CN107231533A - A kind of synchronous exposure method, device and terminal device - Google Patents

A kind of synchronous exposure method, device and terminal device Download PDF

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Publication number
CN107231533A
CN107231533A CN201710439193.4A CN201710439193A CN107231533A CN 107231533 A CN107231533 A CN 107231533A CN 201710439193 A CN201710439193 A CN 201710439193A CN 107231533 A CN107231533 A CN 107231533A
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China
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camera
image
multicamera system
sync
synchronized
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CN107231533B (en
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崔永太
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Shenzhen Ruili Visual Multimedia Technology Co Ltd
Shenzhen Realis Multimedia Technology Co Ltd
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Shenzhen Ruili Visual Multimedia Technology Co Ltd
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Priority to CN201710439193.4A priority Critical patent/CN107231533B/en
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Priority to PCT/CN2018/090743 priority patent/WO2018228352A1/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/50—Control of the SSIS exposure
    • H04N25/57—Control of the dynamic range
    • H04N25/58—Control of the dynamic range involving two or more exposures
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)

Abstract

A kind of synchronous exposure method, device and its terminal device, applied to multicamera system, methods described includes：Adjust the time for exposure of the camera in the multicamera system so that all cameras in the multicamera system synchronously expose when gathering image；Obtain sync id information, in order to which corresponding camera associates the sync id information with the image to be synchronized of each camera in the multicamera system in multicamera system, so that the image to be synchronized of each camera has identical sync id information, the image that the image to be synchronized of each camera is gathered respectively for each camera when all cameras synchronously expose in the multicamera system, the problem of image addition sync id information that each camera is gathered respectively when this programme is by the way that all cameras are synchronously exposed solves inaccurate in the image of the synchronous exposure of identification.

Description

A kind of synchronous exposure method, device and terminal device
Technical field
The invention belongs to multicamera system technical field, more particularly to a kind of synchronous exposure method, device and terminal device.
Background technology
Multicamera system is to be based on principle of computer vision, and multiple cameras, light source, storage device etc. are combined into group The system built, is commonly applied to 3D reconstructions, motion-captured, multi-view point video etc..For example optical profile type motion capture is namely based on calculating Machine visual theory, the skill of motion capture is carried out by multiple high speed cameras to the monitoring and tracking of target signature point from different perspectives Art.For any point in space, as long as it is simultaneously by two camera findings, it is possible to determine this moment point in space In position, when camera is continuously shot with sufficiently high speed, the movement locus of the point is can be obtained by from image sequence, If in the multiple points of an object marker, shooting this object simultaneously by many cameras, it is possible to obtain the fortune of this object Dynamic rail mark.This is also accomplished by exposure alignment during the multiple cameras collection each two field picture for participating in shooting.
At present, after each camera collection image in multicamera system server can be sent immediately, server is by the same time The image collected is used as the synchronous image procossing exposed.But, when the model of camera in multicamera system is different, different shaped Number camera gather a two field picture time also just differ, so the image that server collects the same time is used as synchronization The image of exposure will be inaccurate.
The content of the invention
In consideration of it, the present invention provides a kind of synchronous exposure method, device and terminal device, solve in the synchronous exposure of identification The problem of inaccurate during image.
The first aspect of the present invention is there is provided a kind of synchronous exposure method, and applied to multicamera system, methods described includes：
Adjust the time for exposure of the camera in the multicamera system so that all cameras in the multicamera system are adopted Synchronously exposed during collection image；
Sync id information is obtained, in order to which the sync id information is treated with each camera in the multicamera system Synchronous images are associated so that the image to be synchronized of each camera has identical sync id information, and each camera is treated The image that synchronous images are gathered respectively for each camera when all cameras synchronously expose in the multicamera system.
The second aspect of the present invention is there is provided a kind of synchronous exposure device, and applied to multicamera system, described device includes：
Synchronization module, the time for exposure for adjusting the camera in the multicamera system so that the multicamera system In all cameras collection image when synchronously expose；
Relating module, for obtaining sync id information, in order to the sync id information and the multicamera system In each camera image to be synchronized association so that the image to be synchronized of each camera has identical sync id information, institute Each camera when all cameras synchronously expose in the image to be synchronized multicamera system of each camera is stated to gather respectively Image.
The third aspect of the present invention is applied to multicamera system, the end there is provided a kind of terminal device, the terminal device End equipment includes memory, processor and is stored in the computer journey that can be run in the memory and on the processor Sequence, the step of methods described of above-mentioned first aspect offer is provided described in the computing device during computer program.
The fourth aspect of the present invention is deposited there is provided a kind of computer-readable recording medium, the computer-readable recording medium Computer program is contained, the computer program realizes the institute that above-mentioned first aspect is provided when being executed by one or more processors The step of stating method.
The beneficial effect that exists compared with prior art of the present invention is：
The technical scheme that the present invention is provided, it is necessary first to adjust synchronous during the camera collection image in the multicamera system Exposure, on the basis of polyphaser synchronously exposure, obtains sync id information, the sync id information can be with the multiphase The image to be synchronized association of each camera in machine system, or the sync id Information Compression is entered in the multicamera system In the view data to be synchronized of each camera, all images of so synchronous exposure just have identical sync id information, i.e., Make the time for being sent to server in multicamera system after each camera collection image different, will not also cause exposure synchronous in identification Occurs inaccurate phenomenon during the image of light.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art In required for the accompanying drawing that uses be briefly described, it should be apparent that, drawings in the following description are only some of the present invention Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these Accompanying drawing obtains other accompanying drawings.
Fig. 1 is the schematic flow sheet of the first embodiment for the synchronous exposure method that the present invention is provided；
Fig. 2 is the schematic flow sheet of the another embodiment for the synchronous exposure method that the present invention is provided；
Fig. 3 is one embodiment schematic flow sheet of step S101 in the first embodiment that the present invention is provided；
Fig. 4 is another embodiment schematic flow sheet of step S101 in the first embodiment that the present invention is provided；
Fig. 5 is another embodiment schematic flow sheet of step S101 in the first embodiment that the present invention is provided；
Fig. 6 is another embodiment schematic flow sheet of step S101 in the first embodiment that the present invention is provided；
Fig. 7 is another embodiment schematic flow sheet of step S101 in the first embodiment that the present invention is provided；
Fig. 8 is another embodiment schematic flow sheet of step S101 in the first embodiment that the present invention is provided；
Fig. 9 is another embodiment schematic flow sheet of step S101 in the first embodiment that the present invention is provided；
Figure 10 is the schematic block diagram of the embodiment for the synchronous exposure device that the present invention is provided；
Figure 11 is the schematic block diagram of the embodiment for the terminal device that the present invention is provided.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is a part of embodiment of the invention, rather than whole embodiments.Based on this hair Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made Example, belongs to the scope of protection of the invention.
