Camera synchronization methods, devices, electronic equipment and storage media

Abstract

This application discloses a camera synchronization method, apparatus, electronic device, and storage medium, belonging to the field of electronic device technology. The method includes: when a first camera sends a frame synchronization signal to a second camera, determining, based on image data corresponding to a first image frame acquired by the second camera, a first timestamp information of when the second camera reads out a target object in the second image frame; determining, based on the image data corresponding to the first image frame acquired by the second camera; determining, based on the time difference between the first and second timestamp information, a first acquisition time and a second acquisition time of when the first and second cameras acquire the second image frame, respectively; 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 out the target object is synchronized with the exposure time of the first camera on the target object.

Description

Technical Field

[0001] This application belongs to the field of electronic equipment technology, and specifically relates to a camera synchronization method, device, electronic equipment, and storage medium. Background Technology

[0002] With the rapid development of photography technology on electronic devices, it has become commonplace to use electronic devices to take photos and record life and work.

[0003] When using the camera of an electronic device to take pictures, the camera (camera 1) that needs to collect depth image data and the camera (camera 2) that uses the rolling shutter exposure method need to work synchronously. Specifically, when it is necessary for camera 1 and camera 2 to work synchronously, camera 2 sends a frame synchronization signal to camera 1. In this way, camera 1 and camera 2 start to expose and collect the shooting scene synchronously. During the process of camera 1 and camera 2 starting to expose and collect the shooting scene synchronously, it is necessary to synchronize the time when camera 1 reads the subject object with the time when camera 2 exposes the subject object. In this way, the image quality is better.

[0004] However, there is a difference between the time when camera 1 reads out the subject and the time when camera 2 exposes the subject, which results in poor image quality. This difference is even greater when shooting moving objects, leading to even worse image quality for moving objects. Summary of the Invention

[0005] The purpose of this application is to provide a camera synchronization method, apparatus, electronic device, and storage medium that can align the time when the camera acquiring depth image data reads out the subject with the time when the camera using the rolling shutter exposure method exposes the subject, thereby obtaining a high-quality captured image.

[0006] In a first aspect, embodiments of this application provide 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 the first image frame captured by the second camera is obtained, wherein the first image frame includes the target object;

[0008] Based on the image data, a first timestamp information is determined when the second camera reads the target object in the second image frame, and the second image frame is the image frame following the first image frame;

[0009] Determine the second timestamp information of the first camera's exposure to the target object when acquiring the second image frame;

[0010] Based on the first timestamp information and the second timestamp information, determine the time difference information between the first timestamp information and the second timestamp information;

[0011] Based on the time difference information, 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 are determined respectively;

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

[0013] Secondly, embodiments of this application provide a camera synchronization device, which includes:

[0014] The first acquisition module is used to acquire image data corresponding to the 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] The first determining module is used to determine, based on the image data, a first timestamp information when the second camera reads the target object in the second image frame, wherein the second image frame is the image frame following the first image frame;

[0016] The second determining module is used to determine the second timestamp information of the first camera exposing the target object when the second image frame is acquired;

[0017] The third determining module is used to determine the time difference information between the first timestamp information and the second timestamp information based on the first timestamp information and the second timestamp information;

[0018] The fourth determining module is used to determine, based on the time difference information, 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;

[0019] The signal transmission module is used to send a first acquisition control signal to the first camera during the first acquisition time, and to send a second acquisition control signal to the second camera during the second acquisition time.

[0020] Thirdly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0021] Fourthly, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect.

[0022] Fifthly, embodiments of this application provide a computer program product stored in a storage medium, which is executed by at least one processor to implement the method described in the first aspect.

