WO2018227329A1 - Synchronous exposure method and device, and terminal device - Google Patents

Synchronous exposure method and device, and terminal device Download PDF

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Publication number
WO2018227329A1
WO2018227329A1 PCT/CN2017/087918 CN2017087918W WO2018227329A1 WO 2018227329 A1 WO2018227329 A1 WO 2018227329A1 CN 2017087918 W CN2017087918 W CN 2017087918W WO 2018227329 A1 WO2018227329 A1 WO 2018227329A1
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WIPO (PCT)
Prior art keywords
camera
hardware
time code
hardware time
image
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Application number
PCT/CN2017/087918
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French (fr)
Chinese (zh)
Inventor
崔永太
Original Assignee
深圳市瑞立视多媒体科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市瑞立视多媒体科技有限公司 filed Critical 深圳市瑞立视多媒体科技有限公司
Priority to CN201780000506.4A priority Critical patent/CN107439000B/en
Priority to PCT/CN2017/087918 priority patent/WO2018227329A1/en
Publication of WO2018227329A1 publication Critical patent/WO2018227329A1/en

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/04—Synchronising
    • H04N5/06—Generation of synchronising signals
    • H04N5/067—Arrangements or circuits at the transmitter end
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Definitions

  • the present invention belongs to the technical field of multi-camera systems, and in particular, to a method, an apparatus, and a terminal device for synchronous exposure.
  • a multi-camera system is a system in which a plurality of cameras, light sources, storage devices, and the like are combined together based on the principle of computer vision, and is often applied to 3D reconstruction, motion capture, multi-view video, and the like.
  • optical motion capture is a technique based on computer vision that captures and tracks target feature points from different angles by multiple high-speed cameras. For any point in space, as long as it is seen by two cameras, you can determine the position of the point in space. When the camera shoots continuously at a high enough rate, you can Obtain the motion trajectory of the point. If multiple points are marked on one object, the object can be obtained by shooting the same object through multiple cameras.
  • each camera in a multi-camera system immediately sends a server after acquiring an image.
  • the server determines whether the camera exposure is synchronized according to the arrival time of the image acquired by each camera in the multi-camera system.
  • the time required to acquire one frame of image is different, even if each camera is exposed to the daytime synchronization, then the image received by the server to each camera is engraved.
  • the points are also different, so it is obviously inaccurate for the server to judge whether or not the exposures of the plurality of cameras in the multi-camera system are synchronized according to the arrival of the images.
  • the server cannot determine which images are exposure-aligned after receiving a sequence of images transmitted by multiple cameras. image.
  • the present invention provides a method, apparatus, and terminal device for simultaneous exposure, which can improve the accuracy of synchronization of multiple cameras in a multi-camera system in a complex scene.
  • a first aspect of the present invention provides a method for synchronous exposure, which is applied to a main camera in a multi-camera system, the multi-camera system including a main camera and at least one slave camera, the method comprising:
  • the synchronization identification information is associated with the image to be synchronized of each camera in the multi-camera system, so that the images to be synchronized of each camera have the same synchronization identification information, and the to-be-synchronized
  • the image is the simultaneous exposure of all cameras in the multi-camera system, and the images acquired by each camera separately
  • a device for synchronous exposure is provided for use in a main camera in a multi-camera system
  • the multi-camera system includes a main camera and at least one slave camera; wherein the device includes:
  • an obtaining module configured to acquire an initial hardware time code of each camera in the multi-camera system after receiving an instruction for synchronous exposure, to obtain a plurality of initial hardware time codes
  • a determining module configured to determine a synchronization reference value according to the plurality of initial hardware time codes, and determine each of the multiple camera systems according to the synchronization reference value and an initial hardware time code of each camera The frame compensation value corresponding to the camera;
  • a sending module configured to send the frame compensation value of the slave camera to each corresponding slave camera, so that the master camera adjusts the length of the image according to the determined frame compensation value of the master camera, each slave camera Adjusting the length of the image according to the received corresponding frame compensation value causes synchronization of the exposures of all cameras in the multi-camera system;
  • a synchronization identifier obtaining module configured to acquire synchronization identification information, so that the synchronization identification information is associated with an image to be synchronized of each camera in the multi-camera system, so that images to be synchronized of each camera have the same synchronization Identification information, the image to be synchronized is synchronized by all cameras in the multi-camera system ⁇ Images captured separately by each camera.
  • a terminal device for use in a main camera in a multi-camera system, the terminal device being applied to a multi-camera system, the multi-camera system including a main camera and at least one slave camera
  • the terminal device includes a memory, a processor, and a computer program stored in the memory and operable on the processor, the processor executing the computer program to implement the method provided by the first aspect above A step of.
  • a fourth aspect of the invention provides a computer readable storage medium storing a computer program, the computer program being executed by one or more processors, implementing the first aspect described above The steps of the method.
  • the present invention has the beneficial effects compared with the prior art: the technical solution provided by the present invention, after receiving the instruction of synchronous exposure, acquiring the initial hardware time code of each camera in the multi-camera system, according to The initial hardware time code determines a synchronization reference value, and determines a frame compensation value corresponding to each camera in the multi-camera system according to the synchronization reference value and an initial hardware time code of each camera, and the slave camera
  • the frame compensation value is sent to each of the corresponding slave cameras, so that the main camera adjusts the length of the image according to the determined frame compensation value of the main camera, and each slave camera adjusts the image according to the received corresponding frame compensation value.
  • the length of the cameras in the multi-camera system is synchronized, and the synchronization identification information is acquired at the same time to realize simultaneous exposure of the plurality of cameras, so that the synchronization identification information is associated with the image to be synchronized, so that the synchronous exposure is performed.
  • the image has the same synchronization identification information, and after receiving the images collected by multiple cameras, the server according to the synchronization identification letter The information can be used to determine which images are simultaneously exposed images, improving the accuracy of synchronization of multiple cameras in a multi-camera system.
  • FIG. 1 is a schematic flow chart of a first embodiment of a method for synchronous exposure provided by the present invention
  • FIG. 2 is a schematic flow chart of a second embodiment of a method for synchronous exposure provided by the present invention
  • 3 is a schematic flow chart of an embodiment of step S202 in FIG. 2;
  • step S202 in FIG. 2 is a schematic flow chart of an embodiment of step S202 in FIG. 2;
  • FIG. 5 is a schematic flow chart of an embodiment of step S202 in FIG. 2;
  • FIG. 6 is a schematic flow chart of a third embodiment of a method for synchronous exposure provided by the present invention.
  • FIG. 7 is a schematic block diagram of a first embodiment of an apparatus for synchronous exposure provided by the present invention.
  • FIG. 8 is a schematic block diagram of an embodiment of a terminal device provided by the present invention.
  • a hardware inter-turn code which is the minimum unit of the camera sensor input chirp (MCLK) crystal oscillation period. That is, the value of the hardware code is automatically incremented by one every time the crystal clock cycle is passed.
  • each camera in a multi-camera system captures one frame of images, and the elapsed time is not necessarily the same, which is the root cause of camera exposure unsynchronization in multi-camera systems.
  • external environmental factors such as network transmission delay and network instability may cause multiple cameras to acquire images and are not completely synchronized.
  • the server or data processing system needs to recognize the synchronization from a large number of images received.
  • the image of the exposure the existing method is the image of the synchronized exposure of the server based on the received daytime recognition.
  • the camera in a multi-camera system cannot be guaranteed to have the same model for various reasons.
  • FIG. 1 is a schematic flow chart of a first embodiment of a method for synchronous exposure provided by the present invention.
  • the method for synchronous exposure shown in FIG. 1 may include the following steps:
  • Step S101 After receiving the instruction of the synchronous exposure, acquiring an initial hardware time code of each camera in the multi-camera system, and obtaining a plurality of initial hardware time codes.
  • the method of an embodiment of the present invention can be applied to a main camera in a multi-camera system including a main camera and at least one slave camera.
  • Embodiments of the present invention are for simultaneous exposure photography of multiple cameras in a multi-camera system.
  • the main camera and the slave camera can be randomly assigned or set in advance.
  • the server can enumerate all the cameras and distribute the list of all camera IP addresses to each camera in the local area network. Get a list of all the cameras in a multi-camera system. You can then set the first or random one in the camera list to the primary camera, and the other cameras as slave cameras.
  • the instruction of the synchronous exposure may be issued by the main camera itself or by another external terminal device.
  • the synchronous exposure command may be an internal timer of the main camera, and a synchronous exposure command is issued every time the timer count is over.
  • the phase of the cuckoo clock will drift for one exposure period (1 ms) in about 30 seconds, so it is necessary to perform a simultaneous exposure within 30 seconds.
  • An instruction to synchronize exposure is issued every 20s.
  • the exposure time of each camera in the multi-camera system is theoretically the same. According to the foregoing description, in reality, due to some factors such as temperature and humidity, the oscillation period of the actual crystal oscillator is also changing, and it is not completely constant, so there is a problem that the exposure is not synchronized. In order to solve the problem of unsynchronized exposure, in this step, it is necessary to obtain the hardware time code of each camera in the multi-camera system, so that the exposure time of each camera of the multi-camera system can be adjusted according to the acquired hardware time code. , so that the exposures of all cameras are synchronized. [0036] wherein each camera has a time code register for reading and writing the hardware code of the current camera.
  • the hardware meter module starts counting.
  • the exposure of each frame of the camera and the continuous exposure of the image are counted by the hardware code recorded by the hardware meter. Therefore, in this step, the initial hardware time code of each camera in the multi-camera system is acquired, which can be specifically processed by the main camera in the multi-camera system.
  • N cameras in a multi-camera system including one main camera and N-1 slave cameras.
  • the process of specifically obtaining the initial hardware time code may be:
  • the main camera in the multi-camera system reads its own hardware time code through the time code register, and counts as the initial hardware time code T.
  • the initial hardware time code ⁇ ⁇ ⁇ 2 , ⁇ 3 ...... ⁇ ⁇ corresponding to each camera in the multi-camera system is obtained.
  • step S102 determining a synchronization reference value according to the plurality of initial hardware time codes, and determining, according to the synchronization reference value and an initial hardware time code of each camera, each camera in the multi-camera system Frame compensation value.
  • the main camera may determine the synchronization reference value according to the plurality of initial hardware time codes. After determining the synchronization reference value, the main camera may select any one of the plurality of initial hardware time codes as the synchronization reference value, or may select the maximum value or the minimum value among the plurality of initial hardware time codes as the synchronization reference value. It is of course also possible to calculate an average of the plurality of initial hardware time codes and use the average value as a synchronization reference value. Then, the frame compensation value of each camera is determined based on the synchronization reference value and the obtained plurality of initial hardware time codes. For example, the frame extension register of the main camera calculates the corresponding frame compensation value for each camera based on the deviation of the synchronization reference value from the initial hardware code of each camera.
  • step S103 transmitting the frame compensation value of the slave camera to each corresponding slave camera, so that the master camera adjusts the length of the image according to the determined frame compensation value of the master camera, and each slave camera receives the image according to The corresponding frame compensation value to the adjusted image length is such that the exposures of all cameras in the multi-camera system are synchronized.
  • the main camera may transmit the determined frame compensation value of the slave camera to the corresponding phase Machine. Thereafter, the main camera updates the frame extension register inside the main camera according to the determined frame compensation value of the main camera, and the camera updates the internal frame extension register according to the received frame compensation value, that is, in the multi-camera system.
  • Each camera can adjust the length of the image based on the corresponding frame compensation value so that each camera in the multi-camera system can align the exposures while capturing images.
  • the frame length of the current image frame can be adjusted by adjusting the frame length of the image according to the frame compensation value, so that the camera in the multi-camera system can realize the synchronous exposure after acquiring the next frame image, that is to say, The next frame image is the image to be synchronized.
  • the camera can also adjust the frame length of the next frame image according to the frame compensation value, so that the camera in the multi-camera system can realize the synchronous exposure after acquiring the next frame image, that is, the next frame image is the image to be synchronized. , and so on.
  • step S104 acquiring synchronization identification information, so that the synchronization identification information can be associated with the image to be synchronized of each camera in the multi-camera system, so that the images to be synchronized of each camera have the same synchronization identification information.
  • the image to be synchronized is an image that is respectively acquired by each camera in the multi-camera system.
  • multi-camera systems after implementing simultaneous exposure of all cameras in a multi-camera system, as previously described, multi-camera systems often require multiple cameras to continuously capture at a sufficiently high rate to obtain objects from a sequence of images. The motion trajectory, etc., so the server or data processing system will receive a sequence of images sent by multiple cameras at a sufficiently high rate. If there are different models of cameras in a multi-camera system, even if all the cameras are exposed at the same time, but each camera sends a captured image to the server, the engraving is different. Then the server still judges whether the images are synchronized according to the time when the captured image is received. The way of exposure is obviously not accurate.
  • the synchronization identification information can be obtained, and the synchronization identification information is notified to the corresponding camera in the multi-camera system.
  • all cameras in the multi-camera system can associate the synchronization identification information with the image to be synchronized, for example, the camera in the multi-camera system can add synchronization identification information to the image to be synchronized, or compress the synchronization identification information.
  • the synchronized image data is entered so that the simultaneously exposed images (i.e., the images to be synchronized) have the same synchronization identification information.
  • the server or the data processing system can determine, according to the synchronization identification information, which of the plurality of images received are images that are respectively acquired by each camera in the multi-camera system and are respectively acquired by each camera.
  • the synchronization identification information may be an image frame number of the image to be synchronized in the main camera, or may be randomly generated information, for example, composed of different characters or different numbers.
  • the synchronization identification information is acquired in multiple manners, for example, by an external control device, and then the primary camera may send the synchronization identification information to each of the multi-camera systems after acquiring the synchronization identification information.
  • a slave camera so that each camera can associate the synchronization identification information with the image to be synchronized such that the simultaneously exposed images have the same synchronization identification information; and, for example, the synchronization identification information is generated by any one of the cameras, then
  • the primary camera may send the synchronization identification information to each slave camera in the multi-camera system, so that the main camera can associate the acquired synchronization identification information with the image to be synchronized.
  • All slave cameras can also associate the received synchronization identification information with the image to be synchronized, so that all cameras in the multi-camera system are simultaneously exposed, and the images respectively acquired by each camera have the same identification information.
  • the method may further include: generating synchronization identifier subsequence information according to the synchronization identification information, so as to facilitate each of the multiple camera systems.
  • the camera sequentially associates the synchronization identifier sub-sequence information with the image sequence after the image to be synchronized such that the image sequence after the image to be synchronized sequentially has the same synchronization identifier sub-sequence information.
  • the multi-camera system does not perform a synchronous exposure before each frame of image is taken, that is, a synchronous exposure may be performed after a certain interval, which may be considered in synchronous exposure.
  • a synchronous exposure may be performed after a certain interval, which may be considered in synchronous exposure.
  • the synchronization identification sub-sequence information is generated according to the synchronization identification information, and the synchronization identification sub-sequence information is added to the image sequence captured after the synchronously exposed image, and when the synchronous exposure is implemented again, the synchronization identification information is regenerated.
  • the sequence of images taken after the synchronized exposure is added to the synchronization identification subsequence information in sequence.
  • the synchronization identification information added in the image to be synchronized in the first synchronous exposure is an information of 000 digits composed of eight digits
  • the synchronization identifier added in the image to be synchronized in the second synchronization exposure The information is 00020000, and so on, the first four digits represent the sequence of synchronized exposure images to be synchronized. Multiple sets of images may be taken between each synchronized exposure, and multiple image sequences captured between the first synchronized exposure image and the second synchronized exposure image to be synchronized may be used with 0 0010001, 00010002, 00010003 ].
  • the image sequence between the second synchronous exposure image to be synchronized and the third synchronization exposure image to be synchronized can be used with 00020001, 00020002, 0 0020003... indicates that, and so on, the last four bits represent the sequence of images between the two images to be synchronized. It should be noted that the example is only used for the description, and is not used to limit the embodiment of the present invention. Different synchronization identification information sequences may be evolved according to different synchronization identification information.
  • the master camera may send the synchronization identifier subsequence to the multiple after obtaining the synchronization identifier subsequence.
  • Each slave camera in the camera system such that the master camera can associate the acquired synchronization identifier subsequence with the image after the image to be synchronized, and all slave cameras can also receive the received synchronization identifier subsequence and the image to be synchronized.
  • the subsequent images are associated such that the images acquired after the multiple cameras to be synchronized images (synchronized images) in the multi-camera system also have the same identification information.
  • the main camera may select an image frame number of the image to be synchronized of one of the multi-camera systems as the synchronization identification information; and transmit the image frame number of the image to be synchronized to the multi-camera system
  • the master camera can adjust the frame number of the image to be synchronized according to the acquired image frame number
  • all the slave cameras can also adjust the image frame number of the image to be synchronized according to the received image frame number.
  • Each camera in the multi-camera system adjusts the frame number of the image to be synchronized, and may compare the image frame number as the synchronization identification information with the frame number of the image to be synchronized, and determine whether adjustment is needed, if necessary,
  • the frame number of the image to be synchronized is adjusted to the image frame number as the synchronization identification information, so that the adjusted image frame numbers of the images to be synchronized of each camera are the same.
  • the embodiment of the present invention After receiving the instruction of the synchronous exposure, acquires an initial hardware time code of each camera, determines a synchronization reference value according to the plurality of initial hardware time codes, and according to the synchronization reference value and each An initial hardware code of the camera, determining a frame compensation value corresponding to each camera in the multi-camera system, and transmitting the frame compensation value of the slave camera to each of the corresponding slave cameras, so that the master camera is determined according to the determined
  • the frame compensation value of the main camera adjusts the length of the image, and each slave camera adjusts the length of the image according to the received corresponding frame compensation value to synchronize the exposures of all the cameras in the multi-camera system;
  • the synchronization of the camera is synchronized, and the synchronization identification information is acquired, so that the synchronization identification information is associated with the image to be synchronized, so that the synchronously exposed images have the same synchronization identification information, and after receiving the images collected by the plurality of cameras, the server according to the synchron
  • the reason for causing the multiple cameras to be out of sync in the multi-camera system is in addition to the crystal vibration.
  • the main camera acquires network delays from the initial hardware of the camera, and the main camera obtains an operation delay for each initial time code from the camera.