Before the embodiment of the description embodiment of the present invention, the working method of multicamera system is analyzed first.
Generally, multicamera system is applied to 3D reconstructions, motion-captured, multi-view point video etc..This requires multicamera system Exposure alignment when the middle multiple cameras for participating in shooting gather each two field picture；Simultaneously as multicamera system is with higher speed It is continuously shot, then sends the image sequence that higher rate is continuously shot to server or data handling system, server Or data handling system needs to recognize the image of synchronous exposure from the great amount of images received, existing mode is server The image of synchronous exposure is recognized according to the time of reception.But, in practical application, usually can because of it is various the reason for, it is many Camera in camera system can not simultaneously ensure with same model, and if the camera of different model realizes synchronous exposure, but It is due to that one two field picture elapsed time of collection may be different, the camera in multicamera system can be sent out immediately after collection image Deliver to server or data handling system, so result in the image of synchronous exposure collection can't in the same time be sent in phase to Server or image processing system, if server or image processing system are still same using being recognized according to the time of reception The image of step exposure is clearly inaccurate.
In order to solve this problem, it is proposed that synchronous exposure method, device and terminal device of the invention.
Below, it will be described in detail by specific embodiment.
Fig. 1 is referred to, Fig. 1 is the schematic flow sheet of the first embodiment for the synchronous exposure method that the present invention is provided, such as Fig. 1 The shown synchronous exposure method may comprise steps of：
Step S101, adjusts the time for exposure of the camera in the multicamera system so that in the multicamera system Synchronously exposed during all camera collection images.
In embodiments of the present invention, the application of multicamera system determines that the image of multicamera system collection should be The image of synchronous exposure, so firstly the need of the camera in adjustment multicamera system so that all cameras are adopted in multicamera system Synchronously exposed during collection image.During to ensure synchronously to expose during all cameras collection image in multicamera system, it can select many A camera in camera system is as principal phase machine, and other cameras are as from camera, according to principal phase machine and from the camera time for exposure Difference adjust time for exposure of the camera in the multicamera system and cause all camera collection figures in the multicamera system Synchronously exposed during picture.
Step S102, obtains sync id information, in order to every in the sync id information and the multicamera system The image to be synchronized association of individual camera so that the image to be synchronized of each camera has identical sync id information, described every The image that the image to be synchronized of individual camera is gathered respectively for each camera when all cameras synchronously expose in the multicamera system.
In embodiments of the present invention, after all cameras in realizing multicamera system synchronously exposure, as it was previously stated, multiphase Machine system usually needs multiple cameras to be continuously shot to obtain the movement locus of object from image sequence with sufficiently high speed Deng so server or data handling system can receive the image sequence that multiple cameras are sent with sufficiently high speed.If many There is the camera of different model in camera system, though all camera exposure times are identical, but each camera send collection image to It is also different at the time of to server, then server judges that these images are according further to the time for receiving collection image The mode of no synchronous exposure is clearly inaccurate.At this moment, it is contemplated that sync id information can be obtained, and by the synchronization Identification information informs corresponding camera in multicamera system.In this way, all cameras in multicamera system can be by the synchronization Identification information is associated together with image to be synchronized, such as the camera in multicamera system can increase together in image to be synchronized Identification information is walked, or the sync id Information Compression is entered in view data to be synchronized, so that the figure of synchronous exposure As (image i.e. to be synchronized) has identical sync id information.So server or data handling system can be according to synchronizations Which is each camera point when all cameras synchronously expose in multicamera system in the great amount of images that identification information judgment is received The image not gathered.It should be noted that the sync id information can be the image frame number of image to be synchronized in principal phase machine, The information that can also be randomly generated, for example, constitute information by kinds of characters or different digital.
It should be noted that the acquisition modes of sync id information have a variety of, for example, generated by external control device , then the sync id information can be sent to each phase into multicamera system after sync id information is obtained Machine, in order to which each camera can have the associated image for causing synchronous exposure of the sync id information and image to be synchronized There is identical sync id information；In another example, sync id information is produced by one of camera, then now obtained Take after sync id information, the sync id information can be sent remaining camera into multicamera system, thus So that the image that each camera is gathered respectively when all cameras in multicamera system synchronously expose has identical identification information.
The embodiment of the present invention by all cameras in multicamera system by first realizing synchronous exposure, by sync id information Transmission to corresponding camera, then each camera again associates sync id information so that all cameras are same with image to be synchronized The moment image of exposure has identical sync id information.In this way, server just can be according in the collection image received Sync id information judges whether the collection image that each camera is sent is synchronous.
Fig. 2 is referred to, is the schematic flow sheet for the another embodiment of synchronous exposure method that the present invention is provided, as shown in Figure 2 The synchronous exposure method may comprise steps of：
Step S201, adjusts the time for exposure of the camera in the multicamera system so that in the multicamera system Synchronously exposed during all camera collection images.
Step S202, obtains the image frame number of any one camera image to be synchronized in the multicamera system, and will Described image frame number is used as the sync id information.
In embodiments of the present invention, the image frame number of the image to be synchronized of some camera can also be regard as sync id Information, the image that image to be synchronized is gathered respectively for each camera when all cameras synchronously expose in the multicamera system.Choosing The camera taken can be same camera or different cameras from principal phase machine, and specifically obtain which camera treats same The image frame number of image is walked as sync id information, can be selected, be not limited herein according to practical application scene.
Step S203, corresponding camera is sent into the multicamera system by the image frame number of the image to be synchronized, In order to which the camera in the multicamera system adjusts the image of itself image to be synchronized according to the described image frame number received Frame number.
In embodiments of the present invention, after the image frame number of image to be synchronized of some camera is obtained, by described image The camera that frame number is sent into the multicamera system in corresponding camera, the multicamera system is receiving described image frame The image frame number of itself image to be synchronized is adjusted after number, so that the image synchronously exposed in multicamera system has identical Image frame number.
Each camera in multicamera system, when adjusting the frame number of image to be synchronized, is specifically that will believe as sync id The image frame number of breath and the frame number of itself image to be synchronized are contrasted, and judge whether to need adjustment, if desired, then treat itself The frame number of synchronous images is adjusted to the image frame number as sync id information.
The embodiment of the present invention is made by obtaining the image frame number of the image to be synchronized of one of camera in multicamera system For sync id information, the image frame number of image to be synchronized is adjusted to as same by other cameras in the image to be synchronized of itself Walk the image frame number of identification information so that the image of all same Time Exposures of camera has identical image in multicamera system Frame number, in this way, server just can judge the collection that each camera is sent according to the image frame number in the collection image received Whether image is synchronous.
As further embodiment of this invention, after by image associated synchronisation identification information to be synchronized, it can also include：
Sync id sub-sequence information is generated according to the sync id information, in order to every in the multicamera system Individual camera associates the sync id sub-sequence information so that figure to be synchronized with the image sequence after image to be synchronized successively Image sequence as after has identical sync id sub-sequence information successively.