[0023] In this embodiment, when the first camera sends a frame synchronization signal to the second camera, the first timestamp information of when the second camera reads the target object in the second image frame is determined by the image data corresponding to the first image frame acquired by the second camera, and the second timestamp information of when the first camera exposes the target object when acquiring the second image frame is determined. Then, based on the time difference information between the first timestamp information and the second timestamp information, the first acquisition time and the second acquisition time of when the first camera acquires 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. This allows the exposure time of the target object by the first camera when acquiring the second image frame based on the first acquisition control signal to be synchronized with the time when the second camera reads the target object when acquiring the second image frame based on the second acquisition control signal, thus obtaining a high-quality captured image. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of a histogram of flight time provided by existing technology;

[0025] Figure 2 This is a schematic diagram of the operation of VCSEL and SPAD provided by existing technology;

[0026] Figure 3 This is a schematic diagram of exposure readout from a dTOF sensor provided by existing technology;

[0027] Figure 4 This is a schematic diagram of exposure readout for a Bayer raw RGB sensor provided by existing technology;

[0028] Figure 5 This is a schematic diagram illustrating the synchronization of Bayer raw RGB sensors and dTOF sensors using existing technology.

[0029] Figure 6 This is a flowchart illustrating a camera synchronization method provided in some embodiments of this application;

[0030] Figure 7 This is a schematic diagram illustrating the synchronization of a Bayer raw RGB sensor and a dTOF sensor according to some embodiments of this application;

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

[0032] Figure 9 This is a schematic diagram of the structure of a camera synchronization system provided in some embodiments of this application;

[0033] Figure 10 This is a flowchart illustrating a camera synchronization method provided in some embodiments of this application;

[0034] Figure 11 These are schematic diagrams illustrating the structure of a camera synchronization device according to some embodiments of this application;

[0035] Figure 12 These are schematic diagrams illustrating the structure of an electronic device according to some embodiments of this application;

[0036] Figure 13 These are schematic diagrams illustrating the hardware structure of an electronic device according to some embodiments of this application. Detailed Implementation

[0037] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0038] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and are not limited in number; for example, a first object can be one or N objects. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0039] Before introducing the technical solutions of the embodiments of this application, let's first introduce the technical terms involved in the embodiments of this application:

[0040] dTOF sensor: Direct Time-of-Flight (dTOF) camera, which is used to acquire depth image data.

[0041] Bayer raw RGB sensor: A camera that uses a rolling shutter method to capture RGB image data.

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

[0043] VCSEL: Used to emit surface-emitting lasers.

[0044] SPAD: Used to receive laser light.

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

[0046] The frame synchronization signal (fsync) is used in computer systems to synchronize the transmission of image data, ensuring that images are displayed correctly on the monitor and avoiding image tearing or instability. In a stereo camera system, the fsync signal is used to synchronize the operation of the two camera sensors, ensuring that they can accurately capture synchronized image frames. For example, in a stereo camera, one camera sensor (such as the left camera) has its fsync set to INPUT, while the other camera sensor (such as the right camera) has its fsync set to OUTPUT, allowing the right camera to drive the left camera.

[0047] Before introducing the technical solutions of the embodiments of this application, the background technology of the embodiments of this application will be introduced first:

[0048] A dTOF sensor includes multiple pixels, and each pixel has several SPADs. The laser emitting units in the VCSEL are in array form. When the VCSEL emits laser light, it does so column by column. After the laser light shines on the subject, the reflected light is received by the SPAD units in each pixel of the dTOF sensor. After receiving the laser light from that column, the SPAD unit calculates the flight time of each laser in that column and performs a histogram analysis of the flight time of each laser in that column. Figure 1 As shown, the flight time with the highest frequency is selected and used to calculate the depth of the main object.

[0049] For details, please refer to Figure 1 ,from Figure 1 Among the multiple flight times shown, the flight time T3 with the highest frequency is selected. The laser corresponding to flight time T3 generates dTOF raw data. Then, using a serial communication interface standard for mobile devices, such as MIPI (Mobile Industry Processor Interface), the dTOF raw data is transmitted to the main control platform of the electronic device so that the main control platform can calculate the depth of the subject object from the dTOF raw data.

