An image acquisition synchronization control method and device, electronic equipment and medium

Abstract

Embodiments of the present application disclose an image acquisition synchronization control method and device, electronic equipment and a medium. The method comprises: determining a cycle period of a synchronization control signal according to an image scanning frame rate of an image scanning system, and determining a target number of target images to be acquired in the cycle period; generating target number of synchronization control signals according to a preset time interval rule containing unequal time intervals within the cycle period; and sending the synchronization control signals to at least two image acquirers. The above-mentioned scheme can control the at least two image acquirers to acquire images by sending the synchronization control signals non-uniformly in time, which facilitates subsequent clear and intuitive determination of the target images as which target image according to different timestamp intervals between the acquired target images, determination of the sequence number of the target images within the cycle period, and more accurate synchronization alignment of the at least two groups of target images.

Description

Technical Field

[0001] This application relates to the field of image acquisition and control technology, and in particular to an image acquisition synchronization control method, device, electronic device and medium. Background Technology

[0002] The prerequisite for multi-view 3D reconstruction scanning is ensuring the synchronization of image data acquired by multiple image acquisition units at the time of calculation; that is, this set of image data originates from the same external trigger signal. Current scanning systems connect multiple image acquisition units to a single trigger board. After enabling external trigger control mode, the trigger board provides a uniform trigger signal according to the trigger cycle. Upon receiving the trigger signal, each image acquisition unit acquires image data and records and prints the timestamp of the acquisition. Subsequently, the software layer, after acquiring the image data from each image acquisition unit, combines the timestamp information in the images to perform image data synchronization.

[0003] Currently, in the process of image data synchronization using timestamp information from images, the starting timestamps of multiple image acquisition devices may not be consistent due to the different system platforms they originate from. To address this, the conventional approach is to use additional auxiliary methods to obtain the image timestamps from the same trigger moment as the starting timestamp difference. Subsequent timestamps acquired during scanning are subtracted from this difference before comparing the timestamps of the multiple image acquisition devices. However, obtaining this difference is difficult because it is challenging to determine which image data in each acquisition device's image queue originates from the same external trigger signal in a multi-platform image acquisition scenario. Typically, before continuous scanning, each acquisition device's image buffer is cleared, and then a single trigger is used. Once each acquisition device successfully acquires an image, the timestamp recorded in that image is used as the system's starting timestamp for subsequent timestamp synchronization comparison and difference calculation. Determining the starting timestamp of each image acquisition device through a single trigger is inefficient, requiring time-consuming steps such as image buffer clearing and single-trigger timestamp calibration before scanning begins. Due to differences in system platforms, the crystal oscillator frequencies on different image acquisition platforms are inconsistent. After long-term scanning, there will be a problem of timestamp drift, with the timestamps of data in each module continuously increasing or decreasing, which may lead to frame errors. Summary of the Invention

[0004] This application provides an image acquisition synchronization control method, device, electronic device, and medium to more conveniently and accurately synchronize target images acquired by at least two image acquisition devices.

[0005] According to one aspect of this application, an image acquisition synchronization control method is provided, the method comprising:

[0006] Based on the image scanning frame rate of the image scanning system, the cycle period of the synchronization control signal is determined, and the number of target images to be acquired in the cycle period is determined.

[0007] Within the cycle, a target number of synchronization control signals are generated according to a preset time interval pattern containing unequal time intervals.

[0008] The synchronization control signal is sent to at least two image acquisition devices to perform synchronization alignment processing on at least two sets of target images acquired by at least two image acquisition devices based on a preset time interval rule of the synchronization control signal.

[0009] According to one aspect of this application, an image acquisition synchronization control device is provided, the device comprising:

[0010] The target quantity determination module is used to determine the cycle period of the synchronization control signal based on the image scanning frame rate of the image scanning system, and to determine the target quantity of the target images to be acquired in the cycle period.

[0011] A synchronization control signal generation module is used to generate a target number of synchronization control signals according to a preset time interval pattern containing unequal time intervals within the cycle.

[0012] A synchronization control signal sending module is used to send the synchronization control signal to at least two image acquisition devices to perform synchronization alignment processing on at least two sets of target images acquired by at least two image acquisition devices based on a preset time interval rule of the synchronization control signal.

[0013] According to another aspect of this application, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory that is communicatively connected to at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by at least one processor, which enables the at least one processor to perform the image acquisition synchronization control method of any embodiment of this application.

[0017] According to another aspect of this application, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to execute and implement the image acquisition synchronization control method of any embodiment of this application.

[0018] The technical solution of this application embodiment determines the cycle period of the synchronization control signal based on the image scanning frame rate of the image scanning system, and determines the target number of target images to be acquired in the cycle period. Within the cycle period, a target number of synchronization control signals are generated according to a preset time interval pattern containing unequal time intervals. The synchronization control signals are sent to at least two image acquisition devices to perform synchronization alignment processing on at least two sets of target images acquired by the at least two image acquisition devices based on the preset time interval pattern of the synchronization control signals. This solution generates a target number of synchronization control signals according to a preset time interval pattern containing unequal time intervals, thereby sending synchronization control signals unevenly in the time dimension to control at least two image acquisition devices to acquire images. The timestamp intervals corresponding to each frame of target images are different within the cycle period, thus more intuitively and accurately identifying the sequence number of the target images, improving the convenience and accuracy of synchronization alignment processing on at least two sets of target images.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A flowchart illustrating an image acquisition synchronization control method provided in this application embodiment;