  • the acquired initial hardware may be acquired.
  • the time code is used for delay correction processing.
  • the delay correction processing may include at least one of a network delay correction processing, an operation delay correction processing, and a hardware cumulative correction processing.
  • the synchronization reference value is obtained, specifically, the corrected hardware time code is used, and the frame compensation value of each camera is determined, and the corrected hardware time code is also used.
  • the delay correction processing including the network delay correction processing, the operation delay correction processing, and the hardware cumulative correction processing will be described in detail as an example.
  • FIG. 2 is a schematic flow chart of a second embodiment of a method for synchronous exposure provided by the present invention.
  • the method for synchronous exposure is used in a multi-camera system to achieve synchronous exposure, as shown in FIG. 2 .
  • the steps can be included:
  • Step S201 After receiving the instruction of the synchronous exposure, acquiring an initial hardware time code of each camera in the multi-camera system, and obtaining a plurality of initial hardware time codes.
  • Step S202 sequentially perform hardware cumulative correction processing, network delay processing, and operation delay processing on the obtained plurality of initial hardware time codes.
  • the hardware meter After performing the hardware cumulative correction processing, since the camera sensor starts to work, the hardware meter starts to count, and after a certain period of operation, the crystal oscillator generates a certain cumulative error, in order to eliminate the error. Therefore, the CPU hardware interrupt can be set at the preset position of each frame of image (such as the position of the 100th pixel). When the interrupt is triggered, the hardware meter automatically latches the current time code. An interrupt trigger will latch a time code.
  • step 202 hardware cumulative correction processing is performed on a plurality of initial hardware time codes, and the operation flow may be performed according to the flow shown in FIG. 3.
  • FIG. 3 it is a schematic flowchart of the hardware cumulative correction processing in step 202, which may include the following steps:
  • Step 301 Acquire an interrupt inter-day code that triggers the engraving of the last interrupt of each camera.
  • Step 302 Perform a difference operation between the plurality of initial hardware time codes and the acquired interrupt time code, and obtain a corrected hardware time code of each camera.
  • the hardware meter can automatically latch a time code after an interrupt is generated. Therefore, after reading each of its own initial hardware code, each camera also reads the hardware interrupt code of the most recent interrupt trigger, which is recorded as the interrupt time code. Then, by reading the difference between the initial hardware code and the interrupt time code, the error generated by the crystal oscillator can be eliminated, and the corrected hardware time code after hardware cumulative delay processing can be obtained.
  • the hardware cumulative correction processing operation for the main camera can be completed by the main camera itself.
  • the hardware cumulative correction processing operation from the camera it can be done by the main camera, or of course by the slave camera.
  • the slave device needs to transmit the read initial hardware hardware code and the most recent interrupt interrupt time code to the main camera.
  • the main camera will perform a difference calculation between the initial hardware code of the camera and the interrupt code of the camera, and the corrected hardware time code of the slave camera after the hardware cumulative correction processing can be obtained.
  • the master camera needs to send a request for acquiring a hardware code to the slave camera while acquiring the initial hardware code from the camera, and the slave camera receives the master camera.
  • the hardware code is read by its own time code register and sent to the main camera.
  • the present invention is the main camera that sends a request to the time consumed to receive a request from the camera.
  • the network delay in the embodiment It should be noted that the main camera is acquiring its own initial hardware code.
  • the operation may be specifically performed according to the flow shown in FIG. 4.
  • FIG. 4 it is a schematic flowchart of an embodiment of performing network delay correction processing on an initial hardware time code.
  • the specific method may include:
  • Step 401 Obtain a network delay value between the primary camera and each secondary camera.
  • Step 402 Obtain a modified hardware time code of each camera according to the plurality of initial hardware time codes and the acquired network delay value between the main camera and each slave camera.
  • Step 401 is specifically performed, and the specific operation method may be, for example:
  • the main camera After the synchronous exposure task is started, the main camera first measures the network delay between the main camera and each of the slave cameras through the IEEE 1588 Precision Cryptoscope Synchronization Protocol, and converts the unit clock period of the sensor clock. It can be concluded that the network delay between the main camera and each slave camera.
  • the main camera performs a difference between the plurality of initial hardware inter-codes and the acquired network delay value between the main camera and each slave camera.
  • the main camera and its own network delay value can be understood as no delay, that is, the network delay value is 0.
  • the camera's modified hardware time code M i T iY i, where 1 ⁇ is the initial hardware time code of camera i, the network delay value of Y i camera i, i takes The range of values is jN.
  • the modified hardware time code M i T i _ Y i of the slave camera after the delay correction processing, wherein i ranges from 2 to ⁇
  • the hardware operation code after the hardware cumulative correction processing should be used in this step. iT i. , where i ranges from 1 to N. If the hardware cumulative correction processing is not performed in the previous section, then the difference operation is performed in this step, and the initial hardware code T i should be used, where i ranges from 1 to ⁇
  • the main camera needs to obtain the initial hardware time code of each camera separately when acquiring the initial hardware code of the camera, that is, the main camera acquires the initial hardware time of the slave camera one by one.
  • the main camera issues a command to read the next initial hardware code of the slave camera. The situation has changed. Therefore, after correcting the initial hardware code, you need to consider the operation delay.
  • the main camera acquires the initial hardware code of each camera, the first time is obtained by its own initial hardware code, so it can be understood that there is no operation delay, that is, the main camera is acquiring its own initial hardware code. ⁇ , the operation delay value is zero.
  • FIG. 5 it is a schematic flowchart of an embodiment of performing an operation delay correction process on an initial hardware time code, and includes the following steps:
  • Step 501 When acquiring an initial hardware time code of each slave camera, reading the instantaneous hardware time code of the master camera.
  • Step 502 Perform a difference operation between the instantaneous hardware code of the main camera and the initial hardware time code of the main camera to obtain an operation delay between the main camera and each slave camera. value.
  • Step 503 Calculate the corrected hardware time code of each camera according to the plurality of initial hardware time codes and the obtained operation delay value.
  • step 501 the main camera reads the hardware time code of the main camera once before sending the initial hardware code acquisition request to each slave camera, and records it as an instantaneous hardware code.
  • the main camera then sends an acquisition request for the initial hardware code from the camera, and after receiving the request from the camera, reads the hardware code of the machine and sends it to the main camera.
  • T H is the instantaneous hardware time code read by the main camera before acquiring the initial hardware code of the i-th camera, T, the initial hardware time code of the main camera.
  • T the initial hardware time code of the main camera.
  • the hardware accumulation correction processing and the network delay correction processing have been performed on the initial hardware delay code in step 202, the hardware operation correction processing should be used in the difference calculation in this step.
  • the network delay correction processing hardware code that is, M i
  • i ranges from 1 to N. If the hardware cumulative correction processing and network delay correction processing are not performed in the previous section, then the difference operation is performed in this step, and the initial hardware time code T i should be used, where i has a value range of 1 N.
  • T HT where i has a value range of 2 N.
  • the three delay correction processing is used, but in practical applications, only the selection may be selected. One or two of the delay corrections. Which delay correction process is selected in the process of delaying the initial hardware code to obtain the modified hardware time code, and which one is delayed The delayed result obtained by the processing is calculated together with the initial hardware time code to obtain the corrected hardware time code.
  • Step 203 determining the synchronization reference value according to the plurality of modified hardware time codes, and determining each of the multiple camera systems according to the synchronization reference value and a corrected hardware time code of each camera.
  • the synchronization reference value ⁇ is determined, it is necessary to determine the synchronization reference according to the corrected plurality of modified time codes.
  • any one of the plurality of modified hardware time codes may be selected as the synchronization reference value, and the maximum value or the minimum value among the plurality of modified hardware time codes may be selected as the synchronization reference.
  • the value can also be calculated as an average of the plurality of modified hardware time codes, and the average value is used as a synchronization reference value.
  • the synchronization reference value needs to be determined according to the hardware inter-code correction processing by the hardware cumulative correction processing, and so on. Due to the embodiment of the invention
  • the hardware cumulative correction processing, the network delay correction processing, and the operation delay correction processing are performed on the initial hardware time code, and then the slave data correction processing, the network delay correction processing, and the operation delay processing are performed.
  • the camera's modified hardware time code N i determines the synchronization reference value. After the sync reference value is selected, all cameras are aligned with the camera corresponding to the selected sync reference value.
  • step S204 transmitting the frame compensation value of the slave camera to each corresponding slave camera, so that the master camera adjusts the length of the image according to the determined frame compensation value of the master camera, and each slave camera receives the image according to The corresponding frame compensation value to the adjusted image length is such that the exposures of all cameras in the multi-camera system are synchronized.
  • the main camera sends the calculated frame compensation value to the corresponding slave camera, and the main camera adjusts the length of the image according to the calculated frame compensation value of the main camera, according to each received from the camera.
  • the length of the respective image is adjusted from the frame compensation value corresponding to the camera, so that the main camera and the slave camera realize synchronous exposure in the multi-camera system.
  • the embodiment of the present invention focuses on the process of obtaining a frame compensation value according to the modified time code after the delay correction processing.
  • the content shown in step S104 may also be added to join the image to be synchronized.
  • Identification information Thereafter, after determining the frame compensation value and acquiring the synchronization identification information, the main camera may transmit the determined frame compensation value together with the synchronization identification information to the corresponding slave camera. In this way, at the main camera root According to the determined frame compensation value and the acquired synchronization identification information, the image frame length and the frame number of the image to be synchronized are adjusted, and each slave camera can also adjust the image frame length and the to-be-synchronized according to the received frame compensation value and synchronization identification information. The frame number of the image.
  • the Bay 1J indicates that the hardware code of the camera is faster than the synchronization reference value, and the camera needs to be current.
  • the frame image or the next frame image is extended for a certain period of time, so that the camera's time code corresponding to the synchronization reference value can be caught up, thereby acquiring the next frame or the next frame image and the exposure time synchronization; if it is the camera correction hardware ⁇ The inter-code is smaller than the synchronization reference value.
  • Bay ij indicates that the camera's time code is slow, and it is necessary to catch up with the camera's time code corresponding to the synchronization reference value. Therefore, it is necessary to shorten the camera's current frame image or the next frame image for a while. In order to synchronize the camera's time code corresponding to the reference value to catch up, the next frame or the next frame image is acquired for simultaneous exposure.
  • the method of synchronous exposure after receiving the instruction of synchronous exposure, acquires an initial hardware time code of each camera through a main camera, and performs delay correction on the plurality of initial hardware time codes. Processing, obtaining a plurality of modified hardware time codes, and determining a synchronization reference value according to the plurality of modified hardware time codes, and determining the multi-camera system according to the synchronization reference value and an initial hardware time code of each camera a frame compensation value corresponding to each camera, transmitting the frame compensation value of the slave camera to each of the corresponding slave cameras, so that each camera in the multi-camera system can adjust the frame length of the image according to the corresponding frame compensation value
  • each camera in the multi-camera system is synchronized between the acquired image and the exposure.
  • FIG. 6 is a schematic flowchart of a third embodiment of a method for synchronous exposure provided by the present invention. As shown in FIG. 6, the synchronous exposure method is applied to a main camera in a multi-camera system, and may include the following steps. :
  • Step S601 After receiving the instruction of the synchronous exposure, acquiring an initial hardware time code of each camera in the multi-camera system, and obtaining a plurality of initial hardware time codes.
  • Step S602 performing hardware accumulation correction processing, network delay processing, and operation delay processing on the obtained plurality of initial hardware time codes to obtain a plurality of modified hardware time codes.
  • Step S603 determining a synchronization reference value according to the plurality of modified hardware time codes.
  • Step S604 calculating a frame compensation value of the camera according to the formula: B N i-S ⁇ FrameLength.
  • step S605 sending the frame compensation value of the slave camera to each corresponding slave camera, so that the master camera adjusts the length of the image according to the determined frame compensation value of the master camera, and each slave camera receives the image according to Arrived
  • the corresponding frame compensation value adjusts the length of the image such that the exposures of all cameras in the multi-camera system are synchronized.
  • step S60 4 the formula in step S60 4 is specifically adopted.
  • B i represents the frame compensation value of the camera i
  • N i represents the corrected hardware time code of the camera i after the delay correction processing
  • S represents the synchronization reference value
  • FmmeLength represents the camera of each camera in the multi-camera system.
  • the size of one frame of image in units of oscillation periods, ⁇ 3 ⁇ 4 represents the modulo operation.
  • the specific frame compensation value is the size of one frame of the camera in the oscillation period of the crystal oscillator, that is, the size converted into the diurnal code.
  • the modulo operation is performed so that the frame compensation value of the camera does not exceed the frame length of one frame of image (the inter-turn length of one frame of image converted into the inter-turn code), as long as the phase of the ⁇ clock is aligned.
  • the determined synchronization reference value may be a minimum value among the plurality of modified hardware time codes, that is, a minimum value is selected from the plurality of modified hardware time codes as the synchronization reference value.
  • the minimum worth of selecting the correct hardware code is to simplify the calculation, and also to get better results. In this case, all cameras only need to lengthen the inter-frame length of the current frame or the next frame image.
  • the camera in the multi-camera system can adjust the length of the current frame or the next frame image according to the frame compensation value, so that the camera can acquire the lower frame or the lower frame image. Synchronous exposure.
  • the embodiment of the present invention may also include the content of step S104 as in the embodiment shown in FIG. 2, and details are not described herein again.
  • the size of the sequence numbers of the steps does not mean the order of execution order, and the order of execution of each step should be determined by its function and internal logic, and should not be implemented in the embodiment of the present invention.
  • the process constitutes any limitation. Since the method of synchronous exposure has been described in detail with reference to Figs. 1 to 6, the apparatus, the terminal device and the computer readable storage medium to which the above-described method of synchronous exposure is applied will be described in detail below with reference to the accompanying drawings. To avoid redundancy, the terms and related explanations already described above may not be described below.
  • FIG. 7 is a structural block diagram of an apparatus 700 for simultaneous exposure of a main camera in a multi-camera system provided by the present invention.
  • the multi-camera system comprises: a main camera and at least one slave camera.
  • the apparatus 700 for synchronous exposure may be a software unit, a hardware unit, or a combination of soft and hard units built in the main camera, or may be integrated into the main camera as a separate pendant.
  • the synchronous exposure device 7 00 includes: an obtaining module 701, configured to acquire an initial hardware time code of each camera in the multi-camera system after receiving an instruction for synchronous exposure, to obtain a plurality of initial hardware time codes.
  • a determining module 702 configured to determine a synchronization reference value according to the plurality of initial hardware time codes acquired by the obtaining module 701, and determine the multiple according to the synchronization reference value and an initial hardware time code of each camera The frame compensation value for each camera in the camera system.
  • the sending module 703 is configured to send the frame compensation value of the slave camera to each corresponding slave camera, so that the master camera adjusts the length of the image according to the frame compensation value of the determined master camera, and each slave camera receives the image according to The corresponding frame compensation value to the adjusted image length is such that the exposures of all cameras in the multi-camera system are synchronized.
  • the synchronization identifier obtaining module 704 is configured to acquire synchronization identification information, so that the synchronization identification information is associated with the image to be synchronized of each camera in the multi-camera system, so that the image to be synchronized has the same synchronization identification information, and the to-be-synchronized image has the same synchronization identification information.
  • the sync image is an image that is acquired separately for each camera in the multi-camera system.
  • Other modules or units may be obtained according to the steps in the foregoing method embodiments, and details are not described herein again.
  • FIG. 8 is a schematic block diagram of a terminal device according to an embodiment of the present invention.
  • the terminal device may be a terminal device externally connected to the multi-camera system, or may be a main camera in the multi-camera system.
  • the terminal device 9 of this embodiment includes: one or more processors 90, and a memory 91. And a computer program 92 stored in the memory 91 and operable on the processor 90.
  • the processor 90 executes the steps in the computer program 92 to implement the various embodiments of the method described above, such as steps S101 through S104 shown in FIG.
  • the processor 90 performs 92-inch computer program realizing the functions of each module / unit of the above-described apparatus embodiment, for example, functional blocks shown in FIG. 7 701-704.
  • computer program 92 may be partitioned into one or more modules/units, one or more modules/units being stored in memory 91 and executed by processor 90 to complete the present invention.
  • the one or more modules/units may be a series of computer program instructions that are capable of performing a particular function, and are used to describe the execution of the computer program 92 in the terminal device 9.
  • the computer program 92 can be partitioned into an acquisition module, a determination module, a transmission module, and a synchronization identification acquisition module.
  • Terminal devices include, but are not limited to, processor 90, memory 91. It will be understood by those skilled in the art that FIG. 8 is only an example of the terminal device 9, and does not constitute a limitation on the terminal device 9, and may include more or less components than those illustrated, or combine some components, or different components. .
  • the terminal device in the embodiment of the present invention performs the same as that provided by the foregoing embodiment by using the processor 90 and the memory 91.
  • an embodiment of the present invention further provides a computer readable storage medium, where the computer readable storage medium stores a computer program, and the computer program is executed by one or more processors to implement an embodiment of the present invention.
  • the steps provided by the method of simultaneous exposure are provided by the method of simultaneous exposure.
  • the technical solution of the embodiments of the present invention may be embodied in the form of a software product in the form of a software product in essence or in the form of a contribution to the prior art, and the computer software product is stored in a storage medium.
  • the instructions include a plurality of instructions for causing a computer device or processor to perform all or part of the steps of the methods described in various embodiments of the embodiments of the invention.

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Abstract

A synchronous exposure method and device, and a terminal device thereof, applied to a master camera in a multi-camera system, the method comprising: after receiving a synchronous exposure instruction, acquiring initial hardware time codes of each camera in the multi-camera system so as to obtain a plurality of initial hardware time codes (S101); determining a synchronization reference value according to the plurality of initial hardware time codes, and determining a frame compensation value corresponding to each camera in the multi-camera system according to the synchronization reference value and the initial hardware time codes of each camera (S102); transmitting a frame compensation value of a slave camera to each corresponding slave camera so that each camera in the multi-camera system adjusts the length of an image according to the corresponding frame compensation value, thereby synchronizing the exposure time of all cameras in the multi-camera system (S103); and acquiring synchronization identification information so as to associate the synchronization identification information with images to be synchronized, so that the images to be synchronized of each camera have the same synchronization identification information (S104). Using the described method may improve the accuracy of multi-camera synchronization.