[0050] refer to Figure 2 , Figure 2 A schematic diagram of the operation of VCSEL and SPAD. Figure 2 In the diagram, LDD1-LDDX represent each column of laser light emitted by the VCSEL, each large rectangle 21 represents a pixel of the dTOF sensor, and the smaller rectangles 22 that make up the large rectangles represent a SPAD unit contained within the pixel represented by that large rectangle 21. Figure 2 In the process, after each laser beam is emitted, it is received by the SPAD unit in the dTOF sensor.

[0051] It should be noted that, Figure 2 In this context, "DP" stands for reference pixel in a dTOF sensor. A dTOF sensor contains multiple pixels, including photosensitive pixels "MP" and reference pixels "DP" (in...). Figure 2 (Not shown in the image), the photosensitive pixel "MP" is... Figure 2 Each of the large rectangles in the array is 21.

[0052] When a certain shooting scene needs to be captured, after opening the camera application and displaying 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 to synchronize frames. At this time, the Bayer raw RGB sensor sends the fsync signal to the dTOF sensor.

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

[0054] It should be noted that, in Figure 3 In the diagram, the first column group, the second column group, ..., the Nth column group represent the first laser column, the second laser column, ..., the Nth laser column, respectively. Each column group's laser has two states: exposure and readout. Row 31 below the states illustrates the exposure, and row 32 illustrates the readout. Specifically, for each column group, for example, each vertical line in box 311 below the first column group represents the exposure of each pixel of the dTOF sensor to the first column group's laser; that is, one vertical line represents the exposure of one pixel of the dTOF sensor to the first column group's laser. Each vertical line in box 321 below the first column group represents the readout of each pixel of the dTOF sensor to the first column group's laser (i.e., the generated dTOF raw data); that is, one vertical line represents the readout of one pixel of the dTOF sensor to the first column group's laser.

[0055] The exposure readout of the Bayer raw RGB sensor uses the rolling shutter method, such as... Figure 4 As shown, the Bayerraw RGB sensor reads out the exposure data after receiving the fsync signal, and the exposure occurs before the FSYNC signal.

[0056] Bayer raw RGB and dTOF sensors are based on fsync signal synchronization, according to Figure 3 and Figure 4 The comparison shows that the exposure of the Bayer raw RGB sensor occurs before the fsync signal, while the dTOF sensor controls the laser exposure column by column sequentially, which occurs after the fsync signal. A single column exposure readout requires more than 1ms. Therefore, the synchronization effect between the Bayer raw RGB sensor and the dTOF sensor is currently poor. Figure 5 As shown.

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

[0058] To address the aforementioned issues, this application provides a camera synchronization method, apparatus, electronic device, and storage medium. When a first camera sends a frame synchronization signal to a second camera, the first timestamp information of when the second camera reads the target object in the second image frame is determined using image data corresponding to the first image frame acquired by the second camera. A second timestamp information of when the first camera exposes the target object during the acquisition of the second image frame is also determined. Then, based on the time difference between the first and second timestamp information, the first acquisition time and the second acquisition time of the second camera acquiring the second image frame are determined respectively. This allows a first acquisition control signal to be sent to the first camera at the first acquisition time and a second acquisition control signal to be sent to the second camera at the second acquisition time. This ensures that the exposure time of the target object by the first camera when acquiring the second image frame based on the first acquisition control signal is synchronized with the time when the second camera reads the target object during the acquisition of the second image frame based on the second acquisition control signal, thereby obtaining a higher quality captured image.

[0059] The technical solutions of this application embodiment can be applied to scenarios where a camera that acquires depth image data and a camera that uses a rolling shutter exposure method are synchronized.

[0060] The camera synchronization method provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0061] Figure 6 This is a schematic flowchart of a camera synchronization method provided in an embodiment of this application. The subject executing the camera synchronization method can be an electronic device, which can be, but is not limited to, a personal computer (PC), a smartphone, a tablet computer, or a personal digital assistant (PDA).

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

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

[0064] In this setup, the first camera and the second camera can each be two cameras on an electronic device, such as one camera being the main camera and the other a secondary camera. Specifically, the first camera can send frame synchronization signals to the second camera; for example, the first camera could be a Bayer raw RGB sensor, and the second camera could be a dTOF sensor.