In embodiments of the present invention, a subsynchronous exposure can be all done before multicamera system will not often clap a two field picture, i.e., May separated in time can just carry out a subsynchronous exposure, at this moment we can contemplate synchronously exposure image in add After sync id information, sync id sub-sequence information is generated according to sync id information, clapped after the synchronously image of exposure Sync id sub-sequence information is added in the image sequence taken the photograph, when realizing synchronous exposure again, sync id letter is regenerated Breath, the image sequence shot again after synchronous exposure sequentially adds sync id sub-sequence information.
Specifically, we are illustrated with, it is assumed that the synchronous mark added during the first subsynchronous exposure in image to be synchronized It is the information 00010000 that eight-digit number word is constituted, the sync id added during the second subsynchronous exposure in image to be synchronized to know information Information is just 00020000, so, before four image sequences to be synchronized when illustrating synchronous expose.Per subsynchronous Multiple series of images may be shot between exposure, during the first subsynchronous exposure image to be synchronized and during the second subsynchronous exposure it is to be synchronized The multiple images sequence shot between image can just use 00010001,00010002,00010003 ... expression, similarly, the Image sequence when image to be synchronized and third time synchronously expose when second synchronization exposes between image to be synchronized can be used 00020001st, 00020002,00020003 ... represent, so, behind four when illustrating two subsynchronous exposures Image sequence between image to be synchronized.It should be noted that the citing is only intended to explanation, reality is not intended to limit the invention Example is applied, different sync id information sequences can also be gone out according to different sync id information evolvements.
If it should be noted that the sync id subsequence is produced by one of camera, then now exist Obtain after sync id subsequence, the sync id subsequence can be sent to the corresponding phase into the multicamera system Machine, so all cameras can be associated with the image after image to be synchronized by the sync id subsequence of acquisition so that many The image of collection also there is identical to identify letter after multiple camera images to be synchronized (image of synchronous exposure) in camera system Breath.
The figure that the embodiment of the present invention to gather after multiple cameras image to be synchronized by sync id sub-sequence information As can also have an identical sync id sub-sequence information, such server or data handling system receive it is substantial amounts of It can learn which image can be as synchronous exposure during image according to sync id information or sync id sub-sequence information Image.
As one embodiment in step S101, the camera in the multicamera system can be adjusted in the following manner So that all cameras in the multicamera system synchronously expose when gathering image.
Step S301, chooses one of camera in the multicamera system as principal phase machine, outside the principal phase machine Camera as from camera.
Step S302, obtains the principal phase machine and the difference from the camera time for exposure；
Step S303, in adjusting the multicamera system with the difference from the camera time for exposure according to the principal phase machine Time for exposure of camera all cameras in the multicamera system are synchronously exposed when gathering image.
, can when in embodiments of the present invention, to ensure synchronously to expose during all cameras collection image in multicamera system One of camera is chosen as principal phase machine from multicamera system using elder generation, other cameras obtain principal phase respectively as from camera Machine and the difference from the camera time for exposure, the presence just because of this difference can just cause in multicamera system camera not Synchronous exposure can be realized.Therefore the time for exposure that each camera can be adjusted according to this difference causes all cameras synchronously to expose Light.
It should be noted that being used only for citing above, it is not intended to limit the invention, in practice, realizes polyphaser The method of synchronous exposure is a lot.
As it was previously stated, the embodiment of the present invention needs first to adjust the time for exposure of the camera in the multicamera system so that All cameras in the multicamera system synchronously expose when gathering image.Step S301 to step S303 has made some acts Example, as another embodiment of the present invention, can also realize multiple camera collection figures in multicamera system by other methods Synchronously exposed during picture.It is understood that can be when reaching adjustment exposure by way of adjusting the frame length of camera collection image Between purpose.
Analysis causes the nonsynchronous reason of the camera exposure of each in multicamera system first.
Normally, camera internal has the hardware timer of 64 that a FPGA is built, i.e. hardware timeout code, during the hardware Between code using input clock (MCLK) the crystal oscillator cycle of oscillation of camera sensor as minimum time of day, i.e., often by a crystal oscillator when The value automatic cumulative 1 of clock cycle hardware timeout code.
A kind of situation, when all camera initial setting up are identical (i.e. software and hardware configuration all same), all cameras gather a frame The hardware timeout code that image passes through all is identical.Another situation, when the imaging sensor model of all cameras is different (and When other software and hardware configurations are identical), though now the image resolution ratio of camera is differed, all cameras, which gather a two field picture, to be passed through Hardware timeout code be still identical.But in practice, often due to some factors such as temperature, humidity, the actual crystal oscillator of camera Cycle of oscillation be in change.I other words, the crystal oscillator cycle of oscillation of each camera is not necessarily equal, therefore in multicamera system Elapsed time is not necessarily identical when each camera gathers a two field picture, and this is also that camera exposure occur in multicamera system different The basic reason of step.
Certainly, it also found in actual use, the external environmental factor such as Network Transmission Delays, unstable networks will also result in many Can't Complete Synchronization during individual camera collection image.
To solve the nonsynchronous problem of camera exposure in multicamera system, we will be carried out in detail by specific embodiment Describe to solve the problem.One of embodiment can realize polyphaser by the external control device of multicamera system Multiple cameras in system synchronously expose, and the control device can control multiple cameras in multicamera system synchronously to expose, the above Step in embodiment can also be completed by the control device, and the step of implementing is as follows：
Fig. 4 is referred to, Fig. 4 is another embodiment flow signal of step S101 in the first embodiment that the present invention is provided Figure, the method that the plurality of camera synchronously exposes as shown in Figure 4 may comprise steps of：
Step S401, after the instruction of synchronous exposure is received, each camera is initial in the acquisition multicamera system Hardware timeout code, obtains multiple initial hardware timing codes.
The method of the embodiment of the present invention, which is desirably integrated into control device, is applied to multicamera system, and the embodiment of the present invention is For by multiple cameras in multicamera system, synchronously exposure to be taken pictures.The instruction of synchronous exposure can be by one in multicamera system Individual camera is sent, and can also in itself be sent by external control device.The instruction of synchronous exposure can be control device or camera An internal timer, whenever timer count terminates just one subsynchronous exposure commands of hair.For example, in actual applications, working as phase When the input clock of machine sensor is 40MHZ, about 30 seconds or so clock phases can drift about an exposure cycle (1ms), therefore Need to carry out a subsynchronous exposure within 30s, at this moment can set the instruction that every 20s sends a subsynchronous exposure.If institute The instruction for stating synchronous exposure is sent in itself by control device, then also has a timer inside control device, effect with it is upper The timer effect stated is identical.As one of embodiment, it can also directly set control device itself often by pre- timing Between be issued by the instruction of a synchronous exposure.
