Multi-camera hard synchronization method and system based on microcontroller

Abstract

The invention provides a multi-camera hard synchronization method based on a microcontroller, and relates to the technical field of camera synchronization, and the method comprises the steps: enabling a plurality of cameras to be sequentially connected through a synchronization interface, and enabling each camera to be connected with a switch; defining a synchronization source; when each pixel clock runs, the microcontroller of each camera is taken as a core, the microcontroller detects whether a synchronization pulse exists or not, if yes, synchronization is carried out, and when an asynchronous phenomenon occurs, the next camera can receive a synchronization signal sync in of the previous camera, and the microcontroller can judge whether the current synchronization time point is a proper synchronization time point or not; if the synchronization time point is not suitable, waiting for the current camera to capture the current frame and waiting for the next synchronization time point to perform synchronization, if the camera does not receive the synchronization signal sync in of the previous camera, performing internal synchronization after capturing one frame by the microcontroller, and after the internal synchronization is completed, retaining the synchronization state information of this time; and checking in the next execution period.

Description

Technical Field

[0001] The present disclosure relates to the technical field of camera synchronization, and in particular to a multi-camera hard synchronization method and system based on a microcontroller. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] With the advancement of science and technology and the rapid development of artificial intelligence technology, the field of digital media has also made great progress, especially in the field of free perspective, introducing new "free perspective", new "bullet time", new "video stitching" and other functions and usages of artificial intelligence technology, which has increased the viewing interest of users and enriched the viewing experience of users. These functions allow users to actively switch perspectives by sliding the screen at the viewing end, so that they can watch videos from various angles.

[0004] Usually, the free view system requires dozens or even hundreds of cameras to provide video streams, and then process the multiple videos on the server. In order to correctly process the video streams, it is necessary to ensure that all cameras obtain the video frames at the same time, otherwise it will seriously affect the effect of the algorithm and reduce the user's viewing experience. This requires the use of camera synchronization technology to achieve this.

[0005] Existing synchronization technologies include hard synchronization and soft synchronization. Among them, soft synchronization mainly relies on software algorithms and is highly dependent on the timestamp of the acquired video frame. However, due to factors such as system delay, soft synchronization has high inaccuracy and limited synchronization accuracy. In addition, soft synchronization also requires additional camera system resources and requires staff to have certain professional knowledge. Hard synchronization usually uses external signals to trigger sensors to collect data, which is more dependent on the stability and reliability of the signal. In addition, the existing hard synchronization does not use external devices, but uses the right camera to drive the left camera for hard synchronization, which requires the camera image sensor to support the output of the synchronization signal, which limits the selection of cameras and increases costs. Summary of the invention

[0006] In order to solve the above problems, the present disclosure proposes a multi-camera hard synchronization method and system based on a microcontroller, which does not require any external synchronization equipment and software algorithm. When the image sensor does not support the output of a synchronization signal, the synchronization signal of the previous camera is used to automatically perform hard synchronization of the multiple cameras using the microcontroller of the camera, and the image sensor is adjusted, thereby achieving automatic hard synchronization.

[0007] According to some embodiments, the present disclosure adopts the following technical solutions:

[0008] Microcontroller-based multi-camera hard synchronization method, including:

[0009] Deploy multiple cameras in different locations, connect them in sequence through synchronization interfaces, and connect each camera to a switch;

[0010] Define the synchronization source;

[0011] When each pixel clock is executed, the microcontroller of each camera is the core. The microcontroller detects whether there is a synchronization pulse. If so, it will synchronize. When asynchronous phenomenon occurs, the latter camera will receive the synchronization signal sync in from the previous camera, and the microcontroller will determine whether the current synchronization time point is appropriate. If it is not an appropriate synchronization time point, it is necessary to wait for the current camera to capture the current frame and wait for the next synchronization time point to synchronize. If the camera does not receive the synchronization signal sync in from the previous camera, the microcontroller will perform internal synchronization after capturing a frame. After the internal synchronization is completed, the synchronization status information is retained and checked in the next execution cycle.