[0022] Figure 2 A flowchart of an image acquisition synchronization control method is provided in another embodiment of this application;

[0023] Figure 3 A flowchart of an image acquisition synchronization control method provided in another embodiment of this application;

[0024] Figure 4 A flowchart illustrating an image acquisition synchronization control method provided in another embodiment of this application;

[0025] Figure 5 This is a schematic diagram of the structure of an image acquisition synchronization control device provided in an embodiment of this application;

[0026] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first," "second," "third," "fourth," "actual," "preset," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Figure 1 This is a flowchart illustrating an image acquisition synchronization control method provided in an embodiment of this application. This embodiment is applicable to situations requiring synchronized triggering control of at least two image acquisition devices. The method can be executed by an image acquisition synchronization control device, which can be implemented in hardware and / or software and can be configured in an electronic device. Figure 1 As shown, the method includes:

[0030] S110. Determine the cycle period of the synchronization control signal based on the image scanning frame rate of the image scanning system, and determine the number of target images to be acquired in the cycle period.

[0031] The image scanning system can serve as both the demand and receiving end for images, acting as a system that receives and processes images. The image scanning frame rate is the frequency at which the image scanning system scans the image during processing, specifically the number of frames scanned per second. The image scanning frame rate also reflects the frame rate of image acquisition; scanning according to the image scanning frame rate requires the image acquisition unit to acquire the target image and transmit it to the image scanning system at that rate. The cycle period is the period for sending synchronization control signals; a set of synchronization control signals is sent in each cycle period. The target quantity is the number of target images to be acquired within the cycle period, and also the number of target images that the image scanning system needs to scan within the cycle period.

[0032] For example, when sending synchronization control signals, they can be sent according to a cycle period. The cycle period can be determined based on the image scanning frame rate. Generally, the image scanning cycle is defined in seconds, and the cycle period can be a positive integer multiple of seconds, such as 1 second, 2 seconds, 5 seconds, etc. Alternatively, the time required to acquire one frame of the target image can be calculated based on the image scanning frame rate, and the cycle period can be determined as a positive integer multiple of this time. For example, assuming an image scanning frame rate of 50 frames / second, the time required to acquire each frame of the target image is 20 milliseconds. The cycle period can be set to a positive integer multiple of 20 milliseconds, for example, it can be set to 25 times, i.e., 500 milliseconds.

[0033] The target quantity is the number of target images that the image acquisition device needs to acquire within the loop period, which is determined based on the loop period and the image scanning frame rate. For example, if the image scanning frame rate is 50 frames / second and the loop period is 1 second, then the target quantity is 50. If the loop period is 2 seconds, then the target quantity is 100. If the loop period is 500 milliseconds, then the target quantity is 25.

[0034] S120. Within the cycle, a target number of synchronization control signals are generated according to a preset time interval pattern containing unequal time intervals.

[0035] Specifically, for the synchronization control signals within the cycle, there is a time interval between every two adjacent synchronization control signals. Therefore, there are multiple time intervals within the cycle, and the pattern of these multiple time intervals within the cycle is the preset time interval pattern. This is a reverse understanding of the meaning of the preset time interval pattern. In practical applications, the preset time interval pattern can be determined first, and then the synchronization control signals can be generated according to the preset time interval pattern.

[0036] In this embodiment, to address the problem of complex, time-consuming, and inefficient synchronization alignment schemes between at least two sets of target images acquired by at least two image acquisition devices when generating uniform synchronization control signals with equal time intervals within a loop cycle, and the resulting frame errors due to timestamp drift, unequal time intervals can be added to the preset time interval pattern. This means that the time intervals between adjacent synchronization control signals are not equal, and the synchronization control signals are not generated uniformly to trigger image acquisition. Because the time intervals are not equal, and these unequal time intervals correspond to the sequence numbers of the synchronization control signals, the sequence number of the target image can be determined after subsequent acquisition based on the unequal timestamp intervals between adjacent target images. Strict alignment of the starting timestamp is not required, and clearing previously cached target images is unnecessary. Based on the position of the unequal time intervals within the global time interval and the relationship between the preset time interval pattern and the sequence numbers of the synchronization control signals, the sequence number of the target image can be determined quickly and accurately.

[0037] Specifically, the following examples illustrate possible patterns for preset time intervals: For instance, within a target number of synchronization control signals in a cycle, the time interval between the start time and the first synchronization control signal is 10 milliseconds, the time interval between the first and second synchronization control signals is 12 milliseconds, the time interval between the second and third synchronization control signals is 16 milliseconds, the time interval between the third and fourth synchronization control signals is 13 milliseconds, the time interval between the fourth and fifth synchronization control signals is 12 milliseconds, and so on. The time intervals can be random, including equal intervals, but not all time intervals can be equal; they must include unequal time intervals. Alternatively, the time interval between the start time and the first synchronization control signal can be 10 milliseconds, the time interval between the first and second synchronization control signals can be 11 milliseconds, the time interval between the second and third synchronization control signals can be 12 milliseconds, the time interval between the third and fourth synchronization control signals can be 12 milliseconds, the time interval between the fourth and fifth synchronization control signals can be 11 milliseconds, and the time interval between the fifth and sixth synchronization control signals can be 10 milliseconds. There can also be a certain pattern between these time intervals, but it needs to include unequal time intervals to clearly distinguish the synchronization control signals of each sequence, facilitating subsequent clear differentiation of each target image. Regardless of how the preset time interval pattern is set, it is known in advance, allowing us to determine which time interval corresponds to which synchronization control signal, and subsequently, after obtaining the target images, determine the target image's position based on the timestamp interval between the target images.