In the embodiment of the present invention, if the initial setting up of each camera is identical and resolution ratio of image is big in multicamera system When small equal, in theory in multicamera system the time for exposure of each camera be identical.It can be seen from description above, In practice due to some factors such as temperature, humidity, it, in change, is not completely constant that the cycle of oscillation of actual crystal oscillator, which is also, , therefore occur in that the nonsynchronous problem of exposure.To solve to need in the nonsynchronous problem of exposure, this step to obtain polyphaser system The hardware timeout code of each camera in system, in order to can be according to each camera of the hardware timeout of the acquisition code to multicamera system Time for exposure be adjusted, to cause the time for exposure of all cameras synchronous.
Wherein, there is time Code memory the inside of each camera, and it is used for the hardware timeout code for reading and writing Current camera.Phase After machine sensor is started working, hardware timer module starts timing.The exposure start time of each two field picture of camera and exposure Duration is all that the hardware timeout code recorded with hardware timer carries out timing.Assuming that having N number of phase in multicamera system Machine.So specifically obtaining the process of initial hardware timing code can be：Into multicamera system, each camera sends hardware respectively When the camera that timing code obtains in request, multicamera system receives the request, read from by the time Code memory of itself The hardware timeout yard of body simultaneously returns to the hardware timeout code that each camera is sent in hardware timeout code, reception multicamera system and divided Initial hardware timing code T is not calculated as1、T2、T3……TN.Now, each camera in multicamera system has just been obtained corresponding initial Hardware timeout code T1、T2、T3……TN。
Step S402, synchronous base value is determined according to the multiple initial hardware timing code, and according to the synchronous base The initial hardware timing code of value and each camera, determines the corresponding frame offset of each camera in the multicamera system.
, just can be according to the multiple initial hardware timing code after the corresponding initial hardware timing code of multiple cameras is obtained Determine synchronous base value.It is determined that during synchronous base value, any one value conduct of multiple initial hardware timing codes can be selected Synchronous base value, can also select maximum or minimum value in the multiple initial hardware timing code as synchronous base value, The average value of the multiple initial hardware timing code can certainly be calculated, and regard the average value as synchronous base value.Then According to the synchronous base value and the multiple initial hardware timing codes got, it is determined that the frame offset of each camera.It is determined that same After step a reference value, in addition it is also necessary to according to the initial hardware timing code of each camera of acquisition and the synchronous base value, calculate each The frame offset of individual camera.Specifically, according to synchronous base value and the deviation of the initial hardware timing code of camera, each phase is calculated The corresponding frame offset of machine.
Step S403, corresponding each phase is sent into multicamera system by the corresponding frame offset of each camera Machine, in order to which the length that each camera adjusts image according to the corresponding frame offset causes own in the multicamera system The time for exposure of camera is synchronous.
All cameras in multicamera system, multicamera system are sent to after the corresponding frame offset of each camera is calculated In camera receive the frame offset after, the frame extended register of camera internal is updated, so as in multicamera system Each camera can align the time for exposure when gathering image.
It should be noted that if it is determined that synchronous base value and the initial hardware timing code of camera there is no deviation, then table Show that this camera need not carry out frame compensation in this subsynchronous exposure process.
Need explanation on the other hand, when adjusting the frame length of image according to frame offset, current image frame can be adjusted Frame length, the camera in such multicamera system just can realize synchronous exposure under collection during two field picture, i other words, lower two field picture It is exactly image to be synchronized.Certainly, camera can also adjust the frame length of next two field picture, such multicamera system according to frame offset In camera just can realize synchronous exposure during lower two field picture under collection, i other words, lower two field picture is exactly image to be synchronized, with This analogizes.
The embodiment of the present invention is after the instruction of synchronous exposure is received, by the initial hardware time for obtaining each camera Code, and synchronous base value is determined according to the plurality of initial hardware timing code, and according to the initial hardware timing code of each camera Deviation between synchronous base value, determines the corresponding frame offset of each camera and sends frame offset to corresponding phase Machine so that the frame offset that the camera in multicamera system can be determined according to this adjusts the frame length of image, so that Each camera time for exposure synchronization when gathering image in multicamera system.
It is understood that the reason for causing multiple camera exposure time irreversibilities in multicamera system is vibrated except crystal oscillator Outside cycle is unequal, there are some other factors.For example, when obtaining the initial time code of each camera in multicamera system Network delay, obtain each camera initial time code when operation delay, and camera hardware itself add up delay value. Because the initial hardware timing code of acquisition includes these above-mentioned delay values, therefore further to improve the synchronization of multicamera system Precision,, can also be to the initial hardware timing code of acquisition before determining frame offset after initial hardware timing code is obtained Enter line delay correcting process.It is understood that delay correcting process can include：Network delay correcting process, operation delay Correcting process and hardware add up at least one of correcting process.Accordingly, initial hardware timing code is done after correcting process, It is specifically using revised hardware timeout code, while determining also to adopt during the frame offset of each camera when obtaining synchronous base value With revised hardware timeout code.Below, network delay correcting process, operation delay Corrections Division will be included with the correcting process that is delayed Reason and hardware add up to be described in detail exemplified by correcting process.
Fig. 5 is referred to, is another embodiment schematic flow sheet, such as Fig. 5 of step S101 in first embodiment of the invention The shown synchronous exposure method may comprise steps of：
Step S501, after the instruction of synchronous exposure is received, each camera is initial in the acquisition multicamera system Hardware timeout code, obtains multiple initial hardware timing codes.
Obtained multiple initial hardware timing codes are carried out hardware and add up correcting process, network delay by step S502 successively Processing and operation delay processing.
Below, the specific behaviour that hardware adds up correcting process, network delay processing and operation delay are handled will be described respectively Make process.
First, multiple initial hardware timing codes are carried out with hardware successively and adds up correcting process.
When progress hardware adds up correcting process, after being started working due to camera sensor, hardware timer begins to meter Shi Liao, after work certain time, crystal oscillator can then produce certain cumulative errors, to eliminate this error, therefore can be every The predeterminated position (position of such as the 100th pixel) of two field picture sets triggering CPU hardware to interrupt, after down trigger, firmly Part timer can latch the timing code at current time automatically, often by a down trigger, can latch a timing code.
In step 502, when carrying out hardware to multiple initial hardware timing codes and adding up correcting process, operating process can be by Carried out according to flow as shown in Figure 6.
As shown in fig. 6, when being the schematic flow sheet of the accumulative correcting process of progress hardware in step 502, can include as follows Step：
Step 601, correspondence obtains the break period code at each camera the last down trigger moment.
Step 602, the multiple initial hardware timing code and the break period code of acquisition are done into difference operation, correspondence Obtain the amendment hardware timeout code of each camera.