[0012] According to some embodiments, the present disclosure adopts the following technical solutions:

[0013] Microcontroller-based multi-camera hard synchronization system, including:

[0014] The camera initialization module is used to deploy multiple cameras in positions, connect multiple cameras in sequence through the synchronization interface, and connect each camera to the switch; define the synchronization source;

[0015] The hard synchronization module is used to detect whether there is a synchronization pulse when each pixel clock is executed. The microcontroller of each camera is the core. If so, synchronization is performed. When asynchronous phenomenon occurs, the latter camera will receive the synchronization signal sync in from the previous camera, and the microcontroller will determine whether the current synchronization time point is appropriate. If it is not an appropriate synchronization time point, it is necessary to wait for the current camera to capture the current frame and wait for the next synchronization time point to synchronize. If the camera does not receive the synchronization signal sync in from the previous camera, the microcontroller will perform internal synchronization after capturing a frame. After the internal synchronization is completed, the synchronization status information is retained and checked in the next execution cycle.

[0016] According to some embodiments, the present disclosure adopts the following technical solutions:

[0017] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the multi-camera hard synchronization method based on a microcontroller is implemented.

[0018] According to some embodiments, the present disclosure adopts the following technical solutions:

[0019] A non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, the multi-camera hard synchronization method based on a microcontroller is implemented.

[0020] According to some embodiments, the present disclosure adopts the following technical solutions:

[0021] An electronic device comprises: a processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to implement the multi-camera hard synchronization method based on a microcontroller.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The disclosed multi-camera hard synchronization method based on a microcontroller connects multiple cameras. Multiple cameras are deployed on a rail at a certain angle, and synchronization cables are used to connect the synchronization interfaces of the cameras in sequence. At the same time, each camera is connected to a switch using a network cable. No external synchronization equipment and software are required, and no image sensor is required to support synchronization signal output. The camera hard synchronization is automatically performed, which can simplify the camera deployment process, increase the freedom of image sensor model selection, and improve the stability and reliability of the system.

[0024] In the multi-camera hard synchronization method based on a microcontroller disclosed in the present invention, when an asynchronous phenomenon occurs, the latter camera will receive a synchronization signal sync in, and the microcontroller will determine whether the current time point is appropriate for synchronization. If not, it is necessary to wait for the current camera to capture the current frame and wait for the next synchronization time point for synchronization. If the camera does not receive the synchronization signal sync in, the microcontroller will also perform internal synchronization after capturing a frame, which reduces the freedom of image sensor model selection, avoids various complex problems caused by the use of synchronization software and hardware, and improves the accuracy of camera synchronization. In addition, there is no need to consider whether the image sensor supports synchronization signal output, thereby reducing the hardware cost of the camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure.

[0026] Figure 1 This is an example of synchronization between multiple cameras within one frame generation time under an ideal situation of an embodiment of the present disclosure;

[0027] Figure 2This is an example diagram of asynchronism among multiple cameras within one frame generation time under the interference of various factors in the embodiments of the present disclosure;

[0028] Figure 3 This is a flow chart of a multi-camera hard synchronization method based on a microcontroller according to an embodiment of the present disclosure;

[0029] Figure 4 A schematic diagram of connecting multiple cameras according to an embodiment of the present disclosure;

[0030] Figure 5 This is a flow chart of a microcontroller determining whether the current time point is appropriate for synchronization when an asynchronous phenomenon occurs according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0032] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0033] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0034] Explanation of terms

[0035] sync_in: This parameter represents the synchronization signal input. For camera 1, since there is no synchronization signal input, its sync_in is always 0.

[0036] sync_out: This parameter stands for synchronization output, which is used to transmit the synchronization signal to the next camera.

[0037] sync_lock: This parameter is used to block the synchronization signal. When the synchronization signal is detected, this value will be set to 1, indicating that the system has synchronized with the input synchronization signal.

[0038] sync_in_present: The current state of the synchronization input, which is used to indicate whether the synchronization signal is currently detected. If the synchronization signal is currently detected, it is 1; otherwise, it is 0.

[0039] sync_int: synchronization flag. In some cases, the microcontroller will determine whether the machine needs to be synchronized.

[0040] Vcnt: This parameter represents the number of pixel rows captured by the image sensor.

[0041] Hcnt: This parameter represents the number of pixels captured by the image sensor in one row.

[0042] sync_out_1D: This parameter stores the last synchronization status and is used to check changes in the synchronization signal.

[0043] Hfront: This parameter represents the number of pixels in the image sensor from 0 to the beginning of a row of valid data.

[0044] XVS: This parameter represents the level signal when the image sensor captures a frame of image.

[0045] XHS: This parameter represents the level signal when the image sensor captures a row of pixels.

[0046] Vtotal: This parameter represents the number of pixel rows on the image sensor.

[0047] Htotal: This parameter represents the number of pixels in a row of the image sensor.