Description

说明书 发明名称：一种同步曝光的方法、 装置及终端设备 技术领域  Description: A method, device and terminal device for synchronous exposure
[0001] 本发明属于多相机***技术领域， 尤其涉及一种同步曝光的方法、 装置及终端 设备。  [0001] The present invention belongs to the technical field of multi-camera systems, and in particular, to a method, an apparatus, and a terminal device for synchronous exposure.
背景技术  Background technique
[0002] 多相机***是基于计算机视觉原理， 将多个相机、 光源、 存储设备等组合在一 起组建的***， 常应用于 3D重建、 运动捕捉、 多视点视频等。 例如光学式动作 捕捉就是基于计算机视觉原理， 由多个高速相机从不同角度对目标特征点的监 视和跟踪来进行动作捕捉的技术。 对于空间中的任意一点， 只要它同吋被两部 相机所见， 就可以确定这一吋刻该点在空间中的位置， 当相机以足够高的速率 连续拍摄吋， 从图像序列中就可以得到该点的运动轨迹， 若是在一个物体标记 多个点， 通过多台相机同吋拍摄这个物体， 就可以得到这个物体的运动轨迹。  [0002] A multi-camera system is a system in which a plurality of cameras, light sources, storage devices, and the like are combined together based on the principle of computer vision, and is often applied to 3D reconstruction, motion capture, multi-view video, and the like. For example, optical motion capture is a technique based on computer vision that captures and tracks target feature points from different angles by multiple high-speed cameras. For any point in space, as long as it is seen by two cameras, you can determine the position of the point in space. When the camera shoots continuously at a high enough rate, you can Obtain the motion trajectory of the point. If multiple points are marked on one object, the object can be obtained by shooting the same object through multiple cameras.
[0003] 这也就需要参与拍摄的多个相机采集每一帧图像吋曝光对齐。 目前， 多相机系 统中的各相机采集图像后会立即发送服务器， 服务器根据多相机***中每个相 机采集的图像的到达吋间来判断相机曝光是否同步。 但是， 由于多相机***中 相机的型号可能不同， 采集一帧图像所需的吋间也就不相同， 即使各个相机曝 光吋间同步， 那么服务器接收到的到每个相机采集的图像的吋刻点也不相同， 因此服务器按照图像到达吋间来判断多相机***中多个相机的曝光吋间是否同 步显然是不准确的。 另外， 即使多相机***中的多个相机实现了同步曝光， 由 于多相机***以足够高的速率连续拍摄， 所以服务器在接收到多相机发送的图 像序列后， 并无法判断哪些图像是曝光对齐的图像。  [0003] This also requires multiple cameras participating in the capture to capture each frame of image 吋 exposure alignment. Currently, each camera in a multi-camera system immediately sends a server after acquiring an image. The server determines whether the camera exposure is synchronized according to the arrival time of the image acquired by each camera in the multi-camera system. However, since the models of the cameras in the multi-camera system may be different, the time required to acquire one frame of image is different, even if each camera is exposed to the daytime synchronization, then the image received by the server to each camera is engraved. The points are also different, so it is obviously inaccurate for the server to judge whether or not the exposures of the plurality of cameras in the multi-camera system are synchronized according to the arrival of the images. In addition, even if multiple cameras in a multi-camera system achieve simultaneous exposure, since the multi-camera system continuously shoots at a sufficiently high rate, the server cannot determine which images are exposure-aligned after receiving a sequence of images transmitted by multiple cameras. image.
技术问题  technical problem
[0004] 鉴于此， 本发明提供一种同步曝光的方法、 装置及终端设备， 能够提高复杂场 景下多相机***中多个相机同步的精度。  In view of the above, the present invention provides a method, apparatus, and terminal device for simultaneous exposure, which can improve the accuracy of synchronization of multiple cameras in a multi-camera system in a complex scene.
问题的解决方案  Problem solution
技术解决方案 [0005] 本发明的第一方面， 提供一种同步曝光的方法， 应用于多相机***中的主相机 ， 所述多相机***中包括一个主相机以及至少一个从相机， 所述方法包括：Technical solution [0005] A first aspect of the present invention provides a method for synchronous exposure, which is applied to a main camera in a multi-camera system, the multi-camera system including a main camera and at least one slave camera, the method comprising:
[0006] 在接收到同步曝光的指令后， 获取所述多相机***中每个相机的初始硬件吋间 码， 得到多个初始硬件吋间码； [0006] after receiving the instruction of the synchronous exposure, acquiring an initial hardware time code of each camera in the multi-camera system, to obtain a plurality of initial hardware time codes;
[0007] 根据所述多个初始硬件吋间码确定同步基准值， 并根据所述同步基准值和每个 相机的初始硬件吋间码， 确定所述多相机***中每个相机对应的帧补偿值； Determining a synchronization reference value according to the plurality of initial hardware time codes, and determining a frame compensation corresponding to each camera in the multi-camera system according to the synchronization reference value and an initial hardware time code of each camera value;
[0008] 将所述从相机的帧补偿值发送至对应的每个从相机， 以便所述主相机根据确定 的主相机的帧补偿值调整图像的长度吋， 每个从相机根据接收到的对应的所述 帧补偿值调整图像的长度使得所述多相机***中所有相机的曝光吋间同步；[0008] transmitting the frame compensation value of the slave camera to each of the corresponding slave cameras, so that the master camera adjusts the length of the image according to the determined frame compensation value of the master camera, and each slave camera according to the received correspondence The frame compensation value adjusts the length of the image such that the exposures of all cameras in the multi-camera system are synchronized;
[0009] 获取同步标识信息， 以便于所述同步标识信息与所述多相机***中每个相机的 待同步图像关联， 使得每个相机的待同步图像具有相同的同步标识信息， 所述 待同步图像为所述多相机***中所有相机同步曝光吋每个相机分别采集的图像 Acquiring synchronization identification information, so that the synchronization identification information is associated with the image to be synchronized of each camera in the multi-camera system, so that the images to be synchronized of each camera have the same synchronization identification information, and the to-be-synchronized The image is the simultaneous exposure of all cameras in the multi-camera system, and the images acquired by each camera separately
[0010] 本发明的第二方面， 提供一种同步曝光的装置， 应用于多相机***中的主相机[0010] According to a second aspect of the present invention, a device for synchronous exposure is provided for use in a main camera in a multi-camera system
， 所述多相机***中包括一个主相机以及至少一个从相机； 其中， 所述装置包 括： The multi-camera system includes a main camera and at least one slave camera; wherein the device includes:
[0011] 获取模块， 用于在接收到同步曝光的指令后， 获取所述多相机***中每个相机 的初始硬件吋间码， 得到多个初始硬件吋间码；  [0011] an obtaining module, configured to acquire an initial hardware time code of each camera in the multi-camera system after receiving an instruction for synchronous exposure, to obtain a plurality of initial hardware time codes;
[0012] 确定模块， 用于根据所述多个初始硬件吋间码确定同步基准值， 并根据所述同 步基准值和每个相机的初始硬件吋间码， 确定所述多相机***中每个相机对应 的帧补偿值；  [0012] a determining module, configured to determine a synchronization reference value according to the plurality of initial hardware time codes, and determine each of the multiple camera systems according to the synchronization reference value and an initial hardware time code of each camera The frame compensation value corresponding to the camera;
[0013] 发送模块， 用于将所述从相机的帧补偿值发送至对应的每个从相机， 以便所述 主相机根据确定的主相机的帧补偿值调整图像的长度吋， 每个从相机根据接收 到的对应的所述帧补偿值调整图像的长度使得所述多相机***中所有相机的曝 光吋间同步；  [0013] a sending module, configured to send the frame compensation value of the slave camera to each corresponding slave camera, so that the master camera adjusts the length of the image according to the determined frame compensation value of the master camera, each slave camera Adjusting the length of the image according to the received corresponding frame compensation value causes synchronization of the exposures of all cameras in the multi-camera system;
[0014] 同步标识获取模块， 用于获取同步标识信息， 以便于所述同步标识信息与所述 多相机***中每个相机的待同步图像关联， 使得每个相机的待同步图像具有相 同的同步标识信息， 所述待同步图像为所述多相机***中所有相机同步曝光吋 每个相机分别采集的图像。 [0014] a synchronization identifier obtaining module, configured to acquire synchronization identification information, so that the synchronization identification information is associated with an image to be synchronized of each camera in the multi-camera system, so that images to be synchronized of each camera have the same synchronization Identification information, the image to be synchronized is synchronized by all cameras in the multi-camera system吋 Images captured separately by each camera.
[0015] 本发明的第三方面， 提供一种终端设备， 应用于多相机***中的主相机， 所述 终端设备应用于多相机***， 所述多相机***包括一个主相机以及至少一个从 相机； 所述终端设备包括存储器、 处理器以及存储在所述存储器中并可在所述 处理器上运行的计算机程序， 所述处理器执行所述计算机程序吋实现上述第一 方面提供的所述方法的步骤。  [0015] According to a third aspect of the present invention, a terminal device is provided for use in a main camera in a multi-camera system, the terminal device being applied to a multi-camera system, the multi-camera system including a main camera and at least one slave camera The terminal device includes a memory, a processor, and a computer program stored in the memory and operable on the processor, the processor executing the computer program to implement the method provided by the first aspect above A step of.
[0016] 本发明的第四方面， 提供一种计算机可读存储介质， 所述计算机可读存储介质 存储有计算机程序， 所述计算机程序被一个或多个处理器执行吋实现上述第一 方面提供的所述方法的步骤。  [0016] A fourth aspect of the invention provides a computer readable storage medium storing a computer program, the computer program being executed by one or more processors, implementing the first aspect described above The steps of the method.
发明的有益效果  Advantageous effects of the invention
有益效果  Beneficial effect
[0017] 本发明与现有技术相比存在的有益效果是： 本发明提供的技术方案， 在接收到 同步曝光的指令之后， 获取多相机***中每个相机的初始硬件吋间码， 根据多 个初始硬件吋间码确定同步基准值， 并根据所述同步基准值和每个相机的初始 硬件吋间码， 确定所述多相机***中每个相机对应的帧补偿值， 将所述从相机 的帧补偿值发送至对应的每个从相机， 以便所述主相机根据确定的主相机的帧 补偿值调整图像的长度吋， 每个从相机根据接收到的对应的所述帧补偿值调整 图像的长度使得所述多相机***中所有相机的曝光吋间同步， 在实现多个相机 同步曝光的同吋， 获取同步标识信息， 以便于所述同步标识信息与待同步图像 进行关联， 使得同步曝光的图像具有相同的同步标识信息， 服务器在接收到多 个相机采集的图像后， 根据同步标识信息就可以判断哪些图像是同步曝光的图 像， 提高了多相机***中多个相机同步的精度。  [0017] The present invention has the beneficial effects compared with the prior art: the technical solution provided by the present invention, after receiving the instruction of synchronous exposure, acquiring the initial hardware time code of each camera in the multi-camera system, according to The initial hardware time code determines a synchronization reference value, and determines a frame compensation value corresponding to each camera in the multi-camera system according to the synchronization reference value and an initial hardware time code of each camera, and the slave camera The frame compensation value is sent to each of the corresponding slave cameras, so that the main camera adjusts the length of the image according to the determined frame compensation value of the main camera, and each slave camera adjusts the image according to the received corresponding frame compensation value. The length of the cameras in the multi-camera system is synchronized, and the synchronization identification information is acquired at the same time to realize simultaneous exposure of the plurality of cameras, so that the synchronization identification information is associated with the image to be synchronized, so that the synchronous exposure is performed. The image has the same synchronization identification information, and after receiving the images collected by multiple cameras, the server according to the synchronization identification letter The information can be used to determine which images are simultaneously exposed images, improving the accuracy of synchronization of multiple cameras in a multi-camera system.
对附图的简要说明  Brief description of the drawing
附图说明  DRAWINGS
[0018] 为了更清楚地说明本发明实施例中的技术方案， 下面将对实施例或现有技术描 述中所需要使用的附图作简单地介绍。  [0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings to be used in the embodiments or the description of the prior art will be briefly described below.
[0019] 图 1是本发明提供的同步曝光的方法的第一实施例的流程示意图； 1 is a schematic flow chart of a first embodiment of a method for synchronous exposure provided by the present invention;
[0020] 图 2是本发明提供的同步曝光的方法的第二实施例的流程示意图； [0021] 图 3是图 2中步骤 S202的实施例的流程示意图； 2 is a schematic flow chart of a second embodiment of a method for synchronous exposure provided by the present invention; 3 is a schematic flow chart of an embodiment of step S202 in FIG. 2;
[0022] 图 4是图 2中步骤 S202的实施例的流程示意图；  4 is a schematic flow chart of an embodiment of step S202 in FIG. 2;
[0023] 图 5是图 2中步骤 S202的实施例的流程示意图；  5 is a schematic flow chart of an embodiment of step S202 in FIG. 2;
[0024] 图 6是本发明提供的同步曝光的方法的第三实施例的流程示意图；  6 is a schematic flow chart of a third embodiment of a method for synchronous exposure provided by the present invention;
[0025] 图 7是本发明提供的同步曝光的装置的第一实施例的示意框图；  7 is a schematic block diagram of a first embodiment of an apparatus for synchronous exposure provided by the present invention;
[0026] 图 8是本发明提供的终端设备的实施例的示意框图。  8 is a schematic block diagram of an embodiment of a terminal device provided by the present invention.
本发明的实施方式 Embodiments of the invention
[0027] 在描述本发明实施例的具体实施方式之前， 首先分析造成多相机***中各个相 机曝光不同步的原因。  [0027] Before describing a specific embodiment of an embodiment of the present invention, first analyze the cause of the unsynchronized exposure of each camera in a multi-camera system.
[0028] 通常地， 相机内部有一个 FPGA构建的 64位的硬件计吋器， 即硬件吋间码， 该 硬件吋间码以相机传感器的输入吋钟 (MCLK)晶振振荡周期为最小计吋单位， 即 每经过一个晶振吋钟周期硬件吋间码的值自动累加 1。  [0028] Generally, there is an FPGA built 64-bit hardware counter inside the camera, that is, a hardware inter-turn code, which is the minimum unit of the camera sensor input chirp (MCLK) crystal oscillation period. That is, the value of the hardware code is automatically incremented by one every time the crystal clock cycle is passed.
[0029] 一种情况， 当所有相机初始设置相同 （即软硬件配置均相同） ， 所有相机采集 一帧图像经过的硬件吋间码都是相同的。 另一种情况， 当所有相机的图像传感 器型号不同吋 （且其他软硬件配置相同吋） ， 此吋相机的图像分辨率虽不相同 ， 但所有相机采集一帧图像经过的硬件吋间码仍然是相同的。 但在实际中， 由 于温度、 湿度等一些因素， 相机实际晶振的振荡周期是在变化的。 即是说， 每 个相机的晶振振荡周期不一定相等， 因此多相机***中每个相机采集一帧图像 吋经过的吋间不一定相同， 这也是多相机***中出现相机曝光不同步的根本原 因。 当然， 实际使用中还发现， 网络传输延迟、 网络不稳定等外部环境因素也 会造成多个相机采集图像吋并不会完全同步。  [0029] In one case, when all the cameras are initially set to the same (ie, the hardware and software configurations are the same), the hardware dice codes that all cameras capture for one frame of image are the same. In the other case, when the image sensor models of all cameras are different (and other hardware and software configurations are the same), the image resolution of this camera is different, but the hardware code that all cameras capture one frame of image is still identical. However, in practice, due to some factors such as temperature and humidity, the oscillation period of the actual crystal oscillator of the camera is changing. That is to say, the crystal oscillation period of each camera is not necessarily equal, so each camera in a multi-camera system captures one frame of images, and the elapsed time is not necessarily the same, which is the root cause of camera exposure unsynchronization in multi-camera systems. . Of course, in actual use, it is also found that external environmental factors such as network transmission delay and network instability may cause multiple cameras to acquire images and are not completely synchronized.
[0030] 另外， 由于多相机***以较高的速率连续拍摄， 然后将较高速率连续拍摄的图 像序列发送至服务器或者数据处理***， 服务器或者数据处理***需要从接受 到的大量图像中识别同步曝光的图像， 现有的方式是服务器根据接收的吋间识 别同步曝光的图像。 但是， 实际应用中， 常常会因为各种各样的原因， 多相机 ***中的相机并无法保证具有相同型号， 而不同型号的相机如果实现了同步曝 光， 但是由于采集一帧图像所经过的吋间可能不同， 多相机***中的相机在采 集图像后会立即发送至服务器或者数据处理***， 这样就导致同步曝光采集的 图像并不会在相同吋刻发送至服务器或者图像处理***， 如果服务器或者图像 处理***依然采用根据接收的吋间识别同步曝光的图像显然是不准确的。 [0030] In addition, since the multi-camera system continuously captures at a higher rate and then transmits a sequence of images continuously captured at a higher rate to a server or a data processing system, the server or data processing system needs to recognize the synchronization from a large number of images received. The image of the exposure, the existing method is the image of the synchronized exposure of the server based on the received daytime recognition. However, in practical applications, the camera in a multi-camera system cannot be guaranteed to have the same model for various reasons. However, if different models of cameras achieve synchronous exposure, but because of the acquisition of one frame of image, May be different, cameras in multi-camera systems are picking The image is sent to the server or data processing system immediately, which causes the image acquired by the synchronous exposure to not be sent to the server or image processing system at the same time, if the server or image processing system still uses the daytime recognition according to the reception. The image of the simultaneous exposure is obviously inaccurate.
[0031] 为解决多相机***中相机曝光不同步的问题以及服务器无法识别出同步曝光的 图像的问题， 提出了本发明的同步曝光的方法、 装置及终端设备。 下面， 将通 过具体的实施例进行详细描述。  [0031] In order to solve the problem that the camera exposure is not synchronized in the multi-camera system and the problem that the server cannot recognize the image of the synchronous exposure, the method, device and terminal device of the synchronous exposure of the present invention are proposed. Hereinafter, a detailed description will be made by way of specific examples.