[0038] In this embodiment, the process of determining the preset time interval pattern requires constraints based on the cycle period and the target number. Specifically, the synchronization control signals generated based on the preset time interval pattern must reach the target number within the cycle period to trigger the image acquisition device to acquire the target number of target images. Alternatively, this constraint can be expressed as follows: the duration occupied by the target number of synchronization control signals generated according to the preset time interval pattern must be less than or equal to the cycle period.

[0039] In the embodiments of this application, the generation of a target number of non-uniform synchronization control signals can be achieved by using a crystal oscillator in conjunction with peripheral additional circuitry, such as using a timer, counter, or microcontroller to modulate or divide the equally spaced signals generated by the crystal oscillator, thereby obtaining unequally spaced trigger signals.

[0040] S130. Send the synchronization control signal to at least two image acquisition devices to perform synchronization alignment processing on at least two sets of target images acquired by at least two image acquisition devices based on the preset time interval rule of the synchronization control signal.

[0041] For example, a synchronization control signal can be sent to at least two image acquisition devices to trigger them to acquire images. The image acquisition synchronization control device needs to send the synchronization control signal synchronously, that is, simultaneously. Specifically, the image acquisition synchronization control device can send the synchronization control signal through an FPGA, and at least two communication data lines connected to the FPGA can communicate with each image acquisition device respectively, transmitting the same synchronization control signal from the FPGA to each image acquisition device simultaneously through the communication data lines. Each time an image acquisition device receives a synchronization control signal, it triggers an image acquisition to obtain one target image. One image acquisition device can obtain a target number of target images in one cycle, which are considered as a set of target images. At least two image acquisition devices acquire at least two sets of target images.

[0042] The technical solution of this application embodiment determines the cycle period of the synchronization control signal based on the image scanning frame rate of the image scanning system, and determines the target number of target images to be acquired in the cycle period. Within the cycle period, a target number of synchronization control signals are generated according to a preset time interval pattern containing unequal time intervals. The synchronization control signals are sent to at least two image acquisition devices to perform synchronization alignment processing on at least two sets of target images acquired by the at least two image acquisition devices based on the preset time interval pattern of the synchronization control signals. This solution generates a target number of synchronization control signals according to a preset time interval pattern containing unequal time intervals, thereby sending synchronization control signals unevenly in the time dimension to control at least two image acquisition devices to acquire images. The timestamp intervals corresponding to each frame of target images are different within the cycle period, thus more intuitively and accurately identifying the sequence number of the target images, improving the convenience and accuracy of synchronization alignment processing on at least two sets of target images.

[0043] As a non-limiting implementation, the method also includes:

[0044] For at least two consecutive adjacent cycle periods, different preset time interval rules are set so as to generate synchronous control signals based on different preset time interval rules in different cycle periods to control at least two image acquisition devices to perform image acquisition.

[0045] For at least two sets of target images acquired within a cycle, synchronous alignment processing is performed on at least two sets of target images acquired by at least two image acquisition devices based on a preset time interval pattern corresponding to the cycle.

[0046] For example, to distinguish target images within different cycle periods, different preset time interval rules can be set for at least two consecutive adjacent cycle periods. For instance, in the first cycle period, preset time interval rule 1 is set, and a synchronization control signal is generated based on preset time interval rule 1 to control at least two image acquisition devices to acquire at least two sets of target images. In the second cycle period, preset time interval rule 2 is set, and a synchronization control signal is generated based on preset time interval rule 2 to control at least two image acquisition devices to acquire at least two sets of target images. Since the preset time interval rules conforming to the synchronization control signals of the first and second cycle periods are different, the rules governing the timestamp intervals between the target images in the first and second cycle periods should also be different. By determining the preset time interval rule satisfied by the rules governing the timestamp intervals between the obtained target images, the corresponding cycle period for the obtained target image can be determined.

[0047] Figure 2This is a flowchart of an image acquisition synchronization control method provided in another embodiment of this application. This embodiment is an optimization based on the above embodiment; solutions not described in detail in this embodiment are found in the above embodiment. Figure 2 As shown, the method in this embodiment of the application specifically includes the following steps:

[0048] S210. Based on the image scanning frame rate of the image scanning system, determine the cycle period of the synchronization control signal, and determine the number of target images to be acquired in the cycle period.

[0049] S220. Construct a first time interval sequence based on a first preset number of unequal time intervals, and construct a second time interval sequence based on a second preset number of equal time intervals; wherein, the minimum value of the time interval is greater than or equal to the duration from when the image acquisition device receives the synchronization control signal to when the acquisition of a frame of target image ends; the sum of the first preset number and the second preset number is the target number.

[0050] For example, a first time interval sequence can be constructed based on a first preset number of unequal time intervals, such as a1, a2, a3, a4, a5, a6, a7, a8, a9, a10. a1-a10 are all unequal. A second time interval sequence can be constructed based on a second preset number of equal time intervals, such as b1, b2, b3, b4, b5, b6, b7, b8, b9, b10. b1-b10 are equal. The minimum value of the time intervals in the first and second time interval sequences must satisfy the condition that it is greater than or equal to the duration from when the image acquisition device receives the synchronization control signal to when one frame of target image acquisition ends. That is, even when the time interval between the previous and subsequent synchronization control signals is at its minimum, it must still satisfy the duration requirement for the image acquisition device to receive, process, and respond to the synchronization control signal to acquire images. The sum of the first and second preset numbers is the target number, which satisfies the requirement of generating the target number of synchronization control signals within the loop cycle and controlling the image acquisition device to acquire the target number of target images within the loop cycle. It should be noted that both the first preset quantity and the second preset quantity must be positive integers, and the first preset quantity cannot be 0.