[0048] Example 1

[0049] In one embodiment of the present disclosure, a multi-camera hard synchronization method based on a microcontroller is provided, comprising:

[0050] Step 1: Deploy multiple cameras in different locations, connect them in sequence through the synchronization interface, and connect each camera to the switch;

[0051] Step 2: Define the synchronization source;

[0052] Step 3: When each pixel clock is running, the microcontroller of each camera is the core. The microcontroller detects whether there is a synchronization pulse. If so, it will synchronize. When asynchronous phenomenon occurs, the latter camera will receive the synchronization signal sync in from the previous camera, and the microcontroller will determine whether the current synchronization time point is appropriate. If it is not an appropriate synchronization time point, it is necessary to wait for the current camera to capture the current frame and wait for the next synchronization time point to synchronize. If the camera does not receive the synchronization signal sync in from the previous camera, the microcontroller will perform internal synchronization after capturing a frame. After the internal synchronization is completed, the synchronization status information is retained and checked in the next execution cycle.

[0053] As an embodiment, ideally, within a frame generation time, the time at which each camera receives the frame start signal is the same or very close, indicating that the multiple cameras are synchronized. Figure 1However, due to interference from various factors, the time when multiple cameras receive the frame start signal is not always close within a frame generation time. If the frame start signal reception time of two cameras differs too much, it is considered that the cameras are not synchronized, as shown in the attached figure. Figure 2 As shown, adjustments need to be made at this time; the present disclosure provides a multi-camera hard synchronization method based on a microcontroller, and the specific implementation process is as follows:

[0054] Step 1: First, multiple cameras need to be connected. Deploy multiple cameras on the rail at a certain angle, and use synchronization cables to connect the synchronization interfaces of the cameras in turn, and use network cables to connect each camera to the switch. Among them, the sync in interface (synchronization signal input) of camera 1 and the sync out interface (synchronization signal output) of camera n do not need to be connected; use camera 1 as the synchronization source.

[0055] Step 2: The following steps need to be performed at each pixel clock. First, determine whether the value of sync_in_present (current state of synchronization input) is 1. If it is 1, it means that there was a synchronization signal before and this signal needs to be transmitted. At this time, the value of sync_out is equal to sync_in; otherwise, the value of sync_out is determined by sync_int, so the value of sync_out is equal to sync_int. When the value of sync_out is determined, the microcontroller sends it to the next connected camera through the sync out interface, and then the camera continues and enters step 3.

[0056] Step 3: The camera continues to determine whether the value of sync in is 1. If so, it means that the camera has received a synchronization signal. Then, the value of sync_lock (blocking synchronization signal) is set to 1, thereby blocking the synchronization state. The method proceeds to step 4.

[0057] Step 4: Determine whether the value of Vcnt (the number of pixel rows captured by the image sensor) is 0. In the image sensor, the level signal received for capturing all pixels once is first a low level and then a high level. The high level means that the image sensor starts to expose and is ready to capture image pixels. Therefore, when the Vcnt value is 0, it is necessary to set XVS (the level signal when the image sensor captures a frame of image) to 0; when the Vcnt value is not 0, XVS (the level signal when the image sensor captures a frame of image) is set to 1. The method proceeds to step 5.

[0058] Step 5: Determine whether Hcnt (the number of pixels captured by the image sensor in a row) is less than Hfront (the number of pixels from 0 to the beginning of a row of valid data in the image sensor). The number of pixels that the image sensor can capture is greater than the number of pixels contained in the image, so an image sensor can be used to capture images of different resolutions (the length and width of the image need to be smaller than the length and width of the image sensor). Since the length of the image is smaller than the length of the image sensor, there are some areas on the left side of the image area that do not need to obtain pixel information, so when Hcnt is less than Hfront, the value of XHS is set to 0, otherwise it is set to 1. The method proceeds to step 6.

[0059] Step 6: Determine whether the current camera meets the synchronization conditions. When the sync_out value is 1 and the sync_out_1D (stores the last synchronization status) value is 0, the camera meets the conditions for synchronization, and the method proceeds to step 9; otherwise, the method proceeds to step 7.

[0060] Step 7: Determine whether Hcnt (the number of pixels captured by the image sensor in a row) is equal to Htotal-1 (there are Htotal×Vtotal pixels on the image sensor, and each row has Htotal pixels. However, in the computer program, the counter starts at 0, and the count of the Htotalth pixel is Htotal-1, so the judgment here is whether the values ​​of Hcnt and Htotal-1 are the same). Because computer program counting generally starts at 0 by default, what needs to be judged is Htotal-1, not Htotal (the number of pixels in a row on the image sensor). When the two values ​​are the same, it means that a row of pixels has been captured, and the method proceeds to step 8; otherwise, Hcnt is incremented by 1, and the method proceeds to step 10.