[0065] It should be noted that the following embodiments use a Bayer raw RGB sensor as the first camera and a dTOF sensor as the second camera for illustration.

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

[0067] The image data mentioned above can be image-related data of the first image frame, such as the raw data of the first image frame.

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

[0069] The second image frame can be the image frame following the first image frame.

[0070] The first timestamp information can be the timestamp information when the second camera reads the target object in the second image frame. Specifically, it can be the 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 this 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] Depth post-processing is performed on the image data to obtain the first depth information of the target object in the first image frame;

[0073] Based on the first depth information, determine the second depth information of the target object in the second image frame;

[0074] Based on the second depth information, determine the first timestamp information when the second camera reads the target object located at the second depth information location.

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

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

[0077] In some embodiments of this application, the first depth information of the target object in the first image frame can be obtained by performing depth post-processing on the image data. Then, based on the first depth information, the second depth information of the target object in the second image frame can be predicted. 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 determined.

[0078] In the embodiments of this 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. 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.

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

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

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

[0082] In some embodiments of this application, a depth image corresponding to the image data can be obtained by performing depth post-processing on the image data. Then, based on the depth image, the 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, but can also be other calculation methods, which are not limited in the embodiments of this application.

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

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

[0086] To accurately determine the second depth information of the target object in the second image frame, the step of determining the second depth information of the target object in the second image frame based on the first depth information may specifically include:

[0087] Based on the motion posture of the target object, determine the displacement information of the target object from the acquisition of the first image frame to the acquisition of the second image frame;

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

[0089] In some embodiments of this application, the displacement information of the target object from the acquisition of the first image frame to the acquisition of the second image frame can be predicted based on the motion posture of the target object. Specifically, the displacement information of the target object from the acquisition of the first image frame to the acquisition of the second image frame can be predicted by using a motion detection algorithm and a motion speed estimation algorithm. 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 predicted.

[0090] It should be noted that the displacement information of the target object from the acquisition of the first image frame to the acquisition of the second image frame predicted by the motion detection algorithm and the motion speed estimation algorithm is only one example in this application. Of course, there are other ways to predict the displacement information of the target object from the acquisition of the first image frame to the acquisition of the second image frame, which are not limited in the embodiments of this application.

[0091] In the embodiments of this application, the displacement information of the target object from the acquisition of the first image frame to the acquisition of the second image frame can be determined according to the motion posture of the target object. 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 the second timestamp information of the first camera exposing the target object when acquiring the second image frame.

[0093] The second timestamp information can be the timestamp information of the first camera exposing the target object when the second image frame is acquired. Specifically, it can be the timestamp information of the exposure center when the first camera exposes the target object. For example, if the exposure time of the first camera on the target object is 0.5ms, then the second timestamp information is 0.25ms after the first camera starts exposing the target object.

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

[0095] The exposure time of the first camera when acquiring the second image frame, and the readout time of the exposure data by the first camera are obtained;

[0096] Based on the exposure time and readout time, determine the second timestamp information of the first camera exposing the target object.

[0097] The exposure time can be the time taken for the first camera to expose itself when capturing the second image frame, i.e. Figure 4 The exposure time t1.

[0098] Readout time can be the time it takes to read out the exposure data, i.e. Figure 4 The time t2 used for reading from the data.

[0099] In some embodiments of this application, by obtaining the exposure time of the first camera when capturing the second image frame and the readout time of the first camera on the exposure data, the second timestamp information of the first camera exposing the target object 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 following formula (1), based on the exposure time and readout time:

[0101]

[0102] In some embodiments of this application, the exposure time of the first camera when acquiring the second image frame, and the readout time of the first camera for the exposure data, can be obtained according to the performance of the camera. The exposure time and readout time are different for different cameras.

[0103] In the embodiments of this application, the second timestamp information of the first camera exposing the target object can be accurately determined by the exposure time of the first camera when acquiring the second image frame and the reading time of the exposure data by the first camera.

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

[0105] The time difference information can be the difference between the first timestamp information and the second timestamp information, i.e. Figure 5 The difference ΔA in the data.

