CN111757018A - Camera group synchronous exposure control method and system, computer readable storage medium and camera group control system - Google Patents
Camera group synchronous exposure control method and system, computer readable storage medium and camera group control system Download PDFInfo
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- CN111757018A CN111757018A CN202010571253.XA CN202010571253A CN111757018A CN 111757018 A CN111757018 A CN 111757018A CN 202010571253 A CN202010571253 A CN 202010571253A CN 111757018 A CN111757018 A CN 111757018A
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- 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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Abstract
A camera group synchronous exposure control method comprises the steps of respectively delaying and triggering shutters of cameras of a camera group after receiving a shooting instruction so as to enable exposure time of the cameras of the camera group to be consistent. The synchronous exposure control system of the camera set comprises a delay triggering module, and after receiving a shooting instruction, the delay triggering module respectively delays and triggers the shutters of all cameras of the camera set so as to enable the exposure time of all cameras of the camera set to be consistent. A computer-readable storage medium storing a computer program which, when executed, can implement the camera group synchronous exposure control method described above. The camera group control system comprises a processor and a computer readable storage medium, wherein the computer readable storage medium is the computer readable storage medium.
Description
Technical Field
The invention relates to the technical field of camera control.
Background
The wide-angle aerial survey image is formed by splicing images shot by a plurality of cameras exposed at the same time.
Each camera has a shutter lag, which is the time from triggering the shutter to exposure. Due to the influence of the characteristics of the camera, the use environment and other factors, the shutter time lag has randomness, and the shutter time lags of different times of shooting of the same camera are different. Therefore, a camera group consisting of a plurality of cameras cannot necessarily obtain a group of pictures that are simultaneously exposed by simultaneously triggering the shutters.
Disclosure of Invention
In view of the above, the present invention provides a method and a system for controlling synchronous exposure of a camera set, a computer readable storage medium, and a camera set control system, which can make each camera of the camera set tend to synchronously expose.
In order to achieve the above object, the present invention provides the following technical solutions.
The synchronous exposure control method of the camera set comprises the steps of respectively delaying and triggering the shutter of each camera of the camera set after receiving a shooting instruction so as to enable the exposure time of each camera of the camera set to be consistent.
The shutter is triggered in a delayed mode aiming at each camera in the camera set, the shutter has short delay time and the shutter has short delay time, so that the exposure time of each camera tends to be consistent, namely, the cameras tend to be synchronously exposed.
This is technical scheme 1.
According to the method for controlling the synchronous exposure of the camera group in the technical scheme 1, the method for calculating the delay time of each camera for delaying and triggering the shutter comprises the following steps:
Tdi=Ty-t(i)，
i is a sequentially numbered imaging number, i is a positive integer, and TdiThe time delay duration for triggering the shutter when the camera shoots the ith time is represented, Ty is the common preset time duration of the camera group, t (i) is the shutter time delay estimated value of the camera shooting the ith time,
the shutter lag is the length of time from triggering the shutter to exposure.
The exposure time of each camera in the camera set needs to be aligned to the camera with the longest shutter lag. Because the shutter time lag has randomness and can not be accurately aligned to the camera with the longest shutter time lag, the common preset time length T of one camera set is setyThe delay time Td of each camera in the ith shootingiAll using the common preset time T of the camera setySubtracting the estimate of the cameraThe shutter time lag t (i) is obtained, so that the shutter time lag is long and the time delay is short, and the shutter time lag is short and the time delay is long, so that the exposure time of each camera tends to be consistent.
This is technical scheme 2.
The method for controlling the synchronous exposure of the camera group according to claim 2,
t(i)=(Ti-1+Ti-2+Ti-3+···+Ti-N)/N，
n is a preset positive integer, TiThe shutter lag for the ith shot of the camera.
The algorithm is adopted to calculate T (i), the shutter time lag of the latest N times of shooting has influence on the operation result, the average value of the shutter time lags of the latest N times of shooting is taken as the shutter time lag estimated value of the next shooting, the influence of the randomness of the shutter time lag can be weakened, and T (i) is closer to Ti。
This is technical scheme 3.
The method for controlling the synchronous exposure of the camera group according to claim 2,
t(i)=Ti-1*α+t(i-1)*(1-α)，
α is a preset weighting factor, TiThe shutter lag for the ith shot of the camera.
The algorithm is adopted to calculate T (i), the shutter time lag of each shooting before the ith time has influence on the result of T (i), but the closer the time interval is, the smaller the influence of the farther the time interval is, the influence of the randomness of the shutter time lag can be weakened, and T (i) is closer to T (T)i. In addition, the algorithm only needs to store the latest operation result T (i-1) and shutter time lag T of each camerai-1The updating can be continuously iterated, and the consumption of hardware resources is low.
This is technical scheme 4.
The synchronous exposure control system of the camera set comprises a delay triggering module, and after receiving a shooting instruction, the delay triggering module respectively delays and triggers the shutters of all cameras of the camera set so as to enable the exposure time of all cameras of the camera set to be consistent. This is technical means 5.