[0061] Step 8: Determine whether Vcnt (the number of pixel rows captured by the image sensor) is equal to Vtotal-1 (there are Vtotal rows in total, the counter starts at 0, and the last row is Vtotal minus 1). If the two values ​​are equal, it means that all pixel rows on the image sensor have been captured, and it is necessary to start capturing a new frame of image, and the method proceeds to step 9; otherwise, it means that the image sensor has successfully captured a row of pixels, and next it is necessary to capture a new row of pixels. At this time, the value of Hcnt (the number of pixels captured by the image sensor in a row) is set to 0, and Vcnt (the number of pixel rows captured by the image sensor) is incremented by 1, and the method proceeds to step 10.

[0062] Step 9: Whether performing synchronization or capturing a new frame of image, it is necessary to set the values ​​of the counters Hcnt and Vcnt and the blocking lock sync_lock to 0, and the method proceeds to step 10.

[0063] Step 10: Determine whether Vcnt (the number of pixel rows captured by the image sensor) is equal to 0, and whether Hcnt (the number of pixels captured by the image sensor in one row) is equal to Htotal-1. If this condition is met, the method proceeds to step 11; otherwise, it means that there is no need to update whether the synchronization signal exists at this time, and the method proceeds to step 12.

[0064] Step 11: Determine whether the value of sync_lock (blocking synchronization signal) is 1. If the value of sync_lock (blocking synchronization signal) is 1, it means that there was a synchronization signal before, and the value of sync_int_present (current state of synchronization input) needs to be set to 1, otherwise it is set to 0, and the method enters step 12.

[0065] Step 12: Determine whether the Vcnt value is 0, and the Hcnt value is 0 or greater than Htotal-1. If the conditions are met, it means that the camera needs to perform an internal synchronization, and the value of sync_int is set to 1, otherwise it is set to 0; the method proceeds to step 13.

[0066] Step 13: Assign the value of sync_out to sync_out_1D (store the last synchronization status), retain the current synchronization status information, and check it in the next execution cycle. The method enters step 2 again.

[0067] Example 2

[0068] In one embodiment of the present disclosure, a multi-camera hard synchronization system based on a microcontroller is provided, comprising:

[0069] The camera initialization module is used to deploy multiple cameras in positions, connect multiple cameras in sequence through the synchronization interface, and connect each camera to the switch; define the synchronization source;

[0070] The hard synchronization module is used to detect whether there is a synchronization pulse when each pixel clock is executed. The microcontroller of each camera is the core. If so, synchronization is performed. When asynchronous phenomenon occurs, the latter camera will receive the synchronization signal sync in from the previous camera, and the microcontroller will determine whether the current synchronization time point is appropriate. If it is not an appropriate synchronization time point, it is necessary to wait for the current camera to capture the current frame and wait for the next synchronization time point to synchronize. If the camera does not receive the synchronization signal sync in from the previous camera, the microcontroller will perform internal synchronization after capturing a frame. After the internal synchronization is completed, the synchronization status information is retained and checked in the next execution cycle.

[0071] As an embodiment, the present disclosure is centered on the microcontroller of the camera. The microcontroller of each camera automatically detects whether there is a synchronization pulse, and if so, it synchronizes; when an asynchronous phenomenon occurs, the next camera will receive a synchronization signal sync in, and the microcontroller will determine whether the current time point is appropriate for synchronization. If not, it is necessary to wait for the current camera to capture the current frame and wait for the next synchronization time point to synchronize. If the camera does not receive the synchronization signal sync in, the microcontroller will also perform internal synchronization after capturing a frame; because in FPGA, all of the above events will occur synchronously, so the process may be different. Figure 5 As shown, the algorithm is simulated on FPGA, and on FPGA, each of the above steps is executed synchronously. Figure 3 As shown, this algorithm is executed on a microcontroller, one by one; but this leads to Figure 5 and Figure 3 Some of the contents in the do not correspond. This difference is caused by running this algorithm on different devices.

[0072] Example 3

[0073] In one embodiment of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the multi-camera hard synchronization method based on a microcontroller is implemented.

[0074] Example 4

[0075] In one embodiment of the present disclosure, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium is used to store computer instructions, and when the computer instructions are executed by a processor, the microcontroller-based multi-camera hard synchronization method is implemented.