[0106] Step 650: Based on the time difference information, determine 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.

[0107] The first acquisition time can be the acquisition time of the first camera acquiring 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 can be the acquisition time of the second image frame by the second camera, 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 during the first acquisition time, and send a second acquisition control signal to the second camera during the second acquisition time.

[0110] The first acquisition control signal can be a control signal transmitted to the first camera. The first acquisition control signal can be a control signal that causes the first camera to start acquiring the second image frame. That is, after the first camera receives the first acquisition control signal, it starts the exposure and readout of the first column of lasers.

[0111] The second acquisition control signal can be a control signal transmitted to the second camera. This second acquisition control signal can be a control signal that causes the second camera to start acquiring the second image frame. That is, after the second camera receives the second acquisition control signal, it starts to perform exposure and readout.

[0112] In some embodiments of this 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 by the first camera when acquiring 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, i.e. Figure 7 As shown, with the fsync signal time axis as the reference, the depth position of the target object obtained after exposure and readout based on the dTOF sensor is position 71. When the target object is exposed based on the Bayer raw RGB sensor, the exposure center position is position 72. Compared to... Figure 5 , Figure 7 Positions 71 and 72 in the code are synchronized.

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

[0114] Therefore, in order to solve the above problems, in some embodiments of this application, the electronic device may further include a microcontroller unit, and steps 650-660 above may specifically include:

[0115] Based on the time difference information, the microcontroller 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; it sends a first acquisition control signal to the first camera at the first acquisition time and a second acquisition control signal to the second camera at the second acquisition time.

[0116] In some embodiments of this application, in addition to the server of the electronic device itself, a microcontroller unit can be additionally set in the electronic device. The above steps 610-640 can be performed 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, it can send the time difference information to the microcontroller unit. 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. At the first acquisition time, it sends a first acquisition control signal to the first camera and a second acquisition control signal to the second camera at the second acquisition time. That is, the microcontroller unit performs the above steps 650-660.

[0117] In the embodiments of this application, the microcontroller 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 based on 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. This can save the computational burden of electronic devices and improve the computational efficiency of the first acquisition time and the second acquisition time.

[0118] To better understand the internal structure of the execution subject electronic device in the embodiments of this application, as well as the working principle of the electronic device, the execution subject of the camera synchronization method provided in the embodiments of this 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 frame synchronization signals to the second camera 920;

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

[0122] The main control platform 930 is used to determine, based on image data, a first timestamp when the second camera reads the target object in the second image frame; determine a second timestamp when the first camera exposes the target object during the acquisition of the second image frame; determine the time difference between the first and second timestamps based on the first and second timestamps; determine, based on the time difference, a first acquisition time and a second acquisition time for the first and second cameras respectively when acquiring the second image frame; send a first acquisition control signal to the first camera at the first acquisition time, and a second acquisition control signal to the second camera at the second acquisition time.

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

[0124] The second image frame can be the image frame following the first image frame.

[0125] In the embodiments of this application, when the first camera sends a frame synchronization signal to the second camera, the main control platform receives the image data corresponding to the first image frame captured by the second camera, determines the first timestamp information when the second camera reads the target object in the second image frame, and determines the second timestamp information when the first camera exposes the target object when capturing the second image frame. Then, based on the time difference information between the first timestamp information and the second timestamp information, the first acquisition time and the second acquisition time of the first camera capturing 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. This allows the exposure time of the target object by the first camera when capturing the second image frame based on the first acquisition control signal to be synchronized with the time when the second camera reads the target object when capturing the second image frame based on the second acquisition control signal, thus obtaining a high-quality captured image.

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

[0127] refer to Figure 9 The electronic device may include: a first camera 910, a second camera 920, a main control platform 930, and a microcontroller unit 940;

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

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

[0130] The main control platform 930 is used to determine, based on image data, the first timestamp information when the second camera reads the target object in the second image frame; determine the second timestamp information when the first camera exposes the target object when acquiring 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 microcontroller unit 940.