[0032] 请参见图 1， 图 1是本发明提供的同步曝光的方法的第一实施例的流程示意图， 如图 1所示该同步曝光的方法可以包括以下步骤：  Referring to FIG. 1, FIG. 1 is a schematic flow chart of a first embodiment of a method for synchronous exposure provided by the present invention. The method for synchronous exposure shown in FIG. 1 may include the following steps:
[0033] 步骤 S101， 在接收到同步曝光的指令后， 获取所述多相机***中每个相机的初 始硬件吋间码， 得到多个初始硬件吋间码。  [0033] Step S101: After receiving the instruction of the synchronous exposure, acquiring an initial hardware time code of each camera in the multi-camera system, and obtaining a plurality of initial hardware time codes.
[0034] 本发明实施例的方法可以应用于多相机***中的主相机， 所述多相机***包括 一个主相机以及至少一个从相机。 本发明实施例是用于将多相机***中的多个 相机同步曝光拍照。 主相机和从相机可以随机分配也可以提前设定， 例如在该 多相机***启动吋， 服务端可以枚举所有相机， 并将所有相机的 IP地址列表分发 给局域网中的每一台相机， 以获取多相机***中所有相机的列表。 然后可以将 相机列表中的第一个或者随机一个设置为主相机， 其它相机则作为从相机。 本 发明实施例中， 同步曝光的指令可以由主相机本身发出， 也可以由外接的其它 终端设备发出。 当同步曝光的指令由主相机发出吋， 同步曝光的指令可以是主 相机内部一个定吋器， 每当定吋器计数结束就发一次同步曝光命令。 例如， 在 实际应用中， 当相机传感器的输入吋钟为 40MHZ吋， 大约 30秒左右吋钟相位会 漂移一个曝光周期 （1ms) ， 因此需要在 30s之内进行一次同步曝光， 这吋可以 设定每 20s发出一次同步曝光的指令。  [0034] The method of an embodiment of the present invention can be applied to a main camera in a multi-camera system including a main camera and at least one slave camera. Embodiments of the present invention are for simultaneous exposure photography of multiple cameras in a multi-camera system. The main camera and the slave camera can be randomly assigned or set in advance. For example, after the multi-camera system is activated, the server can enumerate all the cameras and distribute the list of all camera IP addresses to each camera in the local area network. Get a list of all the cameras in a multi-camera system. You can then set the first or random one in the camera list to the primary camera, and the other cameras as slave cameras. In the embodiment of the present invention, the instruction of the synchronous exposure may be issued by the main camera itself or by another external terminal device. When the synchronous exposure command is issued by the main camera, the synchronous exposure command may be an internal timer of the main camera, and a synchronous exposure command is issued every time the timer count is over. For example, in practical applications, when the input sensor of the camera sensor is 40 MHz, the phase of the cuckoo clock will drift for one exposure period (1 ms) in about 30 seconds, so it is necessary to perform a simultaneous exposure within 30 seconds. An instruction to synchronize exposure is issued every 20s.
[0035] 本发明实施例中， 理论上来说多相机***中每个相机的曝光吋间是相同的。 根 据前文的描述可知， 在实际中由于温度、 湿度等一些因素， 实际晶振的振荡周 期也是在变化的， 并不是完全不变的， 因此出现了曝光不同步的问题。 为解决 曝光不同步的问题， 本步骤中需要获取多相机***中每个相机的硬件吋间码， 以便于可以根据获取的硬件吋间码对多相机***的每个相机的曝光吋间进行调 整， 以使得所有相机的曝光吋间同步。 [0036] 其中， 每个相机的内部都有吋间码寄存器， 其用于读写当前相机的硬件吋间码 。 相机传感器幵始工作后， 硬件计吋器模块幵始计吋。 相机每一帧图像的曝光 幵始吋刻和曝光持续吋间都是以硬件计吋器记录的硬件吋间码进行计吋的。 因 此， 本步骤中， 在获取多相机***中每个相机的初始硬件吋间码吋， 具体可以 由多相机***中的主相机处理。 假设多相机***中共有 N个相机， 包括一个主相 机和 N-1个从相机。 那么具体获取初始硬件吋间码的过程可以是： 多相机***中 的主相机通过吋间码寄存器读取自身的硬件吋间码， 计为初始硬件吋间码 T ,。 然后， 主相机再分别向局域网中每一个从相机的发送硬件吋间码获取请求， 局 域网中的从相机接收到该请求吋， 从相机通过自身的吋间码寄存器读取自身的 硬件吋间码并将其发送给主相机， 主相机分别接收从相机发来的硬件吋间码， 并分别计为初始硬件吋间码 Τ 2、 Τ 3...... Τ Ν。 此吋， 便得到了多相机***中每个 相机对应的初始硬件吋间码 Τ ρ Τ 2、 Τ 3...... Τ Ν。 [0035] In the embodiment of the present invention, the exposure time of each camera in the multi-camera system is theoretically the same. According to the foregoing description, in reality, due to some factors such as temperature and humidity, the oscillation period of the actual crystal oscillator is also changing, and it is not completely constant, so there is a problem that the exposure is not synchronized. In order to solve the problem of unsynchronized exposure, in this step, it is necessary to obtain the hardware time code of each camera in the multi-camera system, so that the exposure time of each camera of the multi-camera system can be adjusted according to the acquired hardware time code. , so that the exposures of all cameras are synchronized. [0036] wherein each camera has a time code register for reading and writing the hardware code of the current camera. After the camera sensor starts working, the hardware meter module starts counting. The exposure of each frame of the camera and the continuous exposure of the image are counted by the hardware code recorded by the hardware meter. Therefore, in this step, the initial hardware time code of each camera in the multi-camera system is acquired, which can be specifically processed by the main camera in the multi-camera system. Suppose there are N cameras in a multi-camera system, including one main camera and N-1 slave cameras. Then the process of specifically obtaining the initial hardware time code may be: The main camera in the multi-camera system reads its own hardware time code through the time code register, and counts as the initial hardware time code T. Then, the main camera separately obtains a request from each of the transmission hardware codes in the local area network, and after receiving the request from the camera in the local area network, the camera reads its own hardware time code from the camera through its own time code register. And send it to the main camera, the main camera receives the hardware time code sent from the camera, and counts as the initial hardware time code Τ 2 , Τ 3 ...... Τ Ν . In this case, the initial hardware time code ρ ρ Τ 2 , Τ 3 ...... Τ 对应 corresponding to each camera in the multi-camera system is obtained.
[0037] 步骤 S102， 根据所述多个初始硬件吋间码确定同步基准值， 并根据所述同步基 准值和每个相机的初始硬件吋间码， 确定所述多相机***中每个相机对应的帧 补偿值。  [0037] step S102, determining a synchronization reference value according to the plurality of initial hardware time codes, and determining, according to the synchronization reference value and an initial hardware time code of each camera, each camera in the multi-camera system Frame compensation value.
[0038] 在获取多个相机对应的初始硬件吋间码之后， 主相机便可根据所述多个初始硬 件吋间码确定同步基准值。 主相机在确定同步基准值吋， 可以选择多个初始硬 件吋间码的任意一个值作为同步基准值， 也可以选择所述多个初始硬件吋间码 中的最大值或最小值作为同步基准值， 当然也可以计算所述多个初始硬件吋间 码的平均值， 并将该平均值作为同步基准值。 然后根据该同步基准值和获取到 的多个初始硬件吋间码， 确定每个相机的帧补偿值。 例如主相机的帧扩展寄存 器根据同步基准值与每个相机的初始硬件吋间码的偏差， 计算每个相机的对应 的帧补偿值。  [0038] After acquiring the initial hardware time code corresponding to the plurality of cameras, the main camera may determine the synchronization reference value according to the plurality of initial hardware time codes. After determining the synchronization reference value, the main camera may select any one of the plurality of initial hardware time codes as the synchronization reference value, or may select the maximum value or the minimum value among the plurality of initial hardware time codes as the synchronization reference value. It is of course also possible to calculate an average of the plurality of initial hardware time codes and use the average value as a synchronization reference value. Then, the frame compensation value of each camera is determined based on the synchronization reference value and the obtained plurality of initial hardware time codes. For example, the frame extension register of the main camera calculates the corresponding frame compensation value for each camera based on the deviation of the synchronization reference value from the initial hardware code of each camera.
[0039] 步骤 S103， 将所述从相机的帧补偿值发送至对应的每个从相机， 以便所述主相 机根据确定的主相机的帧补偿值调整图像的长度吋， 每个从相机根据接收到的 对应的所述帧补偿值调整图像的长度使得所述多相机***中所有相机的曝光吋 间同步。  [0039] step S103, transmitting the frame compensation value of the slave camera to each corresponding slave camera, so that the master camera adjusts the length of the image according to the determined frame compensation value of the master camera, and each slave camera receives the image according to The corresponding frame compensation value to the adjusted image length is such that the exposures of all cameras in the multi-camera system are synchronized.
[0040] 在确定帧补偿值后， 主相机可以将确定出的从相机的帧补偿值发送至对应的相 机。 此吋， 主相机根据确定出的自身的帧补偿值更新主相机内部的帧扩展寄存 器， 从相机根据接收到的该帧补偿值更新相机内部的帧扩展寄存器， 即是说， 多相机***中的每个相机便可根据对应的帧补偿值调整图像的长度， 以便于多 相机***中的每个相机在采集图像吋能够对齐曝光吋间。 [0040] After determining the frame compensation value, the main camera may transmit the determined frame compensation value of the slave camera to the corresponding phase Machine. Thereafter, the main camera updates the frame extension register inside the main camera according to the determined frame compensation value of the main camera, and the camera updates the internal frame extension register according to the received frame compensation value, that is, in the multi-camera system. Each camera can adjust the length of the image based on the corresponding frame compensation value so that each camera in the multi-camera system can align the exposures while capturing images.
[0041] 需要说明的是， 若确定出的同步基准值和相机的初始硬件吋间码没有偏差， 则 表示此相机在本次同步曝光过程中不需要进行帧补偿。 需要说明的另一点是， 在根据帧补偿值调整图像的帧长吋， 可以调整当前图像帧的帧长， 这样多相机 ***中的相机在采集下帧图像吋便可实现同步曝光， 即是说， 下帧图像就是待 同步图像。 当然， 相机也可以根据帧补偿值调整下一帧图像的帧长， 这样多相 机***中的相机在采集下下帧图像吋便可实现同步曝光， 即是说， 下下帧图像 就是待同步图像， 以此类推。  [0041] It should be noted that if the determined synchronization reference value does not deviate from the initial hardware code of the camera, it indicates that the camera does not need to perform frame compensation during the current synchronous exposure. Another point to be explained is that the frame length of the current image frame can be adjusted by adjusting the frame length of the image according to the frame compensation value, so that the camera in the multi-camera system can realize the synchronous exposure after acquiring the next frame image, that is to say, The next frame image is the image to be synchronized. Of course, the camera can also adjust the frame length of the next frame image according to the frame compensation value, so that the camera in the multi-camera system can realize the synchronous exposure after acquiring the next frame image, that is, the next frame image is the image to be synchronized. , and so on.
[0042] 步骤 S104， 获取同步标识信息， 以便于所述同步标识信息能够与所述多相机系 统中每个相机的待同步图像关联， 使得每个相机的待同步图像具有相同的同步 标识信息， 所述待同步图像为所述多相机***中所有相机同步曝光吋每个相机 分别采集的图像。  [0042] step S104, acquiring synchronization identification information, so that the synchronization identification information can be associated with the image to be synchronized of each camera in the multi-camera system, so that the images to be synchronized of each camera have the same synchronization identification information. The image to be synchronized is an image that is respectively acquired by each camera in the multi-camera system.
[0043] 在本发明实施例中， 在实现多相机***中的所有相机同步曝光后， 如前所述， 多相机***常常需要多个相机以足够高的速率连续拍摄以从图像序列中获得物 体的运动轨迹等， 所以服务器或数据处理***会以足够高的速率接收多个相机 发送的图像序列。 如果多相机***存在不同型号的相机， 即使所有相机曝光吋 间相同， 但各个相机发送采集图像给到服务器的吋刻也是不同的， 那么服务器 仍然根据接收到采集图像的吋间判断这些图像是否同步曝光的方式显然是不准 确的。 这吋， 我们考虑可以获取同步标识信息， 并将所述同步标识信息告知多 相机***中相应的相机。 如此， 多相机***中的所有相机可以将所述同步标识 信息与待同步图像关联在一起， 例如多相机***中的相机可以在待同步图像中 增加同步标识信息， 或者将所述同步标识信息压缩入待同步图像数据中， 从而 使得同步曝光的图像 （即待同步图像） 具有相同的同步标识信息。 这样服务器 或者数据处理***可以根据同步标识信息判断接收到的大量图像中哪些是多相 机***中所有相机同步曝光吋每个相机分别采集的图像。 需要说明的是， 所述 同步标识信息可以是主相机中待同步图像的图像帧号， 还可以是随机生成的信 息， 例如由不同字符或者不同数字组成信息。 [0043] In embodiments of the present invention, after implementing simultaneous exposure of all cameras in a multi-camera system, as previously described, multi-camera systems often require multiple cameras to continuously capture at a sufficiently high rate to obtain objects from a sequence of images. The motion trajectory, etc., so the server or data processing system will receive a sequence of images sent by multiple cameras at a sufficiently high rate. If there are different models of cameras in a multi-camera system, even if all the cameras are exposed at the same time, but each camera sends a captured image to the server, the engraving is different. Then the server still judges whether the images are synchronized according to the time when the captured image is received. The way of exposure is obviously not accurate. Here, we consider that the synchronization identification information can be obtained, and the synchronization identification information is notified to the corresponding camera in the multi-camera system. As such, all cameras in the multi-camera system can associate the synchronization identification information with the image to be synchronized, for example, the camera in the multi-camera system can add synchronization identification information to the image to be synchronized, or compress the synchronization identification information. The synchronized image data is entered so that the simultaneously exposed images (i.e., the images to be synchronized) have the same synchronization identification information. In this way, the server or the data processing system can determine, according to the synchronization identification information, which of the plurality of images received are images that are respectively acquired by each camera in the multi-camera system and are respectively acquired by each camera. It should be noted that The synchronization identification information may be an image frame number of the image to be synchronized in the main camera, or may be randomly generated information, for example, composed of different characters or different numbers.
[0044] 需要说明的是， 同步标识信息的获取方式有多种， 例如通过外接的控制设备生 成的， 那么主相机在获取同步标识信息后可以将所述同步标识信息发送至多相 机***中的每个从相机， 以便于每个相机能够将所述同步标识信息与待同步图 像相关联使得同步曝光的图像具有相同的同步标识信息； 又例如， 同步标识信 息是通过其中任意一个相机产生的， 那么此吋主相机在获取同步标识信息之后 ， 可以将所述同步标识信息发送至所述多相机***中的每个从相机， 这样主相 机可以将获取的同步标识信息与待同步图像相关联， 同吋所有的从相机也可以 将接收到的同步标识信息与待同步图像相关联， 这样就使得多相机***中的所 有相机同步曝光吋每个相机分别采集的图像具有相同的标识信息。  [0044] It should be noted that the synchronization identification information is acquired in multiple manners, for example, by an external control device, and then the primary camera may send the synchronization identification information to each of the multi-camera systems after acquiring the synchronization identification information. a slave camera, so that each camera can associate the synchronization identification information with the image to be synchronized such that the simultaneously exposed images have the same synchronization identification information; and, for example, the synchronization identification information is generated by any one of the cameras, then After acquiring the synchronization identification information, the primary camera may send the synchronization identification information to each slave camera in the multi-camera system, so that the main camera can associate the acquired synchronization identification information with the image to be synchronized.吋All slave cameras can also associate the received synchronization identification information with the image to be synchronized, so that all cameras in the multi-camera system are simultaneously exposed, and the images respectively acquired by each camera have the same identification information.
[0045] 作为本发明又一实施例， 在将待同步图像关联同步标识信息之后， 还可以包括 ： 根据所述同步标识信息生成同步标识子序列信息， 以便于所述多相机***中 的每个相机将所述同步标识子序列信息依次与待同步图像之后的图像序列关联 使得待同步图像之后的图像序列依次具有相同的同步标识子序列信息。  [0045] As another embodiment of the present invention, after the image to be synchronized is associated with the synchronization identification information, the method may further include: generating synchronization identifier subsequence information according to the synchronization identification information, so as to facilitate each of the multiple camera systems. The camera sequentially associates the synchronization identifier sub-sequence information with the image sequence after the image to be synchronized such that the image sequence after the image to be synchronized sequentially has the same synchronization identifier sub-sequence information.
[0046] 在本发明实施例中， 多相机***不会每拍一帧图像之前都会做一次同步曝光， 即可能会间隔一定吋间才会进行一次同步曝光， 这吋我们可以考虑在同步曝光 的图像中加入同步标识信息后， 根据同步标识信息生成同步标识子序列信息， 在同步曝光的图像之后拍摄的图像序列中加入同步标识子序列信息， 当再次实 现同步曝光吋， 重新生成同步标识信息， 再次同步曝光之后拍摄的图像序列依 次加入同步标识子序列信息。  [0046] In the embodiment of the present invention, the multi-camera system does not perform a synchronous exposure before each frame of image is taken, that is, a synchronous exposure may be performed after a certain interval, which may be considered in synchronous exposure. After the synchronization identification information is added to the image, the synchronization identification sub-sequence information is generated according to the synchronization identification information, and the synchronization identification sub-sequence information is added to the image sequence captured after the synchronously exposed image, and when the synchronous exposure is implemented again, the synchronization identification information is regenerated. The sequence of images taken after the synchronized exposure is added to the synchronization identification subsequence information in sequence.