[0076] Example 5

[0077] In one embodiment of the present disclosure, an electronic device is provided, comprising: a processor, a memory, and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to implement the microcontroller-based multi-camera hard synchronization method.

[0078] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0079] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0080] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. A multi-camera hard synchronization method based on a microcontroller, characterized in that: include: Deploy multiple cameras in different locations, connect them in sequence through synchronization interfaces, and connect each camera to a switch; Define the synchronization source; When each pixel clock is executed, the microcontroller of each camera is the core. The microcontroller detects whether there is a synchronization pulse. If so, it will synchronize. When asynchronous phenomenon occurs, the latter camera will receive the synchronization signal sync in from the previous camera, and the microcontroller will determine whether the current synchronization time point is appropriate. If it is not an appropriate synchronization time point, it is necessary to wait for the current camera to capture the current frame and wait for the next synchronization time point to synchronize. If the camera does not receive the synchronization signal sync in from the previous camera, the microcontroller will perform internal synchronization after capturing a frame. After the internal synchronization is completed, the synchronization status information is retained and checked in the next execution cycle.

2. The multi-camera hard synchronization method based on a microcontroller as claimed in claim 1, characterized in that: Connect multiple cameras, deploy multiple cameras on the rail at set angles, and use synchronization cables to connect the synchronization interfaces of the cameras in sequence. Use network cables to connect each camera to the switch, define the synchronization source as camera No. 1, and the sync in interface of camera No. 1 and the sync out interface of the last camera do not need to be connected.

3. The multi-camera hard synchronization method based on a microcontroller as claimed in claim 1, characterized in that: When each pixel clock is executed, first, determine whether the value of sync_in_present is 1. If it is 1, it means that there was a synchronization signal before and the signal needs to be transmitted. At this time, the value of sync_out is equal to sync_in; if it is not 1, the value of sync_out is determined by sync_int, and the value of sync_out is equal to sync_int. When the value of sync_out is determined, the microcontroller sends it to the next connected camera through the sync out interface.

4. The multi-camera hard synchronization method based on a microcontroller as claimed in claim 3, characterized in that: Determine whether the value of the next camera's sync in is 1. If so, it means that the camera has received the synchronization signal, so let the value of sync_lock be 1 to block the synchronization state.

5. The multi-camera hard synchronization method based on a microcontroller as claimed in claim 1, characterized in that: In the image sensor, all pixels are captured once, and the received level signal is first a low level and then a high level. The high level indicates that the image sensor starts to expose and is ready to capture image pixels. When the value of the pixel row captured by the image sensor is 0, the level signal when the image sensor captures a frame of image needs to be set to 0; when the value of the pixel row captured by the image sensor is not 0, the level signal when the image sensor captures a frame of image is set to 1.

6. The multi-camera hard synchronization method based on a microcontroller as claimed in claim 5, characterized in that: The number of pixels captured by the image sensor is greater than the number of pixels contained in the image. The image sensor captures images of different resolutions. Since the length of the image is smaller than the length of the image sensor, there is an area on the left side of the image area where pixel information does not need to be obtained. Therefore, when the number of pixels captured by the image sensor in a row is less than the number of pixels from 0 to the beginning of a row of valid data in the image sensor, the value of the level signal when the image sensor captures a row of pixels is set to 0, otherwise it is set to 1.

7. A multi-camera hard synchronization system based on a microcontroller, characterized in that: include: The camera initialization module is used to deploy multiple cameras in positions, connect multiple cameras in sequence through the synchronization interface, and each camera is connected to the switch; Define the synchronization source; The hard synchronization module is used to detect whether there is a synchronization pulse when each pixel clock is executed. The microcontroller of each camera is the core. If so, synchronization is performed. When asynchronous phenomenon occurs, the latter camera will receive the synchronization signal sync in from the previous camera, and the microcontroller will determine whether the current synchronization time point is appropriate. If it is not an appropriate synchronization time point, it is necessary to wait for the current camera to capture the current frame and wait for the next synchronization time point to synchronize. If the camera does not receive the synchronization signal sync in from the previous camera, the microcontroller will perform internal synchronization after capturing a frame. After the internal synchronization is completed, the synchronization status information is retained and checked in the next execution cycle.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the microcontroller-based multi-camera hard synchronization method according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium is used to store computer instructions, and when the computer instructions are executed by the processor, the microcontroller-based multi-camera hard synchronization method as described in any one of claims 1-6 is implemented.

10. An electronic device, characterized in that: include: A processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to implement the microcontroller-based multi-camera hard synchronization method as described in any one of claims 1-6.

Images