[0131] The microcontroller unit 940 is used to determine, based on time difference information, the first acquisition time and the second acquisition time when the first camera and the second camera acquire the second image frame, respectively; 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.

[0132] In the embodiments of this 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 computational burden of electronic devices and improve the computational efficiency of the first acquisition time and the second acquisition time.

[0133] To better understand the solution of the embodiments of this application, the following example illustrates the camera synchronization method provided by the embodiments of this application, which involves sending time difference information to a microcontroller unit to enable the microcontroller unit to determine a first acquisition time and a second acquisition time, sending a first acquisition control signal to a first camera at the first acquisition time, and sending a second acquisition control signal to a second camera at the second acquisition time. Figure 9 The electronic device shown is used to illustrate the camera synchronization method provided in the embodiments of this application.

[0134] Figure 10 This is a flowchart illustrating a camera synchronization method provided in an embodiment of this application. The execution entity of this camera synchronization method can be... Figure 9 The electronic device shown.

[0135] like Figure 10 As shown, the camera synchronization method provided in this application embodiment may include steps 1110-1180.

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

[0137] Step 1110 is the same as step 610 above, and will not be repeated here.

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

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

[0140] Step 1140: Based on the second depth information, determine the first timestamp information when the second camera reads the target object located at the second depth information.

[0141] Steps 1120-1140 above are consistent with the process of determining the first timestamp information based on image data in the above embodiment, and will not be repeated here.

[0142] Step 1150: Determine the second timestamp information of the first camera exposing the target object when acquiring the second image frame.

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

[0144] Steps 1150-1160 here are the same as steps 630-640 above, and will not be repeated here.

[0145] Steps 1110-1160 above are executed by the main control platform of the electronic device.

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

[0147] Step 1180: The microcontroller determines the first acquisition time and the second acquisition time when the first camera and the second camera acquire the second image frame, respectively, based on the time difference information, and sends a first acquisition control signal to the first camera at the first acquisition time and a second acquisition control signal to the second camera at the second acquisition time.

[0148] The embodiments described above in this application Figure 6 The provided camera synchronization method can be executed by a camera synchronization device. This application embodiment uses a camera synchronization device executing the camera synchronization method as an example to illustrate the camera synchronization device provided in this application embodiment.

[0149] Figure 11 This is a schematic diagram of a camera synchronization device according to an exemplary embodiment.

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

[0151] The first acquisition module 1210 is used to acquire image data corresponding to the 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] The first determining module 1220 is used to determine, based on the image data, a first timestamp information when the second camera reads the target object in the second image frame, wherein the second image frame is the image frame following the first image frame;

[0153] The second determining module 1230 is used to determine the second timestamp information of the first camera exposing the target object when the second image frame is acquired;

[0154] The third determining module 1240 is used to determine the time difference information between the first timestamp information and the second timestamp information based on the first timestamp information and the second timestamp information;

[0155] The fourth determining module 1250 is used to determine, based on the time difference information, 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.

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

[0157] In the embodiments of this application, when the first camera sends a frame synchronization signal to the second camera, the first timestamp information of when the second camera reads the target object in the second image frame is determined by the image data corresponding to the first image frame acquired by the second camera, and the second timestamp information of when the first camera exposes the target object when acquiring the second image frame is determined. Then, based on the time difference information between the first timestamp information and the second timestamp information, the first acquisition time and the second acquisition time of when the first camera acquires 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. This allows the exposure time of the target object by the first camera when acquiring the second image frame based on the first acquisition control signal to be synchronized with the time when the second camera reads the target object when acquiring the second image frame based on the second acquisition control signal, thus obtaining a high-quality captured image.

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

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

[0160] The second determining unit is configured to determine the second depth information of the target object in the second image frame based on the first depth information;

[0161] The third determining unit is used to determine, based on the second depth information, the first timestamp information when the second camera reads the target object located at the second depth information.