[0051] S230. The first time interval sequence and the second time interval sequence are cross-distributed to obtain a preset time interval pattern.

[0052] For example, the first time interval sequence and the second time interval sequence can be interleaved to break the regularity of uniform time intervals. For instance, the distribution can be done in an interleaving pattern of a1, b1, a2, a3, b2, b3... to obtain a preset time interval pattern.

[0053] In this embodiment of the application, the first time interval sequence and the second time interval sequence are cross-distributed to obtain a preset time interval pattern, including:

[0054] Distribute the first time interval sequence on the odd-numbered positions of the preset time interval pattern, and distribute the second time interval sequence on the even-numbered positions of the preset time interval pattern to obtain the preset time interval pattern; or,

[0055] The first time interval sequence is distributed on the even-numbered positions of the preset time interval pattern, and the second time interval sequence is distributed on the odd-numbered positions of the preset time interval pattern to obtain the preset time interval pattern.

[0056] For example, to simplify the preset time interval pattern as much as possible, the first time interval sequence can be distributed in the odd-numbered positions of the preset time interval pattern, and the second time interval sequence can be distributed in the even-numbered positions of the preset time interval filter. For example, it can be arranged in the manner of a1, b1, a2, b2, a3, b3, a4, b4, a5, b5... Alternatively, the first time interval sequence can be distributed in the even-numbered positions of the preset time interval pattern, and the second time interval sequence can be distributed in the odd-numbered positions. For example, it can be arranged in the manner of b1, a1, b2, a2, b3, a3, b4, a4, b5, a5...

[0057] Based on the above scheme, a preset time interval is determined to generate a synchronization control signal. In one of the at least two sets of target images, if the timestamp interval between a target image frame and the previous frame matches an equal time interval in the preset time interval pattern, then it can be determined which unequal time interval in the preset time interval pattern matches the timestamp interval between the previous and the frame before that, and / or the timestamp interval between the current and the next frame. This determines which frame in the cycle the target image belongs to. If the timestamp interval between a target image frame and the previous frame matches an unequal time interval in the preset time interval pattern, then the sequence number of the target image frame can be directly determined according to the synchronization control signal sequence number corresponding to that time interval in the preset time interval pattern.

[0058] Specifically, assuming the preset time interval pattern is a1, b1, a2, b2, a3, b3, a4, b4, a5, b5…, then the time interval between the first synchronization control signal and the start time can be predetermined as a1, where a1 corresponds to the first synchronization control signal. The time interval between the second synchronization control signal and the first synchronization control signal is b1, where b1 corresponds to the second synchronization control signal, and so on. If the timestamp interval between the current frame target image being judged and the start time is a1, it indicates that the current frame target image was acquired under the control of the first synchronization control signal, and the current frame is the first frame. If the timestamp interval between the current frame target image being judged and the previous frame target image is b1, it indicates that the current frame target image was acquired under the control of the second synchronization control signal, and the current frame target image is the second frame, and so on. If the timestamp interval between the current frame target image and the previous frame target image is b2, which is equal to b1, then the sequence number of the previous frame target image is determined and incremented by one. Alternatively, if the timestamp interval between the previous frame and the frame before that is determined to be a2, then a2 can be identified as the time interval corresponding to the third synchronization control signal, which is also the timestamp interval corresponding to the third frame. Therefore, the current frame corresponds to the time interval of the fourth synchronization control signal, and is thus the fourth frame. Alternatively, the subsequent target image sequence number can be determined based on the subsequent timestamp intervals, and then the sequence can be traced back. In this embodiment, after the initial start time of the system is determined, the start time corresponding to each loop cycle can be calculated based on this start time and the loop cycle.

[0059] S240. During the cycle, a target number of synchronization control signals are generated according to a preset time interval.

[0060] S250. Send the synchronization control signal to at least two image acquisition devices to perform synchronization alignment processing on at least two sets of target images acquired by at least two image acquisition devices based on the preset time interval pattern of the synchronization control signal.

[0061] This application provides an image acquisition synchronization control method. A first time interval sequence is constructed based on a first preset number of unequal time intervals, and a second time interval sequence is constructed based on a second preset number of equal time intervals. The minimum value of each time interval is greater than or equal to the duration from when the image acquisition device receives the synchronization control signal to when one frame of target image acquisition ends. The sum of the first preset number and the second preset number is the target number. The first time interval sequence and the second time interval sequence are cross-distributed to obtain a preset time interval pattern. This scheme determines the preset time interval pattern by cross-distributing equal and unequal time intervals, thereby enabling the synchronization control signal to be sent to control image acquisition according to a pre-known but uneven pattern. This solves the problem that current methods using uniform synchronization control signals to control the acquisition of target images have uniform timestamps, making it difficult to distinguish and align target images. It improves the efficiency and accuracy of synchronizing and aligning at least two sets of target images in a more intuitive and efficient manner.

