth information of the target object in the first image frame is obtained.

[0165] In some embodiments of the present application, the target object is an object in motion; and the second determining unit is specifically configured to:

[0166] Determining displacement information of the target object from the acquisition of the first image frame to the acquisition of the second image frame according to the motion posture of the target object;

[0167] Based on the displacement information and the first depth information, second depth information of the target object in the second image frame is determined.

[0168] In some embodiments of the present application, the second determining module 1230 is specifically used to:

[0169] Obtaining an exposure time of the first camera when acquiring the second image frame, and a reading time of the exposure data by the first camera;

[0170] Second timestamp information of when the first camera exposes the target object is determined according to the exposure time and the readout time.

[0171] In some embodiments of the present application, the above-mentioned device is applied to an electronic device, and the electronic device may include a micro control unit; the fourth determination module 1250 and the signal sending module 1260 are specifically used for:

[0172] Based on the microcontroller unit, according to the time difference information, a first acquisition time when the first camera acquires the second image frame and a second acquisition time when the second camera acquires the second image frame are determined respectively; a first acquisition control signal is sent to the first camera at the first acquisition time, and a second acquisition control signal is sent to the second camera at the second acquisition time.

[0173] The camera synchronization device in the embodiment of the present application can be an electronic device or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices other than a terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (augmented reality, AR) / virtual reality (virtual reality, VR) device, a robot, a wearable device, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant, PDA), etc. It can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television, TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.

[0174] The camera synchronization device in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0175] The camera synchronization device provided in the embodiment of the present application can achieve Figure 6 To avoid repetition, the various processes implemented by the method embodiment are not described here.

[0176] Alternatively, if Fig.12 As shown, an embodiment of the present application further provides an electronic device 1300, including a processor 1301 and a memory 1302, wherein the memory 1302 stores programs or instructions that can be executed on the processor 1301, and when the program or instructions are executed by the processor 1301, the various steps of the above-mentioned camera synchronization method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, they are not described here.

[0177] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0178] Fig.13 A schematic diagram of the hardware structure of an electronic device to implement an embodiment of the present application.

[0179] The electronic device 1400 includes but is not limited to: a radio frequency unit 1401, a network module 1402, an audio output unit 1403, an input unit 1404, a sensor 1405, a display unit 1406, a user input unit 1407, an interface unit 1408, a memory 1409, and a processor 1410 and other components.

[0180] Those skilled in the art will appreciate that the electronic device 1400 may also include a power source (such as a battery) for supplying power to each component, and the power source may be logically connected to the processor 1410 through a power management system, thereby implementing functions such as managing charging, discharging, and power consumption management through the power management system. Fig.13 The electronic device structure shown in the figure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently, which will not be described in detail here.

[0181] Among them, the processor 1410 is used to obtain image data corresponding to a first image frame captured by the second camera when the first camera sends a frame synchronization signal to the second camera, wherein the first image frame includes a target object; based on the image data, determine the first timestamp information when the second camera reads the target object in the second image frame, and the second image frame is the next image frame of the first image frame; determine the second timestamp information when the first camera exposes the target object when capturing the second image frame; determine the time difference information between the first timestamp information and the second timestamp information according to the first timestamp information and the second timestamp information; determine the first acquisition time when the first camera captures the second image frame and the second acquisition time when the second camera captures the second image frame according to the time difference information; send a first acquisition control signal to the first camera at the first acquisition time, and send a second acquisition control signal to the second camera at the second acquisition time.

[0182] In this way, when the first camera sends a frame synchronization signal to the second camera, the first timestamp information when the second camera reads out the target object in the second image frame is determined through the image data corresponding to the first image frame captured by the second camera, and the second timestamp information when the first camera exposes the target object when capturing the second image frame is determined, and then the first acquisition time when the first camera captures the second image frame and the second acquisition time when the second camera captures the second image frame are determined according to the time difference information between the first timestamp information and the second timestamp information, respectively. In this way, a first acquisition control signal can be sent to the first camera at the first acquisition time, and a second acquisition control signal can be sent to the second camera at the second acquisition time, so that the exposure time of the target object when the first camera captures the second image frame based on the first acquisition control signal can be synchronized with the time when the second camera reads out the target object when capturing the second image frame based on the second acquisition control signal, so that a captured image with better quality can be obtained.