[0162] In some embodiments of this application, the first determining unit is specifically used for:

[0163] The image data is subjected to depth post-processing to obtain a depth image corresponding to the image data;

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

[0165] In some embodiments of this application, the target object is an object in motion; the second determining unit is specifically used for:

[0166] Based on the motion posture of the target object, determine the displacement information of the target object from the acquisition of the first image frame to the acquisition of the second image frame;

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

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

[0169] Obtain 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;

[0170] Based on the exposure time and the readout time, a second timestamp information is determined for the first camera to expose the target object.

[0171] In some embodiments of this application, the aforementioned apparatus is applied to an electronic device, which may include a microcontroller unit; the fourth determining module 1250 and the signal transmitting module 1260 are specifically used for:

[0172] Based on the time difference information, the microcontroller 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; it sends a first acquisition control signal to the first camera at the first acquisition time and a second acquisition control signal to the second camera at the second acquisition time.

[0173] The camera synchronization device in this application embodiment can be an electronic device or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television set (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the device.

[0174] The camera synchronization device in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit it.

[0175] The camera synchronization device provided in this application embodiment can achieve... Figure 6 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0176] Optionally, such as Figure 12 As shown, this application embodiment also provides an electronic device 1300, including a processor 1301 and a memory 1302. The memory 1302 stores a program or instructions that can run on the processor 1301. When the program or instructions are executed by the processor 1301, they implement the various steps of the above-described camera synchronization method embodiment and can achieve the same technical effect. To avoid repetition, they will not be described again here.

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

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

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

[0180] Those skilled in the art will understand that the electronic device 1400 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 1410 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 13 The electronic device structure shown does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0181] The processor 1410 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; determine, based on the image data, a first timestamp when the second camera reads the target object in the second image frame, wherein the second image frame is the image frame following the first image frame; determine a second timestamp when the first camera exposes the target object while capturing the second image frame; determine a time difference between the first timestamp and the second timestamp based on the first timestamp and the second timestamp; determine a first acquisition time and a second acquisition time when the first camera captures the second image frame based on the time difference; send a first acquisition control signal to the first camera at the first acquisition time and a second acquisition control signal to the second camera at the second acquisition time.

[0182] Thus, when the first camera sends a frame synchronization signal to the second camera, the first timestamp information of when the second camera reads the target object in the second image frame is determined by the image data corresponding to the first image frame acquired by the second camera, and the second timestamp information of when the first camera exposes the target object when acquiring the second image frame is determined. Then, based on the time difference between the first and second timestamp information, the first acquisition time and the second acquisition time of when the first camera acquires 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. This allows the exposure time of the target object by the first camera when acquiring the second image frame based on the first acquisition control signal to be synchronized with the time when the second camera reads the target object when acquiring the second image frame based on the second acquisition control signal, thereby obtaining a high-quality captured image.

[0183] Optionally, the processor 1410 is further configured 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 the target object located at the second depth information based on the second depth information.

[0184] Thus, by performing depth post-processing on the image data, the first depth information of the target object in the first image frame is obtained. 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 based on the depth image, to obtain first depth information of the target object in the first image frame.

[0186] Thus, by performing depth post-processing on the image data, a depth image corresponding to the image data is obtained. Then, based on the depth image, the 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 configured 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 based on the motion posture of the target object; and to determine the second depth information of the target object in the second image frame based on the displacement information and the first depth information.

[0188] Thus, based on the motion posture of the target object, the displacement information of the target object from the acquisition of the first image frame to the acquisition of the second image frame can be determined. 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, the processor 1410 is further configured to acquire the exposure time of the first camera when acquiring the second image frame, and the readout time of the first camera on the exposure data; and determine the second timestamp information of the first camera exposing the target object based on the exposure time and the readout time.

[0190] Thus, by using 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, the second timestamp information of the first camera exposing the target object can be accurately determined.

[0191] Optionally, the electronic device includes a microcontroller unit; the step of determining, based on 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 includes:

[0192] Based on the time difference information, the microcontroller 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; it sends a first acquisition control signal to the first camera at the first acquisition time and a second acquisition control signal to the second camera at the second acquisition time.