[0062] Figure 3 This is a flowchart illustrating an image acquisition synchronization control method according to another embodiment of this application. This embodiment is an optimization based on the above embodiments; solutions not described in detail in this embodiment are found in the above embodiments. Figure 3 As shown, the method in this embodiment of the application specifically includes the following steps:

[0063] S310. Based on the image scanning frame rate of the image scanning system, determine the cycle period of the synchronization control signal, and determine the number of target images to be acquired in the cycle period.

[0064] S320. Determine the preset time interval pattern based on the different time intervals of the target number; wherein the minimum value of the time interval is greater than or equal to the time from when the image acquisition device receives the synchronization control signal to when the acquisition of one frame of target image ends.

[0065] In this embodiment of the application, in order to further improve the efficiency and intuitiveness of synchronizing at least two sets of target images, a preset time interval pattern can be determined based on the different time intervals of the number of targets. That is, the time intervals between the synchronization control signals within the cycle are different, and each time interval can reflect a unique corresponding synchronization control signal.

[0066] For example, the preset time interval can be as follows: 10 milliseconds, 19 milliseconds, 13 milliseconds, 16 milliseconds, 12 milliseconds, 17 milliseconds, 15 milliseconds, 20 milliseconds, 14 milliseconds, 27 milliseconds, 22 milliseconds, 18 milliseconds, 28 milliseconds, 25 milliseconds, 11 milliseconds, 24 milliseconds, 21 milliseconds, 23 milliseconds, 26 milliseconds, 30 milliseconds. That is, the time interval between the start time and the first synchronization control signal is 10 milliseconds, the time interval between the first and second synchronization control signals is 19 milliseconds, the time interval between the second and third synchronization control signals is 13 milliseconds, the time interval between the third and fourth synchronization control signals is 16 milliseconds, and so on. If the timestamp interval between the current frame target image and the previous frame target image is 13 milliseconds, it reflects that the current frame target image was acquired under the control of the third synchronization control signal, and the current frame target image is the third frame target image within the cycle.

[0067] In this embodiment of the application, determining a preset time interval pattern based on a target number of unequal time intervals includes:

[0068] An arithmetic sequence is constructed based on the minimum value of the time interval; wherein the minimum value of the time interval is greater than or equal to the time from when the image acquisition device receives the synchronization control signal to when the acquisition of one frame of target image ends.

[0069] The arithmetic sequence is used as the preset time interval rule; wherein, the arithmetic sequence used as the preset time interval rule includes an increasing arithmetic sequence or a decreasing arithmetic sequence.

[0070] For example, to further simplify the preset time interval pattern, an arithmetic sequence can be constructed as the preset time interval pattern, while also satisfying the requirement that the time intervals are not equal. Specifically, a minimum time interval can be predetermined. This minimum value must be greater than or equal to the time taken by the image acquisition unit from receiving the synchronization control signal to the end of acquiring one frame of the target image. In other words, even when the time interval between the previous and subsequent synchronization control signals is at its minimum, it must still meet the time requirement for the image acquisition unit to receive, process, and respond to the synchronization control signal to acquire the image. An arithmetic sequence can be constructed based on the minimum time interval, with a positive common difference. The specific value is not limited and can be adaptively selected, but it needs to be constrained by generating the target number of synchronization control signals within the cycle. For example, when the image scanning frame rate is 50 frames / second, the common difference can be 1 millisecond or 2 milliseconds. The arithmetic sequence in the preset time interval pattern can be either an increasing or decreasing arithmetic sequence. For example, it can be 10 milliseconds, 11 milliseconds, 12 milliseconds, 13 milliseconds...30 milliseconds, or it can be set to 30 milliseconds, 29 milliseconds, 28 milliseconds...10 milliseconds. When the arithmetic sequence is an increasing arithmetic sequence, the trigger time of the nth synchronization control signal starting from the start time T0 of the cycle can be calculated as follows: That is, if the timestamp interval between the target image in the current frame and the target image in the previous frame is... Then the target image of the current frame is determined to be the target image of the nth frame within the loop.

[0071] It should be noted that if the image scanning frame rate requirement is not high, that is, the image scanning frame rate is low, then the form of the sequence of numbers forming the preset time interval is not limited. It can also be a geometric sequence, Fibonacci sequence, or other sequences, as long as the target number of synchronous control signals are generated within the cycle period.

[0072] S330. During the cycle, a target number of synchronization control signals are generated according to a preset time interval.

[0073] S340. Send the synchronization control signal to at least two image acquisition devices to perform synchronization alignment processing on at least two sets of target images acquired by at least two image acquisition devices based on the preset time interval pattern of the synchronization control signal.

[0074] This application provides an image acquisition synchronization control method that determines a preset time interval pattern based on a target number of unequal time intervals. The minimum value of each time interval is greater than or equal to the duration from when the image acquisition device receives a synchronization control signal to when one frame of target image acquisition ends. Within the cycle, a target number of synchronization control signals are generated according to the preset time interval pattern containing unequal time intervals. The synchronization control signals are sent to at least two image acquisition devices to perform synchronization alignment processing on at least two sets of target images acquired by the at least two image acquisition devices based on the preset time interval pattern of the synchronization control signals. This scheme further standardizes and simplifies the preset time interval pattern, enabling each time interval in the preset time interval pattern to correspond one-to-one with the synchronization control signal. Therefore, the timestamp interval can reflect which synchronization control signal the target image was acquired from, thereby determining the sequence number of the target image in the cycle and improving the efficiency and accuracy of synchronizing at least two sets of target images.