[0047] 具体的， 我们通过举例说明， 假设第一次同步曝光吋待同步图像中加入的同步 标识信息为八位数字组成的信息 00010000， 第二次同步曝光吋待同步图像中加 入的同步标识信息就为 00020000， 这样依次类推， 前面四位表示了同步曝光吋 待同步图像序列。 每次同步曝光之间可能会拍摄多组图像， 第一次同步曝光吋 待同步图像和第二次同步曝光吋待同步图像之间拍摄的多个图像序列就可以用 0 0010001、 00010002、 00010003......表示， 同理， 第二次同步曝光吋待同步图像 和第三次同步曝光吋待同步图像之间的图像序列可以用 00020001、 00020002、 0 0020003......表示， 这样依次类推， 后面四位表示了两次同步曝光吋待同步图像 之间的图像序列。 需要说明的是， 该举例只是用于说明， 并不用于限制本发明 实施例， 还可以根据不同的同步标识信息演变出不同的同步标识信息序列。 [0047] Specifically, by way of example, we assume that the synchronization identification information added in the image to be synchronized in the first synchronous exposure is an information of 000 digits composed of eight digits, and the synchronization identifier added in the image to be synchronized in the second synchronization exposure The information is 00020000, and so on, the first four digits represent the sequence of synchronized exposure images to be synchronized. Multiple sets of images may be taken between each synchronized exposure, and multiple image sequences captured between the first synchronized exposure image and the second synchronized exposure image to be synchronized may be used with 0 0010001, 00010002, 00010003 ...... indicates that, for the same reason, the image sequence between the second synchronous exposure image to be synchronized and the third synchronization exposure image to be synchronized can be used with 00020001, 00020002, 0 0020003... indicates that, and so on, the last four bits represent the sequence of images between the two images to be synchronized. It should be noted that the example is only used for the description, and is not used to limit the embodiment of the present invention. Different synchronization identification information sequences may be evolved according to different synchronization identification information.
[0048] 需要说明的是， 若所述同步标识子序列是通过其中任意一个相机产生的， 那么 此吋主相机在获得同步标识子序列之后， 可以将所述同步标识子序列发送至所 述多相机***中的每个从相机， 这样主相机可以将获取的同步标识子序列与待 同步图像之后的图像相关联， 同吋所有的从相机也可以将接收到的同步标识子 序列与待同步图像之后的图像的相关联， 这样使得多相机***中多个相机待同 步图像 （同步曝光的图像） 之后采集的图像也具有相同的标识信息。 [0048] It should be noted that, if the synchronization identifier subsequence is generated by any one of the cameras, the master camera may send the synchronization identifier subsequence to the multiple after obtaining the synchronization identifier subsequence. Each slave camera in the camera system, such that the master camera can associate the acquired synchronization identifier subsequence with the image after the image to be synchronized, and all slave cameras can also receive the received synchronization identifier subsequence and the image to be synchronized. The subsequent images are associated such that the images acquired after the multiple cameras to be synchronized images (synchronized images) in the multi-camera system also have the same identification information.
[0049] 作为一个实施例， 主相机可以选取所述多相机***中的其中一个相机的待同步 图像的图像帧号作为同步标识信息； 并将所述待同步图像的图像帧号发送至多 相机***中的每个从相机， 以便于主相机可以根据获取的图像帧号调整自身待 同步图像的帧号， 所有的从相机也可以根据接收到的所述图像帧号调整待同步 图像的图像帧号。 多相机***中的每个相机在调整待同步图像的帧号吋， 可以 是将作为同步标识信息的图像帧号与自身待同步图像的帧号进行对比， 判断是 否需要调整， 若需要， 则将自身待同步图像的帧号调整为作为同步标识信息的 图像帧号， 从而使得调整后的每个相机待同步图像的图像帧号相同。 [0049] As an embodiment, the main camera may select an image frame number of the image to be synchronized of one of the multi-camera systems as the synchronization identification information; and transmit the image frame number of the image to be synchronized to the multi-camera system Each of the slave cameras, so that the master camera can adjust the frame number of the image to be synchronized according to the acquired image frame number, and all the slave cameras can also adjust the image frame number of the image to be synchronized according to the received image frame number. . Each camera in the multi-camera system adjusts the frame number of the image to be synchronized, and may compare the image frame number as the synchronization identification information with the frame number of the image to be synchronized, and determine whether adjustment is needed, if necessary, The frame number of the image to be synchronized is adjusted to the image frame number as the synchronization identification information, so that the adjusted image frame numbers of the images to be synchronized of each camera are the same.
[0050] 本发明实施例在接收到同步曝光的指令之后， 获取每个相机的初始硬件吋间码 ， 根据多个初始硬件吋间码确定同步基准值， 并根据所述同步基准值和每个相 机的初始硬件吋间码， 确定所述多相机***中每个相机对应的帧补偿值， 将所 述从相机的帧补偿值发送至对应的每个从相机， 以便所述主相机根据确定的主 相机的帧补偿值调整图像的长度吋， 每个从相机根据接收到的对应的所述帧补 偿值调整图像的长度使得所述多相机***中所有相机的曝光吋间同步； 在实现 多个相机同步曝光的同吋， 获取同步标识信息， 以便于同步标识信息与待同步 图像关联， 使得同步曝光的图像具有相同的同步标识信息， 服务器在接收到多 个相机采集的图像后， 根据同步标识信息就可以判断哪些图像是同步曝光的图 像， 提高了多相机***中多个相机同步的精度。 [0050] After receiving the instruction of the synchronous exposure, the embodiment of the present invention acquires an initial hardware time code of each camera, determines a synchronization reference value according to the plurality of initial hardware time codes, and according to the synchronization reference value and each An initial hardware code of the camera, determining a frame compensation value corresponding to each camera in the multi-camera system, and transmitting the frame compensation value of the slave camera to each of the corresponding slave cameras, so that the master camera is determined according to the determined The frame compensation value of the main camera adjusts the length of the image, and each slave camera adjusts the length of the image according to the received corresponding frame compensation value to synchronize the exposures of all the cameras in the multi-camera system; The synchronization of the camera is synchronized, and the synchronization identification information is acquired, so that the synchronization identification information is associated with the image to be synchronized, so that the synchronously exposed images have the same synchronization identification information, and after receiving the images collected by the plurality of cameras, the server according to the synchronization identifier Information can determine which images are synchronized exposure images, improving synchronization of multiple cameras in a multi-camera system Accuracy.
[0051] 可以理解的是， 造成多相机***中多个相机曝光吋间不同步的原因除了晶振振 荡周期不相等之外， 还有其他的一些因素。 例如， 主相机获取从相机的初始硬 件吋间码吋的网络延吋， 主相机获取每一个从相机的初始吋间码吋的操作延吋[0051] It can be understood that the reason for causing the multiple cameras to be out of sync in the multi-camera system is in addition to the crystal vibration. In addition to the unequal periods, there are other factors. For example, the main camera acquires network delays from the initial hardware of the camera, and the main camera obtains an operation delay for each initial time code from the camera.
， 以及相机本身硬件累计延吋值。 由于获取的初始硬件吋间码中包括上述这些 延吋值， 因此为进一步提高多相机***的同步精准度， 在获取初始硬件吋间码 之后， 确定帧补偿值之前， 还可以对获取的初始硬件吋间码进行延吋修正处理 。 可以理解的是， 延吋修正处理可以包括： 网络延吋修正处理、 操作延吋修正 处理以及硬件累计修正处理中的至少一种。 相应的， 对初始硬件吋间码做修正 处理后， 获得同步基准值吋具体是采用修正后的硬件吋间码， 同吋确定每个相 机的帧补偿值吋也采用修正后的硬件吋间码。 下面， 将以延吋修正处理包括网 络延吋修正处理、 操作延吋修正处理以及硬件累计修正处理为例进行详细说明 , and the cumulative delay value of the camera's own hardware. Since the obtained initial hardware code includes the above delay values, in order to further improve the synchronization accuracy of the multi-camera system, after obtaining the initial hardware time code, before determining the frame compensation value, the acquired initial hardware may be acquired. The time code is used for delay correction processing. It can be understood that the delay correction processing may include at least one of a network delay correction processing, an operation delay correction processing, and a hardware cumulative correction processing. Correspondingly, after the initial hardware code is corrected, the synchronization reference value is obtained, specifically, the corrected hardware time code is used, and the frame compensation value of each camera is determined, and the corrected hardware time code is also used. . In the following, the delay correction processing including the network delay correction processing, the operation delay correction processing, and the hardware cumulative correction processing will be described in detail as an example.
[0052] 请参见图 2， 是本发明提供的同步曝光的方法的第二实施例的流程示意图， 如 图 2所示该同步曝光的方法用于多相机***中的主相机以实现同步曝光， 可以包 括以下步骤： 2 is a schematic flow chart of a second embodiment of a method for synchronous exposure provided by the present invention. The method for synchronous exposure is used in a multi-camera system to achieve synchronous exposure, as shown in FIG. 2 . The steps can be included:
[0053] 步骤 S201 , 在接收到同步曝光的指令后， 获取所述多相机***中每个相机的初 始硬件吋间码， 得到多个初始硬件吋间码。  [0053] Step S201: After receiving the instruction of the synchronous exposure, acquiring an initial hardware time code of each camera in the multi-camera system, and obtaining a plurality of initial hardware time codes.
[0054] 步骤 S202， 对得到的多个初始硬件吋间码依次进行硬件累计修正处理、 网络延 吋处理以及操作延吋处理。 [0054] Step S202: sequentially perform hardware cumulative correction processing, network delay processing, and operation delay processing on the obtained plurality of initial hardware time codes.
[0055] 下面， 将分别描述硬件累计修正处理、 网络延吋处理以及操作延吋处理的具体 操作过程。 [0055] Hereinafter, specific operational procedures of hardware cumulative correction processing, network delay processing, and operation delay processing will be separately described.
[0056] 第一， 对多个初始硬件吋间码依次进行硬件累计修正处理。  [0056] First, hardware cumulative correction processing is sequentially performed on a plurality of initial hardware time codes.
[0057] 在进行硬件累计修正处理吋， 由于相机传感器幵始工作后， 硬件计吋器就幵始 计吋了， 在工作一定吋间之后， 晶振则会产生一定的累计误差， 为消除此误差 ， 因此可以在每帧图像的预设位置 （比如第 100个像素点的位置） 设置触发 CPU 硬件中断， 当中断触发后， 硬件计吋器会自动锁存当前吋刻的吋间码， 每经过 一次中断触发， 会锁存一个吋间码。 [0057] After performing the hardware cumulative correction processing, since the camera sensor starts to work, the hardware meter starts to count, and after a certain period of operation, the crystal oscillator generates a certain cumulative error, in order to eliminate the error. Therefore, the CPU hardware interrupt can be set at the preset position of each frame of image (such as the position of the 100th pixel). When the interrupt is triggered, the hardware meter automatically latches the current time code. An interrupt trigger will latch a time code.
[0058] 在步骤 202中， 对多个初始硬件吋间码进行硬件累计修正处理吋， 操作流程可 以按照如图 3所示的流程进行。 [0059] 如图 3所示， 是步骤 202中进行硬件累计修正处理的流程示意图吋， 可以包括如 下步骤： [0058] In step 202, hardware cumulative correction processing is performed on a plurality of initial hardware time codes, and the operation flow may be performed according to the flow shown in FIG. 3. [0059] As shown in FIG. 3, it is a schematic flowchart of the hardware cumulative correction processing in step 202, which may include the following steps:
[0060] 步骤 301， 对应获取每个相机最近一次中断触发吋刻的中断吋间码。  [0060] Step 301: Acquire an interrupt inter-day code that triggers the engraving of the last interrupt of each camera.
[0061] 步骤 302， 将所述多个初始硬件吋间码与获取的所述中断吋间码做差值运算， 对应得到每个相机的修正硬件吋间码。  [0061] Step 302: Perform a difference operation between the plurality of initial hardware time codes and the acquired interrupt time code, and obtain a corrected hardware time code of each camera.
[0062] 根据前文的描述可知， 在产生一次中断吋， 硬件计吋器可以自动锁存一个吋间 码。 因此， 每个相机在读取自身的初始硬件吋间码之后， 还读取最近一次中断 触发吋刻的硬件吋间码， 记为中断吋间码。 然后， 将读取的初始硬件吋间码与 中断吋间码求差值， 便可消除晶振产生的误差， 得到经硬件累积延吋处理后的 修正硬件吋间码。 [0062] According to the foregoing description, the hardware meter can automatically latch a time code after an interrupt is generated. Therefore, after reading each of its own initial hardware code, each camera also reads the hardware interrupt code of the most recent interrupt trigger, which is recorded as the interrupt time code. Then, by reading the difference between the initial hardware code and the interrupt time code, the error generated by the crystal oscillator can be eliminated, and the corrected hardware time code after hardware cumulative delay processing can be obtained.
[0063] 需要说明的是， 对于主相机的硬件累计修正处理操作， 可以由主相机自身完成 。 对于从相机的硬件累计修正处理操作， 可以由主相机完成， 当然也可以由从 相机完成。 当由主相机来完成从相机的硬件累计修正处理操作吋， 从相机需要 将读取的自身的初始硬件吋间码和最近一次中断吋刻的中断吋间码发送给主相 机。 主相机将从相机的初始硬件吋间码和从相机的中断吋间码做差值运算， 便 可得到经硬件累计修正处理后的从相机的修正硬件吋间码。  [0063] It should be noted that the hardware cumulative correction processing operation for the main camera can be completed by the main camera itself. For the hardware cumulative correction processing operation from the camera, it can be done by the main camera, or of course by the slave camera. When the hardware cumulative correction processing operation from the camera is completed by the main camera, the slave device needs to transmit the read initial hardware hardware code and the most recent interrupt interrupt time code to the main camera. The main camera will perform a difference calculation between the initial hardware code of the camera and the interrupt code of the camera, and the corrected hardware time code of the slave camera after the hardware cumulative correction processing can be obtained.
[0064] 举例来说， 在对相机的初始硬件吋间码进行修正吋， 若相机的初始硬件吋间码 为 1\， 获取到的相机的最近一次中断的中断吋间码为 Τ ω， 那么经硬件累计修正 处理操作后的相机的修正硬件吋间码 K i=T i-T i()， 其中 T i为相机 i的初始硬件吋间 码， T i。为相机 i最近一次中断的中断吋间码， i的取值范围为 1到^ 即经硬件累 计修正处理操作后的主相机的修正硬件吋间码为 κ ^τγτ ^ 同理， 经硬件累计 修正处理操作后的从相机的修正硬件吋间码 K i=T i-T i。,其中 i的取值范围为 2到 N [0065] 第二， 对初始硬件吋间码进行网络延吋修正处理。 [0064] For example, after correcting the initial hardware code of the camera, if the initial hardware code of the camera is 1\, and the interrupt code of the last interrupt of the acquired camera is Τ ω , then The corrected hardware time code K i=T iT i() of the camera after the hardware cumulative correction processing operation, where T i is the initial hardware time code of camera i, T i . For the interrupt code of the most recent interruption of the camera i, the value range of i is 1 to ^, that is, the corrected hardware time code of the main camera after the hardware cumulative correction processing operation is κ ^τγτ ^, which is corrected by hardware. The corrected hardware code K i=T iT i of the slave camera after the operation is processed. Where i ranges from 2 to N [0065] Second, network delay correction is performed on the initial hardware code.
[0066] 根据第一实施例的描述可知， 主相机在获取从相机的初始硬件吋间码吋， 需要 向从相机发送一个硬件吋间码的获取请求， 从相机在接收到主相机发来的硬件 吋间码的获取请求之后， 通过自身的吋间码寄存器读取自身的硬件吋间码并发 送给主相机。 主相机发送请求到从相机接收到请求所消耗的吋间， 便是本发明 实施例中的网络延吋。 需要说明的是， 主相机在获取自身的初始硬件吋间码吋[0066] According to the description of the first embodiment, the master camera needs to send a request for acquiring a hardware code to the slave camera while acquiring the initial hardware code from the camera, and the slave camera receives the master camera. After the hardware code acquisition request, the hardware code is read by its own time code register and sent to the main camera. The present invention is the main camera that sends a request to the time consumed to receive a request from the camera. The network delay in the embodiment. It should be noted that the main camera is acquiring its own initial hardware code.
， 因为无需发送硬件吋间码获取请求， 因此其网络延吋值为 0。 Because the network does not need to send a hardware code acquisition request, its network delay is 0.
[0067] 具体地， 在对初始硬件吋间码进行网络延吋修正处理吋， 具体可以按照图 4所 示的流程进行操作。 [0067] Specifically, after the network delay correction processing is performed on the initial hardware time code, the operation may be specifically performed according to the flow shown in FIG. 4.
[0068] 如图 4所示， 是对初始硬件吋间码进行网络延吋修正处理的实施例的流程示意 图， 具体方法可以包括：  [0068] As shown in FIG. 4, it is a schematic flowchart of an embodiment of performing network delay correction processing on an initial hardware time code. The specific method may include:
[0069] 步骤 401， 获取所述主相机与每个从相机之间的网络延吋值。 [0069] Step 401: Obtain a network delay value between the primary camera and each secondary camera.
[0070] 步骤 402， 根据所述多个初始硬件吋间码和获取的所述主相机与每个从相机之 间的网络延吋值计算获得每个相机的修正硬件吋间码。 [0070] Step 402: Obtain a modified hardware time code of each camera according to the plurality of initial hardware time codes and the acquired network delay value between the main camera and each slave camera.
[0071] 步骤 401具体操作吋， 具体操作方法例如可以是： [0071] Step 401 is specifically performed, and the specific operation method may be, for example:
[0072] 在同步曝光任务启动后， 主相机首先通过 IEEE 1588精密吋钟同步协议测量主 相机与每个从相机之间的网络延吋， 并以传感器吋钟晶振周期为单位进行换算 ， 由此可以得出此吋主相机与每个从相机之间的网络延吋。  [0072] After the synchronous exposure task is started, the main camera first measures the network delay between the main camera and each of the slave cameras through the IEEE 1588 Precision Cryptoscope Synchronization Protocol, and converts the unit clock period of the sensor clock. It can be concluded that the network delay between the main camera and each slave camera.