[0183] Optionally, processor 1410 is further used to perform depth post-processing on the image data to obtain first depth information of the target object in the first image frame; determine second depth information of the target object in the second image frame based on the first depth information; and determine first timestamp information when the second camera reads out the target object located at the second depth information based on the second depth information.

[0184] In this way, by performing depth post-processing on the image data, the first depth information of the target object in the first image frame is obtained, and then based on the first depth information, the second depth information of the target object in the second image frame can be determined. Based on the second depth information, the first timestamp information when the second camera reads the target object located at the second depth information can be accurately determined.

[0185] Optionally, the processor 1410 is further configured to perform depth post-processing on the image data to obtain a depth image corresponding to the image data; and obtain first depth information of the target object in the first image frame based on the depth image.

[0186] In this way, by performing depth post-processing on the image data, a depth image corresponding to the image data is obtained, and then based on the depth image, first depth information of the target object in the first image frame can be accurately obtained.

[0187] Optionally, the target object is an object in motion; the processor 1410 is further used to determine the displacement information of the target object from the acquisition of the first image frame to the acquisition of the second image frame according to the motion posture of the target object; based on the displacement information and the first depth information, determine the second depth information of the target object in the second image frame.

[0188] In this way, according to the motion posture of the target object, the displacement information of the target object from capturing the first image frame to capturing the second image frame can be determined, and then based on the displacement information and the first depth information, the second depth information of the target object in the second image frame can be accurately determined.

[0189] Optionally, processor 1410 is also used to obtain the exposure time of the first camera when capturing the second image frame, and the readout time of the exposure data by the first camera; and determine the second timestamp information of the first camera exposing the target object based on the exposure time and the readout time.

[0190] In this way, the second timestamp information of the first camera exposing the target object can be accurately determined through the exposure time of the first camera when capturing the second image frame and the readout time of the exposure data by the first camera.

[0191] Optionally, the electronic device includes a micro control unit; the determining, according to the time difference information, a first acquisition time when the first camera acquires the second image frame and a second acquisition time when the second camera acquires the second image frame; sending a first acquisition control signal to the first camera at the first acquisition time, and sending a second acquisition control signal to the second camera at the second acquisition time, comprises:

[0192] Based on the microcontroller unit, according to the time difference information, a first acquisition time when the first camera acquires the second image frame and a second acquisition time when the second camera acquires the second image frame are determined respectively; a first acquisition control signal is sent to the first camera at the first acquisition time, and a second acquisition control signal is sent to the second camera at the second acquisition time.

[0193] In this way, the microcontroller unit determines the first acquisition time when the first camera acquires the second image frame and the second acquisition time when the second camera acquires the second image frame according to the time difference information; sends a first acquisition control signal to the first camera at the first acquisition time, and sends a second acquisition control signal to the second camera at the second acquisition time. This can save the computing burden of the electronic device and improve the computing efficiency of the first acquisition time and the second acquisition time.

[0194] It should be understood that in the embodiment of the present application, the input unit 1404 may include a graphics processor (Graphics Processing Unit, GPU) 14041 and a microphone 14042, and the graphics processor 14041 processes the image data of the static picture or video obtained by the image capture device (such as a color camera) in the video capture mode or the image capture mode. The display unit 1406 may include a display panel 14061, and the display panel 14061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 1407 includes a touch panel 14071 and at least one of other input devices 14072. The touch panel 14071 is also called a touch screen. The touch panel 14071 may include two parts: a touch detection device and a touch controller. Other input devices 14072 may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which will not be repeated here.

[0195] The memory 1409 can be used to store software programs and various data. The memory 1409 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory 1409 may include a volatile memory or a non-volatile memory, or the memory 1409 may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM). The memory 1409 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0196] The processor 1410 may include one or more processing units; optionally, the processor 1410 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor 1410.