It can be seen from description above, when generation is once interrupted, hardware timer can latch a timing code automatically. Therefore, each camera reads the hardware at the last down trigger moment after the initial hardware timing code of itself is read, also Timing code, is designated as break period code.Then, control device makes the difference initial hardware timing code with break period code, just can eliminate The error that crystal oscillator is produced, obtains the amendment hardware timeout code after hardware accumulation delay process.
For example, when the initial hardware timing code to camera is modified, if the initial hardware timing code of camera is Ti, the last break period code interrupted of the camera got is Ti0, then after adding up correcting process operation through hardware The amendment hardware timeout code K of camerai=Ti-Ti0, wherein TiFor camera i initial hardware timing code, Ti0It is the last for camera i The break period code of interruption, i span arrives N for 1.
Second, network delay correcting process is carried out to initial hardware timing code.
Understand as previously described, when obtaining the initial hardware timing code of each camera, it is necessary to send one to each camera Camera in the acquisition request of hardware timeout code, multicamera system passes through after the acquisition request of hardware timeout code is received The time Code memory of itself reads from the hardware timeout code of body and returns to hardware timeout code.From transmiting a request to polyphaser system It is the network delay in the embodiment of the present invention that each camera in system, which receives the time that the request consumed,.
Specifically, specifically can be according to shown in Fig. 7 when carrying out network delay correcting process to initial hardware timing code Flow is operated.
As shown in fig. 7, be the schematic flow sheet for the embodiment that network delay correcting process is carried out to initial hardware timing code, Specific method can include：
Step 701, network delay value locally between each camera in multicamera system is obtained.
Step 702, according to each in the multiple initial hardware timing code and the local and multicamera system obtained Network delay value between camera calculates the amendment hardware timeout code for obtaining each camera.
During step 701 concrete operations, concrete operation method for example can be：
After synchronously exposure task start, measured by the precision interval clock synchronous protocols of IEEE 1588 and locally (control to set It is standby) and multicamera system in network delay between each camera, and converted in units of the sensor clock crystal oscillator cycle, Therefore deduce that the network delay between each camera in now control device and multicamera system.
It should be noted is that, in a step 702, control device by the multiple initial hardware timing code with obtain Itself network delay value between each camera it is corresponding do after difference operation, the amendment hardware timeout code M of camerai=Ti- Yi, wherein TiFor camera i initial hardware timing code, YiCamera i network delay value, i span arrives N for 1.
Simultaneously as having carried out hardware to initial hardware delay code in step 502 adds up correcting process, therefore this step The hardware timeout code after adding up correcting process through hardware, i.e. T should be used in rapid when carrying out difference operationi-Ti0, wherein i's Span is 1 to N.If not carrying out hardware above adds up correcting process, then when carrying out difference operation in this step, use Just should be initial hardware timeout code Ti, wherein i span is 1 to N.
Below, it will be described in detail by specific example.
It is assumed that the local network delay value respectively Y between each camera in multicamera system got1、Y2、 Y3……YN。
So add up through hardware after correcting process and network delay correcting process, during the amendment hardware of obtained camera Between code Mi=Ki-Yi=Ti-Ti0-Yi, wherein, wherein i span is 1 to N.
3rd, operation delay correcting process is carried out to initial hardware timing code.
Especially, it should be noted that, in the initial hardware timing code of each camera in obtaining multicamera system, if desired The initial hardware timing code of each camera is obtained respectively, after the initial hardware timing code of some camera is obtained, due to many There are multiple cameras in camera system, send the instruction for the initial hardware timing code for reading first camera and send reading second Can't be identical during the instruction of the initial hardware timing code of individual camera.Therefore, it is modified to initial hardware timing code When, in addition it is also necessary to consider operation delay.When reading the timing code of each camera in multicamera system according to the mode of broadcast, then may be used Not consider operation delay.It can specifically be selected according to actual conditions.
As shown in figure 8, be the schematic flow sheet for the embodiment that operation delay correcting process is done to initial hardware timing code, bag Include following steps：
Step S801, when obtaining the initial hardware timing code of each camera, reads local instantaneous hardware timeout code.
Step S802, the initial hardware by the local instantaneous hardware timeout code read each time with obtaining first camera The local instantaneous hardware timeout code read during timing code does difference operation, obtains local (external control device) and each phase Operation delay value between machine.
Step S803, calculates according to the multiple initial hardware timing code and the operation delay value obtained and obtains each The amendment hardware timeout code of camera.
In step S801, first read before the acquisition that initial hardware timing code is sent to each camera is asked outside one time Control device the machine is connect, i.e., local hardware timeout code is designated as instantaneous hardware timeout code.Then it is every into multicamera system again The camera that individual camera is sent in the acquisition request of initial hardware timing code, multicamera system reads camera after receiving the request The hardware timeout code of the machine and return camera the machine hardware timeout code to control device.At this moment need that first phase will be read The local instantaneous hardware timeout code read during the initial hardware timing code of machine is as a reference；Other cameras are read every time Initial hardware of the instantaneous hardware timeout of itself code that control device is read during initial hardware timing code with reading first camera Difference between the instantaneous hardware timeout of itself code read during timing code is exactly operation delay value, because control device is being read The initial hardware timing code of first camera can be obtained immediately after the instantaneous hardware timeout code for getting itself, it can be considered that There is no operation delay between control device and first camera, and control device is obtaining the initial hardware timing code of other cameras Time point be to read first camera after the initial hardware timing code of first camera is read, therefore with control device There is operation delay between the instantaneous hardware timeout code of the control device read during initial hardware timing code in itself, therefore Need the operation delay of calculating this period.
That is operation delay value Ci=T1i-T11.Wherein, T1iTo obtain the sheet read before the i-th camera initial hardware timing code The instantaneous hardware timeout code on ground, T11The local instantaneous hardware timeout code read during hardware timeout code to read the 1st camera. Wherein, wherein i span is 1 to N.The operation delay between control device and first camera is represented when i is equal to 1 Value.Wherein, the operation delay value of control device and first camera is 0, can also be designated as C1=T11-T11。
So after operation delay correcting process, the amendment hardware timeout code N of camerai=Ti-Ci, wherein TiFor phase Machine i initial hardware timing code, CiCamera i operation delay value, i span arrives N for 1.Through operation delay correcting process The amendment hardware timeout code N of camera afterwardsi=Ti-Ci, wherein i span is 1 to N.
It should be noted is that, due to having carried out the accumulative amendment of hardware to initial hardware delay code in step 502 Processing and network delay correcting process, therefore should be used through the accumulative Corrections Division of hardware in this step when carrying out difference operation Hardware timeout code after reason, network delay correcting process, i.e. Mi, wherein i span is 1 to N.If not carrying out above hard Part adds up correcting process and network delay correcting process, then when carrying out difference operation in this step, and what is used just should be just The hardware timeout code T of beginningi, wherein i span is 1 to N.
Below, it will be described in detail by specific example.