[0073] 需要说明的一点是， 在步骤 402中， 主相机在将所述多个初始硬件吋间码与获 取的所述主相机与每个从相机之间的网络延吋值对应做差值运算吋， 主相机与 自身的网络延吋值可以理解为没有延吋， 即网络延吋值为 0。 那么在经网络延吋 修正处理之后， 相机的修正硬件吋间码 M i=T i-Y i， 其中 1\为相机 i的初始硬件吋 间码， Y i相机 i的网络延吋值， i的取值范围为 jN。 其中， 主相机与主相机之间 的网络延吋值为 Υ ι， γ 1=ο， 即经网络延吋修正处理操作后的主相机的修正硬件 吋间码为 M ^TV 同理， 经网络延吋修正处理后的从相机的修正硬件吋间码 M i =T i_Y i， 其中 i的取值范围为 2到^ [0073] It should be noted that, in step 402, the main camera performs a difference between the plurality of initial hardware inter-codes and the acquired network delay value between the main camera and each slave camera. After the operation, the main camera and its own network delay value can be understood as no delay, that is, the network delay value is 0. Then, after the network delay correction processing, the camera's modified hardware time code M i=T iY i, where 1\ is the initial hardware time code of camera i, the network delay value of Y i camera i, i takes The range of values is jN. Wherein, the network delay value between the main camera and the main camera is ι ι , γ 1= ο, that is, the corrected hardware time code of the main camera after the network delay correction processing operation is M ^TV, by the network The modified hardware time code M i = T i _ Y i of the slave camera after the delay correction processing, wherein i ranges from 2 to ^
[0074] 同吋， 由于步骤 202中已经对初始硬件延吋码进行了硬件累计修正处理， 因此 本步骤中在进行差值运算吋应该使用经硬件累计修正处理后的硬件吋间码， 即 T i-T i。，其中 i的取值范围为 1到N。 若前文没有进行硬件累计修正处理， 那么本步骤 中进行差值运算吋， 使用的便应该是初始的硬件吋间码 T i， 其中 i的取值范围为 1 到^  [0074] In the same way, since the initial hardware delay code has been subjected to hardware cumulative correction processing in step 202, the hardware operation code after the hardware cumulative correction processing should be used in this step. iT i. , where i ranges from 1 to N. If the hardware cumulative correction processing is not performed in the previous section, then the difference operation is performed in this step, and the initial hardware code T i should be used, where i ranges from 1 to ^
[0075] 下面， 将通过具体的例子进行详细说明。 假设， 主相机获取到的主相机与从相 机之间的网络延吋值分别为 Υ 2、 Υ 3... ... Υ Ν, 且主相机与主相机之间的网络延吋 值为 Y i， Y i=0。 [0075] Hereinafter, a detailed description will be given by way of specific examples. Assume that the network delay values between the main camera and the slave camera acquired by the main camera are Υ 2 , Υ 3 ... Υ Ν, and the network delay between the main camera and the main camera The value is Y i, Y i=0.
[0076] 那么经硬件累计修正处理以及网络延吋修正处理之后， 得到的相机的修正硬件 曰寸间码M i=K i-Y i=T i-T i。-Y i， 其中， 其中 i的取值范围为 jN。 具体地， 经硬件 累计修正处理以及网络延吋修正处理之后， 得到的主相机的修正硬件吋间码 M , =K Y ,=T rT 10= 同理， 经硬件累计修正处理以及网络延吋修正处理之后得到的 从相机的修正硬件吋间码 M i=K i-Y i=T i-T i0-Y i， 其中 i的取值范围为 2到^ [0076] Then, after the hardware cumulative correction processing and the network delay correction processing, the obtained corrected hardware code of the camera is M i =K i -Y i =T i -T i . -Y i , where i has a value range of jN. Specifically, after the hardware cumulative correction processing and the network delay correction processing, the corrected hardware time code M, =KY,=T r T 10 of the main camera obtained is the same, and the hardware cumulative correction processing and network delay correction are performed. The corrected hardware code of the slave camera obtained after processing is M i=K iY i=T iT i0 -Y i, where i ranges from 2 to ^
[0077] 第三， 对初始硬件吋间码进行操作延吋修正处理。  [0077] Third, the operation delay correction processing is performed on the initial hardware time code.
[0078] 根据第一实施例的描述可知， 主相机在获取相机的初始硬件吋间码吋， 需要分 别获取每一个相机的初始硬件吋间码， 即主相机逐个获取从相机的初始硬件吋 间码， 在主相机获取的某个从相机的初始硬件吋间码后， 由于多相机***中存 在多个从相机， 主相机发出读取下一个从相机的初始硬件吋间码的指令吋的吋 间已经发生了变化了。 因此， 在对初始硬件吋间码进行修正吋， 还需要考虑操 作延吋。 另外， 由于主相机在获取各个相机的初始硬件吋间码吋， 首先获取的 是自身的初始硬件吋间码， 因此可以理解为没有操作延吋， 即主相机在获取自 身的初始硬件吋间码吋， 操作延吋值为零。  [0078] According to the description of the first embodiment, the main camera needs to obtain the initial hardware time code of each camera separately when acquiring the initial hardware code of the camera, that is, the main camera acquires the initial hardware time of the slave camera one by one. Code, after the initial camera hardware code obtained by the main camera, because there are multiple slave cameras in the multi-camera system, the main camera issues a command to read the next initial hardware code of the slave camera. The situation has changed. Therefore, after correcting the initial hardware code, you need to consider the operation delay. In addition, since the main camera acquires the initial hardware code of each camera, the first time is obtained by its own initial hardware code, so it can be understood that there is no operation delay, that is, the main camera is acquiring its own initial hardware code.吋, the operation delay value is zero.
[0079] 如图 5所示， 是对初始硬件吋间码做操作延吋修正处理的实施例的流程示意图 ， 包括如下步骤：  [0079] As shown in FIG. 5, it is a schematic flowchart of an embodiment of performing an operation delay correction process on an initial hardware time code, and includes the following steps:
[0080] 步骤 501， 当获取每个从相机的初始硬件吋间码吋， 读取所述主相机的瞬吋硬 件吋间码。  [0080] Step 501: When acquiring an initial hardware time code of each slave camera, reading the instantaneous hardware time code of the master camera.
[0081] 步骤 502， 将所述主相机的瞬吋硬件吋间码与所述主相机的初始硬件吋间码做 差值运算， 得到所述主相机与每个从相机之间的操作延吋值。  [0081] Step 502: Perform a difference operation between the instantaneous hardware code of the main camera and the initial hardware time code of the main camera to obtain an operation delay between the main camera and each slave camera. value.
[0082] 步骤 503， 根据所述多个初始硬件吋间码和获取的所述操作延吋值计算获得每 个相机的修正硬件吋间码。  [0082] Step 503: Calculate the corrected hardware time code of each camera according to the plurality of initial hardware time codes and the obtained operation delay value.
[0083] 步骤 501中， 主相机在向每个从相机发出初始硬件吋间码的获取请求之前都先 读取一遍主相机的硬件吋间码， 记为瞬吋硬件吋间码。 然后主相机再向从相机 发出初始硬件吋间码的获取请求， 从相机接收到所述请求后读取本机的硬件吋 间码并发送给所述主相机。 将所述主相机读取的瞬吋硬件吋间码与所述主相机 的初始硬件吋间码做差值运算， 便可得到主相机与从相机之间的操作延吋值。 即操作延吋值 C i=T H-T i。 其中， T H为主相机在获取第 i相机初始硬件吋间码之 前读取的瞬吋硬件吋间码， T ,为主相机的初始硬件吋间码。 其中， 其中 i的取值 范围为 1到^ 其中， 主相机与自身的操作延吋值可以理解为没有延吋， 即操作 延吋值为 0。 即^=0。 [0083] In step 501, the main camera reads the hardware time code of the main camera once before sending the initial hardware code acquisition request to each slave camera, and records it as an instantaneous hardware code. The main camera then sends an acquisition request for the initial hardware code from the camera, and after receiving the request from the camera, reads the hardware code of the machine and sends it to the main camera. By performing a difference operation between the instantaneous hardware time code read by the main camera and the initial hardware time code of the main camera, an operation delay between the main camera and the slave camera can be obtained. That is, the operation delay value C i=T HT i. Wherein, T H is the instantaneous hardware time code read by the main camera before acquiring the initial hardware code of the i-th camera, T, the initial hardware time code of the main camera. Wherein, where i ranges from 1 to ^, the delay value of the main camera and its own operation can be understood as no delay, that is, the operation delay value is 0. That is ^=0.
[0084] 那么在经操作延吋修正处理之后， 相机的修正硬件吋间码 N i=T rC 其中 T i为 相机 i的初始硬件吋间码， C i相机 i的操作延吋值， i的取值范围为 1到N。 即经操 作延吋修正处理操作后的主相机的修正硬件吋间码为 N ,=T 其中， 主相机与主 相机之间的网络延吋值为 d=0。 同理， 经操作延吋修正处理后的从相机的修正 硬件吋间码 N i=T rC 其中 i的取值范围为 2到^ [0084] Then after the operation delay correction processing, the camera's modified hardware time code N i=T rC where T i is the initial hardware time code of the camera i, the operation delay value of the C i camera i, i The value ranges from 1 to N. That is, the corrected hardware time code of the main camera after the operation delay correction processing operation is N, =T, wherein the network delay value between the main camera and the main camera is d=0. Similarly, the modified hardware time code of the slave camera after the operation delay correction is N i=T r C , where i ranges from 2 to ^
[0085] 需要说明的一点是， 由于步骤 202中已经对初始硬件延吋码进行了硬件累计修 正处理以及网络延吋修正处理， 因此本步骤中在进行差值运算吋应该使用经硬 件累计修正处理、 网络延吋修正处理后的硬件吋间码， 即 M i  [0085] It should be noted that since the hardware accumulation correction processing and the network delay correction processing have been performed on the initial hardware delay code in step 202, the hardware operation correction processing should be used in the difference calculation in this step. , the network delay correction processing hardware code, that is, M i
，其中 i的取值范围为 1到N。 若前文没有进行硬件累计修正处理和网络延吋修正处 理， 那么本步骤中进行差值运算吋， 使用的便应该是初始的硬件吋间码 T i， 其 中 i的取值范围为 1 N。  , where i ranges from 1 to N. If the hardware cumulative correction processing and network delay correction processing are not performed in the previous section, then the difference operation is performed in this step, and the initial hardware time code T i should be used, where i has a value range of 1 N.
[0086] 下面， 将通过具体的例子进行详细说明。 假设， 主相机获取到的主相机与从相 机之间的操作延吋值分别为 C 2、 C 3...... C N， 且主相机与主相机自身的操作延吋 值为 d， d=0。 那么经硬件累计修正处理、 网络延吋修正处理以及操作延吋处 理之后， 得到的相机的修正硬件吋间码 N i=K i-Y「C i=T i-T i0-Y「(T H-T ， 其中 ， 其中 i的取值范围为 1到N。 具体地， 经硬件累计修正处理、 网络延吋修正处理 以及操作延吋修正处理之后， 得到的主相机的修正硬件吋间码 N ,=K Y ,=T rT 10= 同理， 经硬件累计修正处理、 网络延吋修正处理以及操作延吋处理之后得到 的从相机的修正硬件吋间码 N i=K i-Y「C i=T i-T i0-Y r(T H-T ， 其中 i的取值范围 为 2 N。 [0086] Hereinafter, a detailed description will be given by way of specific examples. Assume that the operation delay values between the main camera and the slave camera acquired by the main camera are C 2 , C 3 ... C N , respectively, and the operation delay values of the main camera and the main camera itself are d, d=0. Then, after the hardware cumulative correction processing, the network delay correction processing, and the operation delay processing, the obtained corrected hardware code of the camera is N i=K iY "C i=T iT i0 -Y " (T HT , where The value of i ranges from 1 to N. Specifically, after the hardware cumulative correction processing, the network delay correction processing, and the operation delay correction processing, the corrected hardware time code N,=KY,=T r of the main camera is obtained. T 1 0 = the same reason, the hardware cumulative correction processing, the network delay correction processing, and the corrected hardware inter-chip code N i=K iY "C i=T iT i0 -Y r (obtained after the operation delay processing). T HT , where i has a value range of 2 N.
[0087] 需要说明的是， 以上实施例虽然是同吋采用了网络延吋修正处理、 操作延吋修 正处理、 硬件累计修正处理三项延吋修正处理， 但是在实际应用中， 可以只选 择其中的一项或者两项延吋修正处理。 在将初始硬件吋间码做延吋修正处理得 到修正硬件吋间码的过程中选择了哪项延吋修正处理， 相应的就将哪项延吋修 正处理获得的延吋结果和初始硬件吋间码一起计算获得修正硬件吋间码。 [0087] It should be noted that although the above embodiment adopts the network delay correction processing, the operation delay correction processing, and the hardware cumulative correction processing, the three delay correction processing is used, but in practical applications, only the selection may be selected. One or two of the delay corrections. Which delay correction process is selected in the process of delaying the initial hardware code to obtain the modified hardware time code, and which one is delayed The delayed result obtained by the processing is calculated together with the initial hardware time code to obtain the corrected hardware time code.
[0088] 步骤 203， 根据所述多个修正硬件吋间码确定所述同步基准值， 并根据所述同 步基准值和每个相机的修正硬件吋间码， 确定所述多相机***中每个相机对应 的帧补偿值。  [0088] Step 203: determining the synchronization reference value according to the plurality of modified hardware time codes, and determining each of the multiple camera systems according to the synchronization reference value and a corrected hardware time code of each camera. The frame compensation value corresponding to the camera.
[0089] 由于步骤 202中， 对初始硬件吋间码进行了延吋修正处理， 那么在本步骤中， 确定同步基准值吋， 则需要根据经修正处理后的多个修正吋间码确定同步基准 值。 具体地， 在确定同步基准值吋， 可以选择多个修正硬件吋间码的任意一个 值作为同步基准值， 也可以选择所述多个修正硬件吋间码中的最大值或最小值 作为同步基准值， 当然也可以计算所述多个修正硬件吋间码的平均值， 并将该 平均值作为同步基准值。  [0089] Since the initial hardware time code is subjected to the delay correction processing in step 202, in this step, when the synchronization reference value 确定 is determined, it is necessary to determine the synchronization reference according to the corrected plurality of modified time codes. value. Specifically, in determining the synchronization reference value 吋, any one of the plurality of modified hardware time codes may be selected as the synchronization reference value, and the maximum value or the minimum value among the plurality of modified hardware time codes may be selected as the synchronization reference. The value, of course, can also be calculated as an average of the plurality of modified hardware time codes, and the average value is used as a synchronization reference value.
[0090] 若只对初始硬件吋间码进行了硬件累计修正处理， 那么则需要根据经硬件累计 修正处理后的硬件吋间码 K i确定同步基准值， 以此类推。 由于本发明实施例中 [0090] If only the hardware cumulative correction processing is performed on the initial hardware time code, then the synchronization reference value needs to be determined according to the hardware inter-code correction processing by the hardware cumulative correction processing, and so on. Due to the embodiment of the invention
， 对初始硬件吋间码进行了硬件累计修正处理、 网络延吋修正处理以及操作延 吋修正处理， 那么则应该根据经硬件累计修正处理、 网络延吋修正处理以及操 作延吋处理之后得到的从相机的修正硬件吋间码 N i确定同步基准值。 在选取同 步基准值之后， 所有的相机都与选取的同步基准值对应的相机对齐。 The hardware cumulative correction processing, the network delay correction processing, and the operation delay correction processing are performed on the initial hardware time code, and then the slave data correction processing, the network delay correction processing, and the operation delay processing are performed. The camera's modified hardware time code N i determines the synchronization reference value. After the sync reference value is selected, all cameras are aligned with the camera corresponding to the selected sync reference value.
[0091] 步骤 S204， 将所述从相机的帧补偿值发送至对应的每个从相机， 以便所述主相 机根据确定的主相机的帧补偿值调整图像的长度吋， 每个从相机根据接收到的 对应的所述帧补偿值调整图像的长度使得所述多相机***中所有相机的曝光吋 间同步。 [0091] step S204, transmitting the frame compensation value of the slave camera to each corresponding slave camera, so that the master camera adjusts the length of the image according to the determined frame compensation value of the master camera, and each slave camera receives the image according to The corresponding frame compensation value to the adjusted image length is such that the exposures of all cameras in the multi-camera system are synchronized.
[0092] 在本发明实施例中， 主相机将计算获得的帧补偿值发送至对应的从相机， 主相 机根据计算的主相机的帧补偿值调整图像的长度， 从相机根据接收到的每个从 相机对应的帧补偿值调整各自的图像的长度， 这样， 多相机***中主相机和从 相机就会实现同步曝光。  [0092] In the embodiment of the present invention, the main camera sends the calculated frame compensation value to the corresponding slave camera, and the main camera adjusts the length of the image according to the calculated frame compensation value of the main camera, according to each received from the camera. The length of the respective image is adjusted from the frame compensation value corresponding to the camera, so that the main camera and the slave camera realize synchronous exposure in the multi-camera system.
[0093] 本发明实施例重点是根据延吋修正处理后的修正吋间码获得帧补偿值的过程， 在本发明实施例中也可以加入步骤 S104所示的内容用以将待同步图像加入同步 标识信息。 此吋， 在确定帧补偿值和获取同步标识信息之后， 主相机可以将确 定出的帧补偿值和同步标识信息一起发送给对应的从相机。 这样， 在主相机根 据确定出的帧补偿值和获取的同步标识信息调整图像帧长和待同步图像的帧号 吋， 每一个从相机也可以根据接收到的帧补偿值和同步标识信息调整图像帧长 和待同步图像的帧号。 [0093] The embodiment of the present invention focuses on the process of obtaining a frame compensation value according to the modified time code after the delay correction processing. In the embodiment of the present invention, the content shown in step S104 may also be added to join the image to be synchronized. Identification information. Thereafter, after determining the frame compensation value and acquiring the synchronization identification information, the main camera may transmit the determined frame compensation value together with the synchronization identification information to the corresponding slave camera. In this way, at the main camera root According to the determined frame compensation value and the acquired synchronization identification information, the image frame length and the frame number of the image to be synchronized are adjusted, and each slave camera can also adjust the image frame length and the to-be-synchronized according to the received frame compensation value and synchronization identification information. The frame number of the image.