[0193] Thus, by using the microcontroller to determine 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 based on the time difference information, the microcontroller sends a first acquisition control signal to the first camera at the first acquisition time and a second acquisition control signal to the second camera at the second acquisition time. This can save the computational burden on the electronic device and improve the computational efficiency of the first and second acquisition times.

[0194] It should be understood that, in this embodiment, the input unit 1404 may include a graphics processing unit (GPU) 14041 and a microphone 14042. The GPU 14041 processes image data of still images or videos obtained by an image capture device (such as a color camera) in video capture mode or image capture mode. The display unit 1406 may include a display panel 14061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 1407 includes at least one of a touch panel 14071 and other input devices 14072. The touch panel 14071 is also called a touch screen. The touch panel 14071 may include a touch detection device and a touch controller. Other input devices 14072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, and joysticks, which will not be described in detail here.

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

[0196] Processor 1410 may include one or more processing units; optionally, processor 1410 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 1410.

[0197] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described camera synchronization method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

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

[0199] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described camera synchronization method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0200] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

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

[0202] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0203] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0204] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A camera synchronization method, characterized in that, The method includes: When the first camera sends a frame synchronization signal to the second camera, the image data corresponding to the first image frame captured by the second camera is obtained, and the first image frame includes the target object; Based on the image data, a first timestamp information is determined when the second camera reads the target object in the second image frame, and the second image frame is the image frame following the first image frame; Determine the second timestamp information of the first camera's exposure to the target object when acquiring the second image frame; Based on the first timestamp information and the second timestamp information, determine the time difference information between the first timestamp information and the second timestamp information; Based on the time difference information, 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 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, 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 the target object when it acquires the second image frame based on the second acquisition control signal.

2. The method according to claim 1, characterized in that, The step of determining the first timestamp information of the target object when the second camera reads the second image frame based on the image data includes: The image data is post-processed to obtain the first depth information of the target object in the first image frame; Based on the first depth information, determine the second depth information of the target object in the second image frame; Based on the second depth information, determine the first timestamp information when the second camera reads the target object located at the second depth information.

3. The method according to claim 2, characterized in that, The step of performing depth post-processing on the image data to obtain the first depth information of the target object in the first image frame includes: The image data is subjected to depth post-processing to obtain a depth image corresponding to the image data; Based on the depth image, the 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 step of determining the second depth information of the target object in the second image frame based on the first depth information includes: Based on the motion posture of the target object, determine the displacement information of the target object from the acquisition of the first image frame to the acquisition of the second image frame; Based on the displacement information and the first depth information, the 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 determination of the second timestamp information of the exposure of the first camera to the target object when acquiring the second image frame includes: Obtain 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; Based on the exposure time and the readout time, a second timestamp information is determined for the first camera to expose the target object.

6. The method according to any one of claims 1-5, characterized in that, The method is applied to an electronic device, which includes a microcontroller unit. Based on the time difference information, 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 are determined respectively; Sending a first acquisition control signal to the first camera during the first acquisition time, and sending a second acquisition control signal to the second camera during the second acquisition time, includes: Based on the time difference information, the microcontroller 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. A first acquisition control signal is sent to the first camera during the first acquisition time, and a second acquisition control signal is sent to the second camera during the second acquisition time.

7. A camera synchronization device, characterized in that, The device includes: The first acquisition module is used to acquire image data corresponding to the 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; The first determining module is used to determine, based on the image data, a first timestamp information when the second camera reads the target object in the second image frame, wherein the second image frame is the image frame following the first image frame; The second determining module is used to determine the second timestamp information of the first camera exposing the target object when the second image frame is acquired; The third determining module is used to determine the time difference information between the first timestamp information and the second timestamp information based on the first timestamp information and the second timestamp information; The fourth determining module is used to determine, based on the time difference information, 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; The signal transmission module is used to send a first acquisition control signal to the first camera at the first acquisition time and a second acquisition control signal to the second camera at the 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 the target object when it acquires the second image frame based on the second acquisition control signal.

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

9. An electronic device, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the camera synchronization method as described in any one of claims 1-6.

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

Images