[0075] Figure 4 This is a flowchart illustrating an image acquisition synchronization control method according to another embodiment of this application. This embodiment is an optimization based on the above embodiments; solutions not described in detail in this embodiment are found in the above embodiments. Figure 4 As shown, the method in this embodiment of the application specifically includes the following steps:

[0076] S410. Based on the image scanning frame rate of the image scanning system, determine the cycle period of the synchronization control signal, and determine the number of target images to be acquired in the cycle period.

[0077] S420. Within the cycle, a target number of synchronization control signals are generated according to a preset time interval pattern containing unequal time intervals.

[0078] S430, Send the synchronization control signal to at least two image acquisition devices.

[0079] S440. Determine the correspondence between each time interval and the sequence number of the synchronization control signal in the preset time interval rule.

[0080] S450. For at least two sets of target images, traverse each target image and determine the sequence number of the current frame target image within the cycle based on the timestamp interval between the current frame target image and the previous frame target image, and the correspondence between each time interval and the sequence number of the synchronization control signal in the preset time interval rule.

[0081] For example, after acquiring at least two sets of target images from at least two image acquisition devices, for each set of target images, the system can iterate through each target image. Based on the timestamp interval between the current frame target image and the previous frame target image, and the correspondence between the time intervals in the preset time interval pattern and the sequence number of the synchronization control signal, it can determine which synchronization control signal controlled the acquisition of the current frame target image, thereby determining which target image in the cycle is the target image. For example, assuming the image scanning frame rate is 50 frames / second and the cycle period is 1 second, or 1000 milliseconds, the preset time interval pattern is, for example, 10 milliseconds, 11 milliseconds, 12 milliseconds, 13 milliseconds...30 milliseconds. That is, within 1000 milliseconds, 20 synchronization control signals are generated according to the above preset time interval pattern. The time interval between the first synchronization control signal and the start time of the cycle is 10 milliseconds, the time interval between the second synchronization control signal and the first synchronization control signal is 11 milliseconds, the time interval between the third synchronization control signal and the second synchronization control signal is 12 milliseconds, and the time interval between the twentieth synchronization control signal and the nineteenth synchronization control signal is 30 milliseconds. If the time interval between the current frame target image and the previous frame target image is 12 milliseconds, then the current frame target image is determined to be the target image acquired under the control of the third synchronization control signal, and the current frame target image can be determined to be the third frame target image within the cycle.

[0082] S460. Based on the sequence number of each target image in the cycle period, perform synchronous alignment processing on at least two sets of target images acquired by at least two image acquisition devices.

[0083] For example, in at least two sets of target images, each target image is determined to have a sequence number within its own set, which is also the sequence number within the cycle. Target images with the same sequence number are acquired under the control of the same synchronization control signal. Therefore, the target images corresponding to the same sequence number are synchronized and aligned to reflect the multi-view images of the scene being captured at the same time.

[0084] S470. If the timestamp interval of the current frame target image relative to the previous frame target image does not match any of the time intervals in the preset time interval rule, or if there are at least two consecutive equal timestamp intervals, then it is determined to be an abnormal timestamp interval caused by timestamp drift.

[0085] For example, during long-term operation, timestamp drift may occur due to crystal oscillator errors. Conventional methods using equally spaced synchronization control signals are ill-suited for accurately distinguishing target images when timestamp drift occurs. In this embodiment, if the timestamp interval of the current frame target image relative to the previous frame target image does not match any of the time intervals in the preset time interval pattern, or if there are at least two consecutive equal timestamp intervals (this situation is limited to cases where there are no at least two consecutive equal timestamp intervals in the preset time interval pattern), then the timestamp interval is determined to be an abnormal timestamp interval and requires special processing to determine the sequence number of the current frame target image.

[0086] S480. Based on the sequence numbers of other target images before the target image corresponding to the abnormal timestamp interval and / or the sequence numbers of other target images after the target image corresponding to the abnormal timestamp interval, the sequence number of the target image corresponding to the abnormal timestamp interval within the cycle period is obtained by recursion.

[0087] Specifically, timestamp drift usually does not exist indefinitely. It may exist for a period of time, and there may be no timestamp drift before or after that period. Therefore, the sequence number of the target image corresponding to the abnormal timestamp interval can be obtained by recursively calculating the sequence number of the target image in the loop corresponding to the abnormal timestamp interval.

[0088] For example, assuming the preset time interval should be 10 milliseconds, 11 milliseconds, 12 milliseconds, 13 milliseconds...30 milliseconds, if the timestamp interval of each target image during the traversal is 10 milliseconds, 11 milliseconds, 12 milliseconds, 12 milliseconds, 12 milliseconds, 15 milliseconds, 16 milliseconds...30 milliseconds, then the second and third 12-millisecond intervals can be identified as abnormal timestamp intervals. Based on the target image sequence numbers corresponding to the preceding 10 milliseconds, 11 milliseconds, and 12 milliseconds, which are the first, second, and third frames in the cycle, and the subsequent 15 milliseconds and 16 milliseconds, which are the sixth and seventh frames in the cycle, it can be recursively deduced that the abnormal timestamp intervals correspond to the fourth and fifth frames in the cycle. This allows for correction based on the preceding and following sets of timestamp intervals in the event of timestamp drift.