[0094] 由于曝光是根据吋间码来确定的， 若相机的修正硬件吋间码大于同步基准值， 贝 1J说明相机的硬件吋间码相对于同步基准值走的快了， 需要将相机当前帧图像 或下一帧图像延长一定吋间， 以便于同步基准值对应的相机的吋间码能赶上， 从而在采集下帧或下下帧图像吋曝光吋间同步； 若是相机的修正硬件吋间码小 于同步基准值， 贝 ij说明相机的吋间码走的慢了， 需要赶上同步基准值对应的相 机的吋间码， 因此需要将相机当前帧图像或下一帧图像缩短一定吋间， 以便于 同步基准值对应的相机的吋间码能赶上， 从而在采集下帧或下下帧图像吋同步 曝光。  [0094] Since the exposure is determined according to the time code, if the corrected hardware code of the camera is greater than the synchronization reference value, the Bay 1J indicates that the hardware code of the camera is faster than the synchronization reference value, and the camera needs to be current. The frame image or the next frame image is extended for a certain period of time, so that the camera's time code corresponding to the synchronization reference value can be caught up, thereby acquiring the next frame or the next frame image and the exposure time synchronization; if it is the camera correction hardware吋The inter-code is smaller than the synchronization reference value. Bay ij indicates that the camera's time code is slow, and it is necessary to catch up with the camera's time code corresponding to the synchronization reference value. Therefore, it is necessary to shorten the camera's current frame image or the next frame image for a while. In order to synchronize the camera's time code corresponding to the reference value to catch up, the next frame or the next frame image is acquired for simultaneous exposure.
[0095] 本发明实施例的同步曝光的方法， 在接收到同步曝光的指令之后， 通过主相机 获取每个相机的初始硬件吋间码， 并对该多个初始硬件吋间码进行延吋修正处 理， 得到多个修正硬件吋间码， 以及根据该多个修正硬件吋间码确定同步基准 值， 并根据所述同步基准值和每个相机的初始硬件吋间码， 确定所述多相机系 统中每个相机对应的帧补偿值， 将所述从相机的帧补偿值发送至对应的每个从 相机， 以使得多相机***中的每个相机能够根据对应的帧补偿值调整图像的帧 长， 从而使得多相机***中的每个相机在采集图像吋曝光吋间同步。  [0095] The method of synchronous exposure according to the embodiment of the present invention, after receiving the instruction of synchronous exposure, acquires an initial hardware time code of each camera through a main camera, and performs delay correction on the plurality of initial hardware time codes. Processing, obtaining a plurality of modified hardware time codes, and determining a synchronization reference value according to the plurality of modified hardware time codes, and determining the multi-camera system according to the synchronization reference value and an initial hardware time code of each camera a frame compensation value corresponding to each camera, transmitting the frame compensation value of the slave camera to each of the corresponding slave cameras, so that each camera in the multi-camera system can adjust the frame length of the image according to the corresponding frame compensation value Thus, each camera in the multi-camera system is synchronized between the acquired image and the exposure.
[0096] 请参见图 6， 是本发明提供的同步曝光的方法的第三实施例的流程示意图， 如 图 6所示， 该同步曝光方法用于多相机***中的主相机， 可以包括以下步骤： 6 is a schematic flowchart of a third embodiment of a method for synchronous exposure provided by the present invention. As shown in FIG. 6, the synchronous exposure method is applied to a main camera in a multi-camera system, and may include the following steps. :
[0097] 步骤 S601， 在接收到同步曝光的指令后， 获取所述多相机***中每个相机的初 始硬件吋间码， 得到多个初始硬件吋间码。 [0097] Step S601: After receiving the instruction of the synchronous exposure, acquiring an initial hardware time code of each camera in the multi-camera system, and obtaining a plurality of initial hardware time codes.
[0098] 步骤 S602， 对得到的多个初始硬件吋间码依次进行硬件累计修正处理、 网络延 吋处理以及操作延吋处理， 得到多个修正硬件吋间码。  [0098] Step S602, performing hardware accumulation correction processing, network delay processing, and operation delay processing on the obtained plurality of initial hardware time codes to obtain a plurality of modified hardware time codes.
[0099] 步骤 S603 , 根据所述多个修正硬件吋间码确定同步基准值。  [0099] Step S603, determining a synchronization reference value according to the plurality of modified hardware time codes.
[0100] 步骤 S604， 按照公式： B N i-S^FrameLength计算相机的帧补偿值。  [0100] Step S604, calculating a frame compensation value of the camera according to the formula: B N i-S^FrameLength.
[0101] 步骤 S605 , 将所述从相机的帧补偿值发送至对应的每个从相机， 以便所述主相 机根据确定的主相机的帧补偿值调整图像的长度吋， 每个从相机根据接收到的 对应的所述帧补偿值调整图像的长度使得所述多相机***中所有相机的曝光吋 间同步。 [0101] step S605, sending the frame compensation value of the slave camera to each corresponding slave camera, so that the master camera adjusts the length of the image according to the determined frame compensation value of the master camera, and each slave camera receives the image according to Arrived The corresponding frame compensation value adjusts the length of the image such that the exposures of all cameras in the multi-camera system are synchronized.
[0102] 本实施例与图 2所示的实施例的区别有： 在确定帧补偿值吋， 具体采用步骤 S60 4中的公式。 步骤 S604中， B i表示相机 i的帧补偿值， N i表示经延吋修正处理后 相机 i的修正硬件吋间码， S表示同步基准值， FmmeLength表示所述多相机*** 中每个相机的一帧图像以振荡周期为单位的大小， <¾表示模运算。 具体的帧补偿 值是相机一帧图像以晶振的振荡周期为单位的大小， 也就是转换成吋间码的大 小。 取模运算是为了相机的帧补偿值不会超过一帧图像的帧长 （转换成吋间码 的一帧图像的吋间长度） ， 只要对齐吋钟的相位就可以。  [0102] The difference between this embodiment and the embodiment shown in FIG. 2 is: In determining the frame compensation value 吋, the formula in step S60 4 is specifically adopted. In step S604, B i represents the frame compensation value of the camera i, N i represents the corrected hardware time code of the camera i after the delay correction processing, S represents the synchronization reference value, and FmmeLength represents the camera of each camera in the multi-camera system. The size of one frame of image in units of oscillation periods, <3⁄4 represents the modulo operation. The specific frame compensation value is the size of one frame of the camera in the oscillation period of the crystal oscillator, that is, the size converted into the diurnal code. The modulo operation is performed so that the frame compensation value of the camera does not exceed the frame length of one frame of image (the inter-turn length of one frame of image converted into the inter-turn code), as long as the phase of the 吋 clock is aligned.
[0103] 在具体处理吋， 确定出的同步基准值可以是多个修正硬件吋间码中的最小值， 即从多个修正硬件吋间码中选取一个最小值作为同步基准值。 选取修正硬件吋 间码中的最小值得目的是为了简化计算， 同吋也为了获取更好的效果。 这吋， 所有的相机都只需要拉长当前帧或下帧图像的吋间长度就行。 在计算出相机的 帧补偿值之后， 多相机***中的相机便可根据该帧补偿值相应调整当前帧或下 一帧图像的长度， 使得在相机在采集下帧或下下帧图像吋可以实现同步曝光。 本发明实施例与图 2所示的实施例一样， 还可以包括步骤 S104的内容， 在此不再 赘述。  [0103] In the specific processing, the determined synchronization reference value may be a minimum value among the plurality of modified hardware time codes, that is, a minimum value is selected from the plurality of modified hardware time codes as the synchronization reference value. The minimum worth of selecting the correct hardware code is to simplify the calculation, and also to get better results. In this case, all cameras only need to lengthen the inter-frame length of the current frame or the next frame image. After calculating the frame compensation value of the camera, the camera in the multi-camera system can adjust the length of the current frame or the next frame image according to the frame compensation value, so that the camera can acquire the lower frame or the lower frame image. Synchronous exposure. The embodiment of the present invention may also include the content of step S104 as in the embodiment shown in FIG. 2, and details are not described herein again.
[0104] 应理解， 在上述实施例中， 各步骤的序号的大小并不意味着执行顺序的先后， 各步骤的执行顺序应以其功能和内在逻辑确定， 而不应对本发明实施例的实施 过程构成任何限定。 由于上述图 1至图 6对同步曝光的方法进行了详细的描述， 下面将结合附图， 对应用上述同步曝光的方法的装置、 终端设备以及计算机可 读存储介质进行详细描述。 为避免赘述， 上文中已经描述的术语和相关解释在 下文中可能不再说明。  It should be understood that, in the above embodiments, the size of the sequence numbers of the steps does not mean the order of execution order, and the order of execution of each step should be determined by its function and internal logic, and should not be implemented in the embodiment of the present invention. The process constitutes any limitation. Since the method of synchronous exposure has been described in detail with reference to Figs. 1 to 6, the apparatus, the terminal device and the computer readable storage medium to which the above-described method of synchronous exposure is applied will be described in detail below with reference to the accompanying drawings. To avoid redundancy, the terms and related explanations already described above may not be described below.
[0105] 请参见图 7， 图 7是本发明提供的应用于多相机***中主相机的同步曝光的装置 700的结构框图， 为了便于说明， 仅示出与本发明实施例相关的部分。 其中， 该 多相机***包括： 一个主相机和至少一个从相机。  Referring to FIG. 7, FIG. 7 is a structural block diagram of an apparatus 700 for simultaneous exposure of a main camera in a multi-camera system provided by the present invention. For the convenience of description, only parts related to the embodiment of the present invention are shown. Wherein, the multi-camera system comprises: a main camera and at least one slave camera.
[0106] 该同步曝光的装置 700可以是内置于主相机内的软件单元、 硬件单元或者软硬 结合的单元， 也可以作为独立的挂件集成到所述主相机中。 该同步曝光的装置 7 00包括： 获取模块 701， 用于在接收到同步曝光的指令后， 获取所述多相机*** 中每个相机的初始硬件吋间码， 得到多个初始硬件吋间码。 确定模块 702， 用于 根据所述获取模块 701获取的所述多个初始硬件吋间码确定同步基准值， 并根据 所述同步基准值和每个相机的初始硬件吋间码， 确定所述多相机***中每个相 机对应的帧补偿值。 发送模块 703， 用于将所述从相机的帧补偿值发送至对应的 每个从相机， 以便所述主相机根据确定的主相机的帧补偿值调整图像的长度吋 ， 每个从相机根据接收到的对应的所述帧补偿值调整图像的长度使得所述多相 机***中所有相机的曝光吋间同步。 同步标识获取模块 704， 用于获取同步标识 信息， 以便于所述同步标识信息与所述多相机***中每个相机的待同步图像关 联， 使得待同步图像具有相同的同步标识信息， 所述待同步图像为所述多相机 ***中所有相机同步曝光吋每个相机分别采集的图像。 其它模块或者单元可以 根据上述方法实施例中的步骤对应获得， 在此不再赘述。 [0106] The apparatus 700 for synchronous exposure may be a software unit, a hardware unit, or a combination of soft and hard units built in the main camera, or may be integrated into the main camera as a separate pendant. The synchronous exposure device 7 00 includes: an obtaining module 701, configured to acquire an initial hardware time code of each camera in the multi-camera system after receiving an instruction for synchronous exposure, to obtain a plurality of initial hardware time codes. a determining module 702, configured to determine a synchronization reference value according to the plurality of initial hardware time codes acquired by the obtaining module 701, and determine the multiple according to the synchronization reference value and an initial hardware time code of each camera The frame compensation value for each camera in the camera system. The sending module 703 is configured to send the frame compensation value of the slave camera to each corresponding slave camera, so that the master camera adjusts the length of the image according to the frame compensation value of the determined master camera, and each slave camera receives the image according to The corresponding frame compensation value to the adjusted image length is such that the exposures of all cameras in the multi-camera system are synchronized. The synchronization identifier obtaining module 704 is configured to acquire synchronization identification information, so that the synchronization identification information is associated with the image to be synchronized of each camera in the multi-camera system, so that the image to be synchronized has the same synchronization identification information, and the to-be-synchronized image has the same synchronization identification information. The sync image is an image that is acquired separately for each camera in the multi-camera system. Other modules or units may be obtained according to the steps in the foregoing method embodiments, and details are not described herein again.
[0107] 图 8是本发明一实施例提供的终端设备的示意框图。 该终端设备可以是外接于 多相机***的终端设备， 也可以是多相机***中的主相机， 如图 8所示， 该实施 例的终端设备 9包括： 一个或多个处理器 90、 存储器 91以及存储在存储器 91中并 可在处理器 90上运行的计算机程序 92。 处理器 90执行计算机程序 92吋实现上述 各个同步曝光的方法实施例中的步骤， 例如图 1所示的步骤 S101至 S104。 或者， 处理器 90执行计算机程序 92吋实现上述装置实施例中各模块 /单元的功能， 例如 图 7所示模块 701至 704的功能。 FIG. 8 is a schematic block diagram of a terminal device according to an embodiment of the present invention. The terminal device may be a terminal device externally connected to the multi-camera system, or may be a main camera in the multi-camera system. As shown in FIG. 8, the terminal device 9 of this embodiment includes: one or more processors 90, and a memory 91. And a computer program 92 stored in the memory 91 and operable on the processor 90. The processor 90 executes the steps in the computer program 92 to implement the various embodiments of the method described above, such as steps S101 through S104 shown in FIG. Alternatively, the processor 90 performs 92-inch computer program realizing the functions of each module / unit of the above-described apparatus embodiment, for example, functional blocks shown in FIG. 7 701-704.
[0108] 示例性的， 计算机程序 92可以被分割成一个或多个模块 /单元， 一个或者多个 模块 /单元被存储在存储器 91中， 并由处理器 90执行， 以完成本发明。 所述一个 或多个模块 /单元可以是能够完成特定功能的一系列计算机程序指令段， 该指令 段用于描述所述计算机程序 92在所述终端设备 9中的执行过程。 例如， 所述计算 机程序 92可以被分割成获取模块、 确定模块、 发送模块、 同步标识获取模块。 终端设备包括但不仅限于处理器 90、 存储器 91。 本领域技术人员可以理解， 图 8 仅仅是终端设备 9的示例， 并不构成对终端设备 9的限定， 可以包括比图示更多 或更少的部件， 或者组合某些部件， 或者不同的部件。  [0108] Illustratively, computer program 92 may be partitioned into one or more modules/units, one or more modules/units being stored in memory 91 and executed by processor 90 to complete the present invention. The one or more modules/units may be a series of computer program instructions that are capable of performing a particular function, and are used to describe the execution of the computer program 92 in the terminal device 9. For example, the computer program 92 can be partitioned into an acquisition module, a determination module, a transmission module, and a synchronization identification acquisition module. Terminal devices include, but are not limited to, processor 90, memory 91. It will be understood by those skilled in the art that FIG. 8 is only an example of the terminal device 9, and does not constitute a limitation on the terminal device 9, and may include more or less components than those illustrated, or combine some components, or different components. .
[0109] 本发明实施例的终端设备， 通过处理器 90和存储器 91执行上述实施例提供的同 步曝光的方法或同步曝光的装置的功能， 从而提高复杂场景下多相机同步的精 度。 [0109] The terminal device in the embodiment of the present invention performs the same as that provided by the foregoing embodiment by using the processor 90 and the memory 91. The method of step exposure or the function of the device for synchronous exposure, thereby improving the accuracy of multi-camera synchronization in complex scenes.
[0110] 另外， 本发明实施例还提供了一种计算机可读存储介质， 所述计算机可读存储 介质存储有计算机程序， 所述计算机程序被一个或多个处理器执行吋实现本发 明实施例提供的同步曝光的方法的步骤。  [0110] In addition, an embodiment of the present invention further provides a computer readable storage medium, where the computer readable storage medium stores a computer program, and the computer program is executed by one or more processors to implement an embodiment of the present invention. The steps provided by the method of simultaneous exposure.
[0111] 本发明实施例的技术方案本质上或者说对现有技术做出贡献的部分或者该技术 方案的全部或部分可以以软件产品的形式体现出来， 该计算机软件产品存储在 一个存储介质中， 包括若干指令用以使得一台计算机设备或处理器执行本发明 实施例各个实施例所述方法的全部或部分步骤。  [0111] The technical solution of the embodiments of the present invention may be embodied in the form of a software product in the form of a software product in essence or in the form of a contribution to the prior art, and the computer software product is stored in a storage medium. The instructions include a plurality of instructions for causing a computer device or processor to perform all or part of the steps of the methods described in various embodiments of the embodiments of the invention.
[0112] 以上所述实施例仅用以说明本发明的技术方案， 而非对其限制； 尽管参照前述 实施例对本发明进行了详细的说明， 本领域的普通技术人员应当理解： 其依然 可以对前述各实施例所记载的技术方案进行修改， 或者对其中部分技术特征进 行等同替换； 而这些修改或者替换， 并不使相应技术方案的本质脱离本发明实 施例各实施例技术方案的精神和范围。  The above-mentioned embodiments are only for explaining the technical solutions of the present invention, and are not intended to be limiting thereof; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that The technical solutions described in the foregoing embodiments are modified, or some of the technical features are equivalently replaced; and the modifications or substitutions do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. .

Claims

权利要求书 Claim
[权利要求 1] 一种同步曝光的方法， 其特征在于， 应用于多相机***中的主相机， 所述多相机***中包括一个主相机以及至少一个从相机， 所述方法包 括：  [Claim 1] A method of synchronous exposure, which is applied to a main camera in a multi-camera system, the multi-camera system including a main camera and at least one slave camera, the method comprising:
在接收到同步曝光的指令后， 获取所述多相机***中每个相机的初始 硬件吋间码， 得到多个初始硬件吋间码；  After receiving the instruction of the synchronous exposure, acquiring an initial hardware time code of each camera in the multi-camera system, and obtaining a plurality of initial hardware time codes;
根据所述多个初始硬件吋间码确定同步基准值， 并根据所述同步基准 值和每个相机的初始硬件吋间码， 确定所述多相机***中每个相机对 应的帧补偿值；  Determining a synchronization reference value according to the plurality of initial hardware time codes, and determining a frame compensation value corresponding to each camera in the multi-camera system according to the synchronization reference value and an initial hardware time code of each camera;
将所述从相机的帧补偿值发送至对应的每个从相机， 以便所述主相机 根据确定的主相机的帧补偿值调整图像的长度吋， 每个从相机根据接 收到的对应的所述帧补偿值调整图像的长度使得所述多相机***中所 有相机的曝光吋间同步；  Transmitting the frame compensation value of the slave camera to each of the corresponding slave cameras, so that the master camera adjusts the length of the image according to the determined frame compensation value of the master camera, and each slave camera according to the received corresponding The frame compensation value adjusts the length of the image such that the exposures of all cameras in the multi-camera system are synchronized;
获取同步标识信息， 以便于所述同步标识信息与所述多相机***中每 个相机的待同步图像关联使得每个相机的待同步图像具有相同的同步 标识信息， 所述待同步图像为所述多相机***中所有相机同步曝光吋 每个相机分别采集的图像。  Obtaining synchronization identification information, so that the synchronization identification information is associated with the image to be synchronized of each camera in the multi-camera system such that the image to be synchronized of each camera has the same synchronization identification information, and the image to be synchronized is the All cameras in a multi-camera system are simultaneously exposed to the images acquired by each camera.