It is assumed that the operation delay value respectively C between each camera in multicamera system got1、C2、C3…… CN。
So add up through hardware after correcting process, network delay correcting process and operation delay processing, obtained phase The amendment hardware timeout code N of machinei=Ki-Yi-Ci=Ti-Ti0-Yi-(T1i-T11), wherein, wherein i span is 1 to N.
It should be noted that although above example is while employing network delay correcting process, operation delay amendment Processing, hardware add up the delay correcting process of correcting process three, but in actual applications, can only select one therein or Two delay correcting process of person.Initial hardware timing code is done delay correcting process obtain amendment hardware timeout code during Which delay correcting process is have selected, the delay product for accordingly just obtaining which delay correcting process and initial hardware time Code is calculated together obtains amendment hardware timeout code, it is specific more than only select a delay therein to repair in three delay correcting process The embodiment of the wherein wantonly two delays correcting process of the embodiment just handled and selection is herein no longer for example, can refer to above-mentioned The calculating process of embodiment is obtained.
Step 503, the synchronous base value is determined according to the multiple amendment hardware timeout code, and according to the synchronous base The amendment hardware timeout code of quasi- value and each camera, determines the corresponding frame offset of each camera in the multicamera system.
Due in step 502, having carried out delay correcting process to initial hardware timing code, then in this step, it is determined that During synchronous base value, then need to determine synchronous base value according to the code of multiple correction times being corrected after processing.Specifically, true When determining synchronous base value, any one value of multiple amendment hardware timeout codes can be selected as synchronous base value, can also be selected The maximum or minimum value in the multiple amendment hardware timeout code are selected as synchronous base value, naturally it is also possible to calculate described many The average value of individual amendment hardware timeout code, and it regard the average value as synchronous base value.
If hardware has only been carried out to initial hardware timing code adds up correcting process, then then need to repair according to through hardware is accumulative Hardware timeout code K after positive processingiSynchronous base value is determined, by that analogy.Due in the embodiment of the present invention, during to initial hardware Between code carried out hardware add up correcting process, network delay correcting process and operation delay correcting process, then then should root According to the amendment for each camera for adding up to obtain after correcting process, network delay correcting process and operation delay processing through hardware Hardware timeout code NiDetermine synchronous base value.After synchronous base value is chosen, the synchronous base of all camera all with selection It is worth corresponding camera alignment.
In embodiments of the present invention, because exposure is determined according to timing code, if the amendment hardware timeout code of camera More than synchronous base value, then illustrate the hardware timeout code-phase of camera for synchronous base value walk it is fast, it is necessary to which camera is current Two field picture or next two field picture extension certain time, in order to which the timing code of the corresponding camera of synchronous base value can be caught up with, so that The frame or time for exposure is synchronous during lower two field picture under collection；If the amendment hardware timeout code of camera is less than synchronous base value, Illustrate that the timing code of camera walks is slow, it is necessary to catch up with the timing code of the corresponding camera of synchronous base value, it is therefore desirable to by camera Current frame image or next two field picture shorten certain time, in order to which the timing code of the corresponding camera of synchronous base value can be caught up with, Synchronously exposed during so as to the frame under collection or lower two field picture.
The method that the multicamera system of the embodiment of the present invention synchronously exposes, after the instruction of synchronous exposure is received, is obtained The initial hardware timing code of each camera is taken, and line delay correcting process is entered to the plurality of initial hardware timing code, obtains multiple Hardware timeout code is corrected, and synchronous base value is determined according to the plurality of amendment hardware timeout code, and according to the synchronous base The initial hardware timing code of value and each camera, determines the corresponding frame offset of each camera in the multicamera system so that The frame offset that each camera can be determined according to this adjusts the frame length of image, so that each in multicamera system Camera time for exposure when gathering image is synchronous.
, can be by multiphase as another embodiment when each camera in multicamera system is realized into synchronous exposure The function of the external control device of machine system is realized by a camera in multicamera system.At this point it is possible to choose multiphase A camera in machine system is as principal phase machine, and other cameras are as from camera, the above each phase in multicamera system is realized The method that external equipment is used when machine synchronously exposes can be realized by the principal phase machine in multicamera system.That is, this When principal phase machine as the camera apparatus in multicamera system, except the institute of control device external before can realizing it is functional it Outside, it can also realize that the institute in multicamera system from camera is functional.Certainly, principal phase machine is realizing the function of external control device When, corresponding substitute is obtained principal phase machine by the data message that the external equipment of before external control device acquisition is local for main camera Local data message is obtained, likewise, the data difference in external equipment and multicamera system between each camera will before Corresponding substitute is main camera and replaced from the data difference between camera.
Fig. 9 is referred to, is the flow signal of the another embodiment for the synchronous exposure method of multicamera system that the present invention is provided Figure, synchronous exposure method as shown in Figure 9 may comprise steps of：
Step S901, after the instruction of synchronous exposure is received, each camera is initial in the acquisition multicamera system Hardware timeout code, obtains multiple initial hardware timing codes.
Obtained multiple initial hardware timing codes are carried out hardware and add up correcting process, network delay by step S902 successively Processing and operation delay processing, obtain multiple amendment hardware timeout codes.
Step S903, synchronous base value is determined according to the multiple amendment hardware timeout code.
Step S904, according to formula：Bi=(Ni- S) %FrameLength calculate camera frame offset.
The present embodiment and the difference of the embodiment shown in Fig. 5 have：
It is determined that during frame offset, the formula in the specific S904 using step.In step S904, BiRepresent camera i frame Offset, NiThe amendment hardware timeout code of the camera i after the correcting process that is delayed is represented, S represents synchronous base value, FrameLength represents size of the two field picture of each camera in the multicamera system in units of cycle of oscillation, % tables Show modular arithmetic.Specific frame offset is size of the two field picture of camera one in units of the cycle of oscillation of crystal oscillator, that is, is changed Into the size of timing code.Modulo operation is (to be converted into the time not over the frame length of a two field picture for the frame offset of camera The time span of one two field picture of code), as long as the phase of alignment clock just can be with.
Second, in specific processing, the synchronous base value determined can be the minimum in multiple amendment hardware timeout codes Value, i.e., choose a minimum value from multiple amendment hardware timeout codes and be used as synchronous base value.Choose in amendment hardware timeout code The purpose of minimum value be in order to simplify calculating, and also to obtain more preferable effect.At this moment, all cameras are all only needed to The time span of elongation present frame or lower two field picture is just.
After the frame offset of camera is calculated, the camera in multicamera system just can accordingly be adjusted according to the frame offset The length of whole present frame or next two field picture so that frame or synchronous exposure can be realized during lower two field picture under collection in camera Light.
It should be understood that in the above-described embodiments, the size of the sequence number of each step is not meant to the priority of execution sequence, each step Rapid execution sequence should determine that the implementation process without tackling the embodiment of the present invention constitutes any limit with its function and internal logic It is fixed.