[0089] This application provides an image acquisition synchronization control method. It determines the correspondence between time intervals in a preset time interval pattern and the sequence number of a synchronization control signal. For at least two sets of target images, it traverses each target image and determines the sequence number of the current frame target image within the loop period based on the timestamp interval between the current frame target image and the previous frame target image, and the correspondence between time intervals in the preset time interval pattern and the sequence number of the synchronization control signal. Based on the sequence number of each target image within the loop period, it performs synchronization alignment processing on at least two sets of target images acquired by at least two image acquisition devices. This application's solution determines the correspondence between different time intervals in the preset time interval pattern and the sequence number of the synchronization control signal. By matching the timestamp interval between adjacent target images with the time intervals in the correspondence, it determines which synchronization control signal controlled the acquisition of the target image, and thus determines the sequence number of the target image within the loop period. This eliminates the need for absolute initial time calibration and clearing the previously acquired image buffer, enabling convenient and accurate synchronization alignment processing of at least two sets of target images.

[0090] Figure 5 This is a schematic diagram of an image acquisition synchronization control device provided in an embodiment of this application. This device can execute the image acquisition synchronization control method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects for executing the method. For example... Figure 5 As shown, the device includes:

[0091] The target quantity determination module 510 is used to determine the cycle period of the synchronization control signal based on the image scanning frame rate of the image scanning system, and to determine the target quantity of the target images to be acquired in the cycle period.

[0092] The synchronization control signal generation module 520 is used to generate a target number of synchronization control signals according to a preset time interval pattern containing unequal time intervals within the cycle.

[0093] The synchronization control signal sending module 530 is used to send the synchronization control signal to at least two image acquisition devices to perform synchronization alignment processing on at least two sets of target images acquired by at least two image acquisition devices based on the preset time interval rule of the synchronization control signal.

[0094] In this embodiment, the synchronization control signal generation module 520 is specifically used for:

[0095] A first time interval sequence is constructed based on a first preset number of unequal time intervals, and a second time interval sequence is constructed based on a second preset number of equal time intervals; wherein, the minimum value of the time interval is greater than or equal to the time from when the image acquisition device receives the synchronization control signal to when the acquisition of one frame of target image ends; the sum of the first preset number and the second preset number is the target number;

[0096] The first time interval sequence and the second time interval sequence are cross-distributed to obtain a preset time interval pattern.

[0097] In this embodiment, the synchronization control signal generation module 520 is specifically used to cross-distribute the first time interval sequence and the second time interval sequence to obtain a preset time interval pattern, including:

[0098] Distribute the first time interval sequence on the odd-numbered positions of the preset time interval pattern, and distribute the second time interval sequence on the even-numbered positions of the preset time interval pattern to obtain the preset time interval pattern; or,

[0099] The first time interval sequence is distributed on the even-numbered positions of the preset time interval pattern, and the second time interval sequence is distributed on the odd-numbered positions of the preset time interval pattern to obtain the preset time interval pattern.

[0100] In this embodiment, the synchronization control signal generation module 520 is specifically used for:

[0101] The preset time interval pattern is determined based on the different time intervals of the target number; wherein the minimum value of the time interval is greater than or equal to the time from when the image acquisition device receives the synchronization control signal to when the acquisition of one frame of target image ends.

[0102] In this embodiment, the synchronization control signal generation module 520 is specifically used to determine a preset time interval pattern based on a target number of unequal time intervals, including:

[0103] An arithmetic sequence is constructed based on the minimum value of the time interval; wherein the minimum value of the time interval is greater than or equal to the time from when the image acquisition device receives the synchronization control signal to when the acquisition of one frame of target image ends.

[0104] The arithmetic sequence is used as the preset time interval rule; wherein, the arithmetic sequence used as the preset time interval rule includes an increasing arithmetic sequence or a decreasing arithmetic sequence.

[0105] In this embodiment of the application, the device further includes:

[0106] The correspondence determination module is used to determine the correspondence between each time interval in the preset time interval pattern and the sequence number of the synchronization control signal;

[0107] The sequence number determination module is used to traverse each target image for at least two sets of target images, and determine the sequence number of the current frame target image within the cycle based on the timestamp interval of the current frame target image relative to the previous frame target image, and the correspondence between each time interval and the sequence number of the synchronization control signal in the preset time interval rule.

[0108] The synchronization alignment processing module is used to perform synchronization alignment processing on at least two sets of target images acquired by at least two image acquisition devices according to the sequence number of each target image in the cycle.

[0109] In this embodiment of the application, the device further includes:

[0110] The abnormal timestamp interval determination module is used to determine that if the timestamp interval of the target image of the current frame relative to the target image of the previous frame does not match any of the time intervals in the preset time interval pattern, or if there are at least two consecutive equal timestamp intervals, then it is an abnormal timestamp interval caused by timestamp drift.

[0111] The recursive module is used to recursively calculate the sequence number of the target image corresponding to the abnormal timestamp interval within the cycle period based on the sequence numbers of other target images preceding the target image corresponding to the abnormal timestamp interval and / or the sequence numbers of other target images following the target image corresponding to the abnormal timestamp interval.

[0112] In this embodiment of the application, the device further includes:

[0113] The different pattern setting module is used to set different preset time interval patterns for at least two consecutive adjacent cycle periods, so as to generate synchronous control signals based on different preset time interval patterns in different cycle periods to control at least two image acquisition devices to perform image acquisition.

[0114] The alignment processing module is used to perform synchronous alignment processing on at least two sets of target images acquired by at least two image acquisition devices based on a preset time interval rule corresponding to the cycle period.

[0115] The image acquisition synchronization control device provided in this application embodiment can execute the image acquisition synchronization control method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects of executing the method.