[权利要求 2] 根据权利要求 1所述的方法， 其特征在于， 在所述根据所述多个初始 硬件吋间码确定同步基准值之前， 所述方法还包括：  [Claim 2] The method according to claim 1, wherein before the determining the synchronization reference value according to the plurality of initial hardware inter-codes, the method further includes:
对所述多个初始硬件吋间码做延吋修正处理， 得到多个修正硬件吋间 码；  Performing delay correction processing on the plurality of initial hardware inter-frame codes to obtain a plurality of modified hardware inter-turn codes;
所述延吋修正处理包括以下至少一项：网络延吋修正处理、 操作延吋 修正处理以及硬件累计修正处理；  The delay correction processing includes at least one of the following: network delay correction processing, operation delay correction processing, and hardware cumulative correction processing;
所述根据所述多个初始硬件吋间码确定同步基准值的步骤， 具体包括 根据所述多个修正硬件吋间码确定所述同步基准值；  The step of determining a synchronization reference value according to the plurality of initial hardware inter-frame codes, specifically, determining the synchronization reference value according to the plurality of modified hardware time codes;
所述根据所述同步基准值和每个相机的初始硬件吋间码， 确定所述多 相机***中每个相机对应的帧补偿值， 具体包括： 根据所述同步基准值和所述多个修正硬件吋间码， 确定所述多相机系 统中每个相机对应的帧补偿值。 Determining, according to the synchronization reference value and an initial hardware code of each camera, a frame compensation value corresponding to each camera in the multi-camera system, specifically: And determining a frame compensation value corresponding to each camera in the multi-camera system according to the synchronization reference value and the plurality of modified hardware time codes.
[权利要求 3] 根据权利要求 2所述的方法， 其特征在于， 所述延吋修正处理包括： 网络延吋修正处理； [Claim 3] The method according to claim 2, wherein the delay correction processing comprises: network delay correction processing;
所述对所述多个初始硬件吋间码做延吋修正处理， 得到多个修正硬件 吋间码的步骤， 具体包括：  The step of performing a delay correction process on the plurality of initial hardware codes to obtain a plurality of steps for correcting the hardware time code includes:
获取所述主相机与每个从相机之间的网络延吋值； 根据所述多个初始硬件吋间码和获取的所述主相机与每个从相机之间 的网络延吋值计算获得每个相机的修正硬件吋间码。  Obtaining a network delay value between the primary camera and each slave camera; obtaining each calculation based on the plurality of initial hardware time codes and the obtained network delay value between the primary camera and each slave camera Corrected the hardware code of the camera.
[权利要求 4] 根据权利要求 2所述的方法， 其特征在于， 所述延吋修正处理包括： 操作延吋修正处理； 所述对所述多个初始硬件吋间码做延吋修正处理， 得到多个修正硬件 吋间码的步骤， 具体包括： [Claim 4] The method according to claim 2, wherein the delay correction processing comprises: operating delay correction processing; performing delay correction processing on the plurality of initial hardware time codes, The steps of obtaining multiple modified hardware time codes include:
当获取每个从相机的初始硬件吋间码吋， 读取所述主相机的瞬吋硬件 吋间码；  Reading the instantaneous hardware time code of the main camera when acquiring the initial hardware time code of each slave camera;
将所述主相机的瞬吋硬件吋间码与所述主相机的初始硬件吋间码做差 值运算， 得到所述主相机与每个从相机之间的操作延吋值； 根据所述多个初始硬件吋间码和得到的所述主相机与每个从相机之间 的操作延吋值计算获得每个相机的修正硬件吋间码。  Performing a difference operation between the instantaneous hardware time code of the main camera and the initial hardware time code of the main camera to obtain an operation delay value between the main camera and each of the slave cameras; The initial hardware hardware code and the resulting operational delay value calculation between the primary camera and each slave camera obtain a corrected hardware time code for each camera.
[权利要求 5] 根据权利要求 2所述的方法， 其特征在于， 所述延吋修正处理包括： 硬件累计修正处理； [Claim 5] The method according to claim 2, wherein the delay correction processing comprises: hardware cumulative correction processing;
所述对所述多个初始硬件吋间码做延吋修正处理， 得到多个修正硬件 吋间码的步骤， 具体包括：  The step of performing a delay correction process on the plurality of initial hardware codes to obtain a plurality of steps for correcting the hardware time code includes:
对应获取每个相机最近一次中断触发吋刻的中断吋间码；  Corresponding to the interrupt time code obtained by acquiring the last interrupt trigger of each camera;
将所述多个初始硬件吋间码与获取的所述中断吋间码做差值运算， 对 应得到每个相机的修正硬件吋间码。  Performing a difference operation between the plurality of initial hardware time codes and the acquired interrupt time code, corresponding to obtaining a corrected hardware time code of each camera.
[权利要求 6] 根据权利要求 2所述的方法， 其特征在于， 所述延吋修正处理包括： 网络延吋修正处理和操作延吋修正处理； 所述对所述多个初始硬件吋间码做延吋修正处理， 得到多个修正硬件 吋间码的步骤， 具体包括： [Claim 6] The method according to claim 2, wherein the delay correction processing comprises: a network delay correction processing and an operation delay correction processing; The step of performing a delay correction process on the plurality of initial hardware inter-codes to obtain a plurality of steps for correcting the hardware time code includes:
获取所述主相机与每个从相机之间的网络延吋值； 当获取每个从相机的初始硬件吋间码吋， 读取所述主相机的瞬吋硬件 吋间码；  Obtaining a network delay value between the primary camera and each of the secondary cameras; and reading an initial hardware time code of each of the secondary cameras, reading the instantaneous hardware time code of the primary camera;
将所述主相机的瞬吋硬件吋间码与所述主相机的初始硬件吋间码做差 值运算， 得到所述主相机与每个从相机之间的操作延吋值； 根据所述多个初始硬件吋间码、 所述主相机与每个从相机之间的网络 延吋值和所述操作延吋值计算获得每个相机的修正硬件吋间码。  Performing a difference operation between the instantaneous hardware time code of the main camera and the initial hardware time code of the main camera to obtain an operation delay value between the main camera and each of the slave cameras; The initial hardware hardware code, the network delay value between the master camera and each slave camera, and the operational delay value are calculated to obtain a corrected hardware time code for each camera.
[权利要求 7] 根据权利要求 2所述的方法， 其特征在于， 所述延吋修正处理包括： 网络延吋修正处理和硬件累计修正处理； [Claim 7] The method according to claim 2, wherein the delay correction processing comprises: network delay correction processing and hardware cumulative correction processing;
所述对所述多个初始硬件吋间码做延吋修正处理， 得到多个修正硬件 吋间码的步骤， 具体包括：  The step of performing a delay correction process on the plurality of initial hardware codes to obtain a plurality of steps for correcting the hardware time code includes:
获取所述主相机与每个从相机之间的网络延吋值； 对应获取每个相机最近一次中断触发吋刻的中断吋间码；  Obtaining a network delay value between the main camera and each of the slave cameras; correspondingly acquiring an interrupt time code of each camera that is triggered by the last interrupt;
根据所述多个初始硬件吋间码、 所述主相机与每个从相机之间的网络 延吋值和所述中断吋间码计算获得每个相机的修正硬件吋间码。  A corrected hardware time code for each camera is obtained based on the plurality of initial hardware time codes, network delay values between the master camera and each slave camera, and the interrupt time code.
[权利要求 8] 根据权利要求 2所述的方法， 其特征在于， 所述延吋修正处理包括： 操作延吋修正处理和硬件累计修正处理； [Claim 8] The method according to claim 2, wherein the delay correction processing comprises: operation delay correction processing and hardware cumulative correction processing;
所述对所述多个初始硬件吋间码做延吋修正处理， 得到多个修正硬件 吋间码的步骤， 具体包括：  The step of performing a delay correction process on the plurality of initial hardware codes to obtain a plurality of steps for correcting the hardware time code includes:
当获取每个从相机的初始硬件吋间码吋， 读取所述主相机的瞬吋硬件 吋间码；  Reading the instantaneous hardware time code of the main camera when acquiring the initial hardware time code of each slave camera;
将所述主相机的瞬吋硬件吋间码与所述主相机的初始硬件吋间码做差 值运算， 得到所述主相机与每个从相机之间的操作延吋值； 对应获取每个相机最近一次中断触发吋刻的中断吋间码；  Performing a difference operation between the instantaneous hardware time code of the main camera and the initial hardware time code of the main camera to obtain an operation delay value between the main camera and each of the slave cameras; The most recent interruption of the camera triggers the interrupted inter-turn code;
根据所述多个初始硬件吋间码、 所述主相机与每个从相机之间的操作 延吋值和中断吋间码计算获得每个相机的修正硬件吋间码。 A corrected hardware time code for each camera is obtained based on the plurality of initial hardware time codes, the operational delay value between the primary camera and each slave camera, and the interrupted day code.
[权利要求 9] 根据权利要求 2所述的方法， 其特征在于， 所述延吋修正处理包括： 网络延吋修正处理、 操作延吋修正处理和硬件累计修正处理； 所述对所述多个初始硬件吋间码做延吋修正处理， 得到多个修正硬件 吋间码的步骤， 具体包括： [Claim 9] The method according to claim 2, wherein the delay correction processing comprises: network delay correction processing, operation delay correction processing, and hardware cumulative correction processing; The initial hardware code is subjected to delay correction processing, and a plurality of steps of correcting the hardware time code are obtained, which specifically includes:
获取所述主相机与每个从相机之间的网络延吋值； 对应获取每个相机最近一次中断触发吋刻的中断吋间码；  Obtaining a network delay value between the main camera and each of the slave cameras; correspondingly acquiring an interrupt time code of each camera that is triggered by the last interrupt;
当获取每个从相机的初始硬件吋间码吋， 读取所述主相机的瞬吋硬件 吋间码；  Reading the instantaneous hardware time code of the main camera when acquiring the initial hardware time code of each slave camera;
将所述主相机的瞬吋硬件吋间码与所述主相机的初始硬件吋间码做差 值运算， 得到所述主相机与每个从相机之间的操作延吋值； 根据所述多个初始硬件吋间码、 所述主相机与每个从相机之间的网络 延吋值、 操作延吋值和每个相机的中断吋间码计算获得每个相机的修 正硬件吋间码。  Performing a difference operation between the instantaneous hardware time code of the main camera and the initial hardware time code of the main camera to obtain an operation delay value between the main camera and each of the slave cameras; The initial hardware hardware code, the network delay value between the master camera and each slave camera, the operation delay value, and the interrupt time code calculation for each camera obtain the corrected hardware time code for each camera.
[权利要求 10] 根据权利要求 2所述的方法， 其特征在于， 所述根据所述同步基准值 和每个相机的修正硬件吋间码， 确定所述多相机***中每个相机对应 的帧补偿值的步骤， 具体为：  [Claim 10] The method according to claim 2, wherein the determining a frame corresponding to each camera in the multi-camera system according to the synchronization reference value and a corrected hardware time code of each camera The step of compensating the value is specifically as follows:
根据公式 B i=(N i-S^FrameLength计算相机的帧补偿值；  Calculating the frame compensation value of the camera according to the formula B i=(N i-S^FrameLength;
其中， B i表示相机 i的帧补偿值， N i表示经延吋修正处理后相机 i的 修正硬件吋间码， S表示同步基准值， FmmeLength表示所述多相机系 统中每个相机的一帧图像以振荡周期为单位的大小， <¾表示模运算。  Wherein, B i represents a frame compensation value of the camera i, N i represents a modified hardware time code of the camera i after the delay correction processing, S represents a synchronization reference value, and FmmeLength represents a frame of each camera in the multi-camera system. The size of the image in units of oscillation periods, <3⁄4 represents the modulo operation.
[权利要求 1 1] 根据权利要求 1所述的方法， 其特征在于， 所述根据所述多个初始硬 件吋间码确定同步基准值， 具体包括： [Claim 1 1] The method according to claim 1, wherein the determining the synchronization reference value according to the plurality of initial hardware time codes comprises:
选择所述多个初始硬件吋间码中的最大值或最小值作为同步基准值； 或者， 计算所述多个初始硬件吋间码的平均值， 并将所述平均值作为 同步基准值。  Selecting a maximum value or a minimum value among the plurality of initial hardware time codes as a synchronization reference value; or calculating an average value of the plurality of initial hardware time codes, and using the average value as a synchronization reference value.
[权利要求 12] 根据权利要求 2所述的方法， 其特征在于， 所述根据所述多个修正硬 件吋间码确定所述同步基准值包括：  [Claim 12] The method according to claim 2, wherein the determining the synchronization reference value according to the plurality of modified hardware time codes comprises:
选择所述多个修正硬件吋间码中的最大值或最小值作为同步基准值； 或者， 计算所述多个修正硬件吋间码的平均值， 并将所述平均值作为 同步基准值。 Selecting a maximum value or a minimum value among the plurality of modified hardware time codes as a synchronization reference value; Alternatively, an average value of the plurality of modified hardware time codes is calculated, and the average value is used as a synchronization reference value.
[权利要求 13] 根据权利要求 1至 12任一项所述的方法， 其特征在于， 所述同步标识 信息包括图像帧号。  [Claim 13] The method according to any one of claims 1 to 12, wherein the synchronization identification information includes an image frame number.
[权利要求 14] 根据权利要求 13所述的方法， 其特征在于， 所述获取同步标识信息， 以便于所述同步标识信息与所述多相机***中每个相机的待同步图像 关联， 包括：  The method of claim 13, wherein the acquiring the synchronization identification information to associate the synchronization identification information with the image to be synchronized of each camera in the multi-camera system comprises:
获取所述多相机***中任一相机待同步图像的图像帧号并将所述图像 帧号作为所述同步标识信息；  Obtaining an image frame number of an image to be synchronized of any camera in the multi-camera system and using the image frame number as the synchronization identification information;
将所述待同步图像的图像帧号发送至所述多相机***中的每个从相机 ， 以便于所述多相机***中的所有相机根据接收到的所述图像帧号调 整待同步图像的图像帧号。  Transmitting an image frame number of the image to be synchronized to each slave camera in the multi-camera system, so that all cameras in the multi-camera system adjust an image of the image to be synchronized according to the received image frame number Frame number.
[权利要求 15] —种同步曝光的装置， 其特征在于， 应用于多相机***中的主相机， 所述多相机***中包括一个主相机以及至少一个从相机， 所述装置包 括： [Claim 15] A device for synchronous exposure, which is applied to a main camera in a multi-camera system, the multi-camera system including a main camera and at least one slave camera, the device comprising:
获取模块， 用于在接收到同步曝光的指令后， 获取所述多相机***中 每个相机的初始硬件吋间码， 得到多个初始硬件吋间码；  An obtaining module, configured to acquire an initial hardware time code of each camera in the multi-camera system after receiving an instruction for synchronous exposure, to obtain a plurality of initial hardware time codes;
确定模块， 用于根据所述多个初始硬件吋间码确定同步基准值， 并根 据所述同步基准值和每个相机的初始硬件吋间码， 确定所述多相机系 统中每个相机对应的帧补偿值； 发送模块， 用于将所述从相机的帧补偿值发送至对应的每个从相机， 以便所述主相机根据确定的主相机的帧补偿值调整图像的长度吋， 每 个从相机根据接收到的对应的所述帧补偿值调整图像的长度使得所述 多相机***中所有相机的曝光吋间同步；  a determining module, configured to determine a synchronization reference value according to the plurality of initial hardware time codes, and determine, according to the synchronization reference value and an initial hardware time code of each camera, corresponding to each camera in the multi-camera system a frame compensation value; a sending module, configured to send the frame compensation value of the slave camera to each corresponding slave camera, so that the master camera adjusts the length of the image according to the determined frame compensation value of the master camera, each slave Adjusting, by the camera, the length of the image according to the received frame compensation value to synchronize the exposures of all the cameras in the multi-camera system;
同步标识获取模块， 用于获取同步标识信息， 以便于所述同步标识信 息与所述多相机***中每个相机的待同步图像关联， 使得每个相机的 待同步图像具有相同的同步标识信息， 所述待同步图像为所述多相机 ***中所有相机同步曝光吋每个相机分别采集的图像。 a synchronization identifier obtaining module, configured to acquire synchronization identification information, so that the synchronization identification information is associated with an image to be synchronized of each camera in the multi-camera system, so that images to be synchronized of each camera have the same synchronization identification information, The image to be synchronized is an image that is respectively acquired by each camera in the multi-camera system.
[权利要求 16] —种终端设备， 其特征在于， 应用于多相机***中的主相机， 所述多 相机***包括一个所述主相机以及至少一个从相机； 所述终端设备包 括存储器、 处理器以及存储在所述存储器中并可在所述处理器上运行 的计算机程序， 所述处理器执行所述计算机程序吋实现权利要求 1至 1 4中任一项所述的方法的步骤。 [Claim 16] A terminal device, which is applied to a main camera in a multi-camera system, the multi-camera system including one of the main camera and at least one slave camera; the terminal device including a memory, a processor And a computer program stored in the memory and operable on the processor, the processor executing the computer program to implement the steps of the method of any one of claims 1 to 14.
[权利要求 17] —种计算机可读存储介质， 所述计算机可读存储介质存储有计算机程 序， 其特征在于， 所述计算机程序被处理器执行吋实现如权利要求 1 至 14任一项所述方法的步骤。  [Claim 17] A computer readable storage medium storing a computer program, wherein the computer program is executed by a processor, implementing the method of any one of claims 1 to The steps of the method.
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