Synchronous exposure method applied to multicamera system is described in detail above-mentioned Fig. 1 to Fig. 9, below will knot Accompanying drawing is closed, correspondence is retouched in detail with device, terminal device and the computer-readable recording medium of above-mentioned synchronous exposure method State.To avoid repeating, the term having been described above hereinafter may no longer do repeat specification.
Figure 10 is referred to, Figure 10 is the structured flowchart for the synchronous exposure device 1000 that the present invention is provided, for convenience of description, The part related to the embodiment of the present invention is only shown.The synchronous exposure device 1000 is used as a control for being external in multicamera system Device processed can be the unit of the software unit, hardware cell or soft or hard combination that are built in terminal device, can also conduct Independent suspension member is integrated into the terminal device.The synchronous exposure device 1000 can also be the software being built in principal phase machine The unit of unit, hardware cell or soft or hard combination, can also be integrated into the principal phase machine as independent suspension member.The synchronization Exposure device 1000 includes：
Synchronization module 1001, for adjusting the camera in the multicamera system so that all in the multicamera system Camera synchronously exposes when gathering image；
Relating module 1002, for obtaining sync id information, in order to the sync id information and the polyphaser The image to be synchronized association of each camera in system so that the image to be synchronized of each camera has identical sync id letter Breath, the image to be synchronized of each camera is adopted respectively for each camera when all cameras synchronously expose in the multicamera system The image of collection.
Optionally, the sync id information includes image frame number.
The relating module 1002 includes：
Frame number acquiring unit, the picture frame for obtaining any one camera image to be synchronized in the multicamera system Number, and it regard described image frame number as the sync id information；
Transmitting element, for the image frame number of the image to be synchronized to be sent into the multicamera system into corresponding phase Machine, in order to which the camera in the multicamera system adjusts the picture frame of image to be synchronized according to the described image frame number received Number.
Optionally, described device also includes：
Synchronous subsequence generation module, for generating sync id sub-sequence information according to the sync id information, with Be easy to each camera in the multicamera system by the sync id sub-sequence information successively with after image to be synchronized Image sequence, which is associated, causes the image sequence after image to be synchronized to have identical sync id sub-sequence information successively.
Optionally, the synchronization module includes：
Unit is chosen, for choosing one of camera in the multicamera system as principal phase machine, the principal phase machine Outside camera as from camera；
Acquiring unit, for obtaining the principal phase machine and the difference from the camera time for exposure；
Adjustment unit, for adjusting the polyphaser system with the difference from the camera time for exposure according to the principal phase machine Camera in system synchronously exposes when causing all cameras in the multicamera system to gather image.
It is apparent to those skilled in the art that, for convenience and simplicity of description, only with above-mentioned each function The division progress of module is for example, in practical application, as needed can distribute above-mentioned functions by different function lists Member, module are completed, i.e. the internal structure of described device is divided into different functional unit or module, described above complete to complete Portion or partial function.Each functional module in embodiment can be integrated in a processing unit or unit Individually be physically present, can also two or more be integrated in a unit or module, above-mentioned integrated unit or mould Block can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.In addition, each functional module Specific name is also only to facilitate mutually differentiation, is not limited to the protection domain of the application.Module in said apparatus Specific work process, may be referred to the corresponding process of preceding method embodiment, will not be repeated here.
Figure 11 is the schematic block diagram for the terminal device that one embodiment of the invention is provided.The terminal device can also be polyphaser A camera in system.As shown in figure 11, the terminal device 11 of the embodiment includes：One or more processors 110, storage Device 111 and it is stored in the computer program 112 that can be run in the memory 111 and on the processor 110.The place Reason device 110 realizes the step in each above-mentioned synchronous exposure method embodiment, such as Fig. 1 when performing the computer program 112 Shown step S101 to S102.Or, the processor 110 realizes above-mentioned synchronous exposure when performing the computer program 112 The function of each module/unit in electro-optical device embodiment, such as function of module 1001 to 1002 shown in Figure 10.
Exemplary, the computer program 112 can be divided into one or more module/units, it is one or Multiple module/the units of person are stored in the memory 111, and are performed by the processor 110, to complete the present invention.Institute It can complete the series of computation machine programmed instruction section of specific function, the instruction segment to state one or more module/units For describing implementation procedure of the computer program 112 in the terminal device 11.For example, the computer program 112 Synchronization module, relating module can be divided into.
Synchronization module, for adjusting the camera in the multicamera system so that all cameras in the multicamera system Synchronously exposed during collection image；
Relating module, for obtaining sync id information, in order to the sync id information and the multicamera system In each camera image to be synchronized association so that the image to be synchronized of each camera has identical sync id information, institute Each camera when all cameras synchronously expose in the image to be synchronized multicamera system of each camera is stated to gather respectively Image.
Optionally, the sync id information includes image frame number.
The relating module includes：
Frame number acquiring unit, the picture frame for obtaining any one camera image to be synchronized in the multicamera system Number, and it regard described image frame number as the sync id information；
Transmitting element, corresponding camera is sent into the multicamera system by the image frame number of the image to be synchronized, In order to which the camera in the multicamera system adjusts the image frame number of image to be synchronized according to the described image frame number received.
Optionally, in addition to：
Synchronous subsequence generation module, for generating sync id sub-sequence information according to the sync id information, with Be easy to each camera in the multicamera system by the sync id sub-sequence information successively with after image to be synchronized Image sequence, which is associated, causes the image sequence after image to be synchronized to have identical sync id sub-sequence information successively.
Optionally, the synchronization module, is specifically included：
Unit is chosen, for choosing one of camera in the multicamera system as principal phase machine, the principal phase machine Outside camera as from camera；
Acquiring unit, for obtaining the principal phase machine and the difference from the camera time for exposure；
Adjustment unit, for adjusting the polyphaser system with the difference from the camera time for exposure according to the principal phase machine Camera in system synchronously exposes when causing all cameras in the multicamera system to gather image.
The terminal device includes but are not limited to processor 110, memory 111.It will be understood by those skilled in the art that Figure 11 is only the example of terminal device 11, does not constitute the restriction to terminal device 11, can be included more more or more than illustrating Few part, either combines some parts or different parts, such as described terminal device can also include input equipment, Output equipment, network access equipment, bus etc..
The memory 111, for storing the data message needed in software program, module, unit and terminal device, The processor 110 is stored in software program, module and the unit of the memory 111 by operation, so as to perform various Application of function and data processing.The memory 111 can include read-only storage and random access memory, and to processor 110 provide instruction and data.The a part of of memory 111 can also include nonvolatile RAM.For example, storage Device 111 can be with the information of storage device type.