[0197] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned camera synchronization method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0198] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0199] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned camera synchronization method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0200] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0201] An embodiment of the present application provides a computer program product, which is stored in a storage medium. The program product is executed by at least one processor to implement the various processes of the above-mentioned camera synchronization method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0202] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0203] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0204] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A camera synchronization method, characterized in that: The method comprises: When the first camera sends a frame synchronization signal to the second camera, image data corresponding to a first image frame captured by the second camera is obtained, where the first image frame includes a target object; Based on the image data, determining first timestamp information when the second camera reads out the target object in a second image frame, where the second image frame is an image frame subsequent to the first image frame; Determine second timestamp information of when the first camera exposes the target object when acquiring the second image frame; Determine, according to the first timestamp information and the second timestamp information, time difference information between the first timestamp information and the second timestamp information; According to the time difference information, respectively determine a first acquisition time when the first camera acquires the second image frame and a second acquisition time when the second camera acquires the second image frame; A first acquisition control signal is sent to the first camera at the first acquisition time, and a second acquisition control signal is sent to the second camera at the second acquisition time.

2. The method according to claim 1, characterized in that The determining, based on the image data, first timestamp information when the second camera reads out the target object in the second image frame includes: Performing depth post-processing on the image data to obtain first depth information of the target object in the first image frame; Determining second depth information of the target object in the second image frame according to the first depth information; Determine, according to the second depth information, first timestamp information when the second camera reads out the target object located at the second depth information.

3. The method according to claim 2, characterized in that The performing depth post-processing on the image data to obtain first depth information of the target object in the first image frame includes: Performing depth post-processing on the image data to obtain a depth image corresponding to the image data; Based on the depth image, first depth information of the target object in the first image frame is obtained.

4. The method according to claim 2, characterized in that: The target object is an object in motion; The determining, according to the first depth information, second depth information of the target object in the second image frame includes: Determining displacement information of the target object from the acquisition of the first image frame to the acquisition of the second image frame according to the motion posture of the target object; Based on the displacement information and the first depth information, second depth information of the target object in the second image frame is determined.

5. The method according to claim 1, characterized in that The determining of second timestamp information of when the first camera exposes the target object when acquiring the second image frame includes: Obtaining an exposure time of the first camera when acquiring the second image frame, and a reading time of the exposure data by the first camera; Second timestamp information of when the first camera exposes the target object is determined according to the exposure time and the readout time.

6. The method according to any one of claims 1 to 5, characterized in that: The method is applied to an electronic device, the electronic device comprising a micro control unit; determining, according to the time difference information, a first acquisition time when the first camera acquires the second image frame and a second acquisition time when the second camera acquires the second image frame; Sending a first acquisition control signal to the first camera at the first acquisition time, and sending a second acquisition control signal to the second camera at the second acquisition time, comprises: Based on the microcontroller unit, according to the time difference information, respectively determine a first acquisition time when the first camera acquires the second image frame and a second acquisition time when the second camera acquires the second image frame; A first acquisition control signal is sent to the first camera at the first acquisition time, and a second acquisition control signal is sent to the second camera at the second acquisition time.

7. A camera synchronization device, characterized in that: The device comprises: A first acquisition module, configured to acquire image data corresponding to a first image frame captured by the second camera when the first camera sends a frame synchronization signal to the second camera, wherein the first image frame includes a target object; A first determining module, configured to determine, based on the image data, first timestamp information when the second camera reads out the target object in a second image frame, where the second image frame is an image frame subsequent to the first image frame; A second determining module, configured to determine second timestamp information of when the first camera exposes the target object when acquiring the second image frame; A third determining module, configured to determine time difference information between the first timestamp information and the second timestamp information according to the first timestamp information and the second timestamp information; A fourth determining module, configured to determine, according to the time difference information, a first acquisition time when the first camera acquires the second image frame and a second acquisition time when the second camera acquires the second image frame; A signal sending module is used to send a first acquisition control signal to the first camera at the first acquisition time, and to send a second acquisition control signal to the second camera at the second acquisition time.

8. The device according to claim 7, characterized in that The first determining module includes: A first determining unit, configured to perform depth post-processing on the image data to obtain first depth information of the target object in the first image frame; A second determining unit, configured to determine second depth information of the target object in the second image frame according to the first depth information; A third determining unit is configured to determine, according to the second depth information, first timestamp information when the second camera reads out the target object located at the second depth information.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the camera synchronization method as described in any one of claims 1 to 6 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the camera synchronization method as described in any one of claims 1-6 are implemented.

Images