[0116] Figure 6A schematic diagram of an electronic device 10, which can be used to implement embodiments of this application, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the application described and / or claimed herein.

[0117] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0118] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of monitors, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless image acquisition synchronization control transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0119] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as image acquisition synchronization control methods.

[0120] In some embodiments, the image acquisition synchronization control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the image acquisition synchronization control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the image acquisition synchronization control method by any other suitable means (e.g., by means of firmware).

[0121] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0122] Computer programs used to implement the methods of this application may be written in any combination of one or more programming languages. These computer programs may be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable image acquisition synchronization control device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0123] In the context of this application, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0124] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0125] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0126] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0127] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired information of the technical solution of this application can be achieved, and this is not limited herein.

[0128] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. An image acquisition synchronization control method, characterized by, The method includes: Based on the image scanning frame rate of the image scanning system, the cycle period of the synchronization control signal is determined, and the number of target images to be acquired in the cycle period is determined. Within the cycle, a target number of synchronization control signals are generated according to a preset time interval pattern containing unequal time intervals. The synchronization control signal is sent to at least two image acquisition devices to perform synchronization alignment processing on at least two sets of target images acquired by at least two image acquisition devices based on a preset time interval rule of the synchronization control signal.

2. The method of claim 1, wherein, The process of determining the preset time interval pattern includes: A first time interval sequence is constructed based on a first preset number of unequal time intervals, and a second time interval sequence is constructed based on a second preset number of equal time intervals; wherein, the minimum value of the time interval is greater than or equal to the time from when the image acquisition device receives the synchronization control signal to when the acquisition of one frame of target image ends; the sum of the first preset number and the second preset number is the target number; The first time interval sequence and the second time interval sequence are cross-distributed to obtain a preset time interval pattern.

3. The method of claim 2, wherein, The first time interval sequence and the second time interval sequence are cross-distributed to obtain a preset time interval pattern, including: Distribute the first time interval sequence on the odd-numbered positions of the preset time interval pattern, and distribute the second time interval sequence on the even-numbered positions of the preset time interval pattern to obtain the preset time interval pattern; or, The first time interval sequence is distributed on the even-numbered positions of the preset time interval pattern, and the second time interval sequence is distributed on the odd-numbered positions of the preset time interval pattern to obtain the preset time interval pattern.

4. The method of claim 1, wherein, The process of determining the preset time interval pattern includes: The preset time interval pattern is determined based on the different time intervals of the target number; wherein the minimum value of the time interval is greater than or equal to the time from when the image acquisition device receives the synchronization control signal to when the acquisition of one frame of target image ends.

5. The method of claim 4, wherein, The preset time interval pattern is determined based on the number of distinct time intervals of the target quantity, including: An arithmetic sequence is constructed based on the minimum value of the time interval; wherein the minimum value of the time interval is greater than or equal to the time from when the image acquisition device receives the synchronization control signal to when the acquisition of one frame of target image ends. The arithmetic sequence is used as the preset time interval rule; wherein, the arithmetic sequence used as the preset time interval rule includes an increasing arithmetic sequence or a decreasing arithmetic sequence.

6. The method of claim 1, wherein, The method further includes: Determine the correspondence between each time interval in the preset time interval pattern and the sequence number of the synchronization control signal; For at least two sets of target images, each target image is traversed. Based on the timestamp interval between the current frame target image and the previous frame target image, and the correspondence between each time interval and the sequence number of the synchronization control signal in the preset time interval rule, the sequence number of the current frame target image in the cycle is determined. Based on the sequence number of each target image in the cycle, at least two sets of target images acquired by at least two image acquisition devices are synchronized and aligned.

7. The method of claim 6, wherein, The method further includes: If the timestamp interval of the current frame target image relative to the previous frame target image does not match any of the time intervals in the preset time interval pattern, or if there are at least two consecutive equal timestamp intervals, then it is determined to be an abnormal timestamp interval caused by timestamp drift. The sequence number of the target image corresponding to the abnormal timestamp interval within the cycle period is obtained by recursively calculating the sequence numbers of other target images preceding the target image corresponding to the abnormal timestamp interval and / or the sequence numbers of other target images following the target image corresponding to the abnormal timestamp interval.

8. The method according to claim 1, characterized in that, The method further includes: For at least two consecutive adjacent cycle periods, different preset time interval rules are set so as to generate synchronous control signals based on different preset time interval rules in different cycle periods to control at least two image acquisition devices to perform image acquisition. For at least two sets of target images acquired within a cycle, synchronous alignment processing is performed on at least two sets of target images acquired by at least two image acquisition devices based on a preset time interval pattern corresponding to the cycle.

9. An image acquisition synchronization control device, characterized in that, The device includes: The target quantity determination module is used to determine the cycle period of the synchronization control signal based on the image scanning frame rate of the image scanning system, and to determine the target quantity of the target images to be acquired in the cycle period. A synchronization control signal generation module is used to generate a target number of synchronization control signals according to a preset time interval pattern containing unequal time intervals within the cycle. A synchronization control signal sending module is used to send the synchronization control signal to at least two image acquisition devices to perform synchronization alignment processing on at least two sets of target images acquired by at least two image acquisition devices based on a preset time interval rule of the synchronization control signal.

10. An electronic device, comprising: The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the image acquisition synchronization control method according to any one of claims 1-8.

11. A computer readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the image acquisition synchronization control method according to any one of claims 1-8.

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