The processor 110 can be CPU (Central Processing Unit, CPU), the processor Can also be other general processors, it is digital signal processor (Digital Signal Processor, DSP), special integrated Circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field- Programmable Gate Array, FPGA) or other PLDs, discrete gate or transistor logic, Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor Deng.The processor is the control centre of the terminal device, utilizes each of various interfaces and the whole terminal device of connection Individual part.
In the specific implementation, the executable present invention of processor 110 and memory 111 described in the embodiment of the present invention is implemented In implementation described in the embodiment for the synchronous exposure method that example is provided, the embodiment that also can perform synchronous exposure device Described implementation, will not be repeated here.
In addition, the embodiment of the present invention additionally provides a kind of computer-readable recording medium, the computer-readable storage medium Matter is stored with computer program, and the computer program realizes that the embodiment of the present invention is provided when being executed by one or more processors Synchronous exposure method the step of.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, without detailed description or note in some embodiment The part of load, may refer to the associated description of other embodiments.
Those of ordinary skill in the art are it is to be appreciated that the mould of each example described with reference to the embodiments described herein Block and algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware With the interchangeability of software, the composition and step of each example are generally described according to function in the above description.This A little functions are performed with hardware or software mode actually, depending on the application-specific and design constraint of technical scheme.Specially Industry technical staff can realize described function to each specific application using distinct methods, but this realization is not It is considered as beyond the scope of this invention.
, can in embodiment provided by the present invention, it should be understood that disclosed method, device and terminal device To realize by another way.For example, embodiments described above is only schematical, for example, the module or list The division of member, only a kind of division of logic function can have other dividing mode when actually realizing, such as multiple units or Component can combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, show Show or the coupling each other discussed or direct-coupling or communication connection can be by some interfaces, between device or unit Coupling or communication connection are connect, can be electrical, machinery or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs 's.
In addition, each functional module in each embodiment of the invention can be integrated in a processing unit, can also That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list Member can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized using in the form of SFU software functional unit and as independent production marketing or used When, it can be stored in a computer-readable recording medium.Understood based on such, the technical scheme sheet of the embodiment of the present invention The part contributed in other words to prior art in matter or all or part of the technical scheme can be with software products Form is embodied, and the computer software product is stored in a storage medium, including some instructions are to cause a meter Calculate machine equipment (can be personal computer, server, or network equipment etc.) or processor (processor) performs the present invention The all or part of step of each embodiment methods described of embodiment.And foregoing storage medium includes：USB flash disk, mobile hard disk, only Read memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc Or CD etc. is various can be with the medium of store program codes.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to foregoing reality Example is applied the present invention is described in detail, it will be understood by those within the art that：It still can be to foregoing each Technical scheme described in embodiment is modified, or carries out equivalent substitution to which part technical characteristic；And these are changed Or replace, the essence of appropriate technical solution is departed from the spirit and model of each embodiment technical scheme of the embodiment of the present invention Enclose.

Claims (10)

1. a kind of synchronous exposure method, applied to multicamera system, it is characterised in that including：
Adjust the time for exposure of the camera in the multicamera system so that all cameras collection figure in the multicamera system Synchronously exposed during picture；
Obtain sync id information, in order to the sync id information with the multicamera system each camera it is to be synchronized Image is associated so that the image to be synchronized of each camera has identical sync id information, each camera it is to be synchronized The image that image is gathered respectively for each camera when all cameras synchronously expose in the multicamera system.
2. according to the method described in claim 1, it is characterised in that the sync id information includes image frame number.
3. method according to claim 2, it is characterised in that the acquisition sync id information, in order to the synchronization Identification information is associated with the image to be synchronized of each camera in the multicamera system, including：
The image frame number of any one camera image to be synchronized in the multicamera system is obtained, and described image frame number is made For the sync id information；
The image frame number of the image to be synchronized is sent into the multicamera system corresponding camera, in order to the multiphase Camera in machine system adjusts the image frame number of image to be synchronized according to the described image frame number received.
4. according to the method described in claim 1, it is characterised in that the camera in the adjustment multicamera system causes institute Synchronously exposed when stating the collection image of all cameras in multicamera system, including：
One of camera in the multicamera system is chosen as principal phase machine, the camera outside the principal phase machine is used as slave phase Machine；
Obtain the principal phase machine and the difference from the camera time for exposure；
Camera in adjusting the multicamera system with the difference from the camera time for exposure according to the principal phase machine causes institute Synchronously exposed when stating the collection image of all cameras in multicamera system.
5. according to the method described in claim 1, it is characterised in that after the acquisition sync id information, methods described is also Including：
Sync id sub-sequence information is generated according to the sync id information, in order to each phase in the multicamera system Machine the sync id sub-sequence information is associated with the image sequence after image to be synchronized successively so that image to be synchronized it Image sequence afterwards has identical sync id sub-sequence information successively.
6. a kind of synchronous exposure device, applied to multicamera system, it is characterised in that including：
Synchronization module, the time for exposure for adjusting the camera in the multicamera system so that in the multicamera system Synchronously exposed during all camera collection images；
Relating module, for obtaining sync id information, in order to every in the sync id information and the multicamera system The image to be synchronized association of individual camera so that the image to be synchronized of each camera has identical sync id information, described every The image that the image to be synchronized of individual camera is gathered respectively for each camera when all cameras synchronously expose in the multicamera system.
7. device according to claim 6, it is characterised in that the sync id information includes image frame number；
The relating module includes：
Frame number acquiring unit, the image frame number for obtaining any one camera image to be synchronized in the multicamera system, And it regard described image frame number as the sync id information；
Transmitting element, for the image frame number of the image to be synchronized to be sent into the multicamera system into corresponding camera, In order to which the camera in the multicamera system adjusts the image frame number of image to be synchronized according to the described image frame number received.
8. device according to claim 6, it is characterised in that the synchronization module, is specifically included：
Unit is chosen, for choosing one of camera in the multicamera system as principal phase machine, outside the principal phase machine Camera as from camera；
Acquiring unit, for obtaining the principal phase machine and the difference from the camera time for exposure；
Adjustment unit, used in adjusting the multicamera system with the difference from the camera time for exposure according to the principal phase machine Camera all cameras in the multicamera system are synchronously exposed when gathering image.
9. a kind of terminal device, applied to multicamera system, it is characterised in that the terminal device includes memory, processor And it is stored in the computer program that can be run in the memory and on the processor, meter described in the computing device The step of method any one of claim 1 to 5 being realized during calculation machine program.
10. a kind of computer-readable recording medium, the computer-readable recording medium storage has computer program, its feature exists In the step of realizing such as any one of claim 1 to 5 methods described when the computer program is executed by processor.
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CN109729277A (en) * 2018-11-19 2019-05-07 魔门塔(苏州)科技有限公司 Multi-sensor collection timestamp synchronizing device
CN110139041A (en) * 2018-11-19 2019-08-16 魔门塔(苏州)科技有限公司 Long-range more transducing signal synchronous collection methods
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