The system for controlling synchronous exposure of a camera group according to claim 5, further comprising a delay calculation module for calculating the delay time of each camera delay trigger shutter, wherein the calculation method of the delay time of each camera delay trigger shutter is as follows:
Tdi=Ty-t(i)，
i is a sequentially numbered imaging number, i is a positive integer, and TdiThe time delay duration for triggering the shutter when the camera shoots the ith time is represented, Ty is the common preset time duration of the camera group, t (i) is the shutter time delay estimated value of the camera shooting the ith time,
the shutter lag is the length of time from triggering the shutter to exposure.
This is technical scheme 6.
The camera group synchronous exposure control system according to claim 6, further comprising a time lag detection module for detecting shutter time lags of each camera for each shooting and providing the time lags to the time lag calculation module, wherein the calculation method of the shutter time lag pre-estimated value is as follows:
t(i)=(Ti-1+Ti-2+Ti-3+···+Ti-N)/N，
n is a preset positive integer, TiThe shutter lag for the ith shot of the camera.
This is technical means 7.
The camera group synchronous exposure control system according to claim 6, further comprising a time lag detection module for detecting shutter time lags of each camera for each shooting and providing the time lags to the time lag calculation module, wherein the calculation method of the shutter time lag pre-estimated value is as follows:
t(i)=Ti-1*α+t(i-1)*(1-α)，
α is a preset weighting factor, TiThe shutter lag for the ith shot of the camera.
This is technical scheme 8.
A computer-readable storage medium storing a computer program which, when executed, can implement the camera group synchronous exposure control method according to any one of claims 1 to 4. This is technical means 9.
The camera group control system includes a processor and a computer-readable storage medium, where the computer-readable storage medium is the computer-readable storage medium described in claim 9, and the processor may execute a computer program stored in the computer-readable storage medium. This is the technical means 10.
Drawings
Fig. 1 is a schematic block diagram of a camera group synchronous exposure control system according to the present invention.
The reference numerals include:
a delay trigger module 1;
a delay calculating module 2, a time lag pre-estimating calculator 21 and a subtracter 22;
a camera 4.
Detailed Description
The invention is described in detail below with reference to specific embodiments.
In the method for controlling the synchronous exposure of the camera group according to the embodiment, after receiving the shooting instruction, the shutters are respectively triggered by delaying each camera of the camera group, so that the exposure time of each camera of the camera group tends to be consistent. The shutter is triggered in a delayed mode aiming at each camera in the camera set, the shutter has short delay time and the shutter has short delay time, so that the exposure time of each camera tends to be consistent, namely, the cameras tend to be synchronously exposed.
Specifically, the method for calculating the delay time of each camera for delaying and triggering the shutter comprises the following steps: tdiI is the imaging number of the sequence number, i is a positive integer, and TdiThe time delay time length of the trigger shutter of the ith shooting of the camera is shown, Ty is the common preset time length of the camera group, t (i) is the shutter time delay estimated value of the ith shooting of the camera, and the shutter time delay is the time length from the trigger shutter to exposure. The exposure time of each camera in the camera set needs to be aligned to the camera with the longest shutter lag. Because the shutter time lag has randomness and can not be accurately aligned to the camera with the longest shutter time lag, the common preset time length T of one camera set is setyThe delay time Td of each camera in the ith shootingiAll using the common presetting of the camera setLong TySubtracting the estimated shutter time lag t (i) of the camera to obtain the result, so that the shutter time lag is long and short, the shutter time lag is short and long, and the exposure time of each camera tends to be consistent.
Two methods for calculating the shutter lag estimate t (i) are provided.
The first calculation method is as follows: t (i) = (T)i-1+Ti-2+Ti-3+···+Ti-N)/N。
N is a preset positive integer, TiThe shutter lag for the ith shot of the camera.
The algorithm is adopted to calculate T (i), the shutter time lag of the latest N times of shooting has influence on the operation result, the average value of the shutter time lags of the latest N times of shooting is taken as the shutter time lag estimated value of the next shooting, the influence of the randomness of the shutter time lag can be weakened, and T (i) is closer to Ti。
The second calculation method is as follows: t (i) = Ti-1*α+t(i-1)*(1-α)。
α is a preset weighting factor, TiThe shutter lag for the ith shot of the camera.
The algorithm is adopted to calculate T (i), the shutter time lag of each shooting before the ith time has influence on the result of T (i), but the closer the time interval is, the smaller the influence of the farther the time interval is, the influence of the randomness of the shutter time lag can be weakened, and T (i) is closer to T (T)i. In addition, compared with the first calculation method, the algorithm only needs to save the operation result T (i-1) of each camera and the shutter time lag Ti-1The updating can be continuously iterated, and the consumption of hardware resources is small, which is described in detail below.
The shutter lag of each camera triggering the shutter each time is obtained by superposing a small random variable on the basis of a slowly changing variable, taking the ith shooting as an example. T isi=Tj+ΔTiTj represents the basic variable of the shutter lag of the ith shooting of the camera, delta TiIs a random variable of the shutter lag for the ith shot of the camera. For TiThe data can be weakened or even eliminated by smoothingBy Δ TiThe influence of (c). The two shutter lag estimators T (i) are calculated byiAnd carrying out data smoothing processing.
The camera group synchronous exposure control method can be realized in two ways.
The first method comprises the following steps: the method is realized by building a hardware circuit of a digital circuit.
In the following, one of the cameras in the camera group is taken as an example for explanation, and so on for the other cameras.
As shown in fig. 1, the camera group synchronous exposure control system of the present invention is composed of a plurality of control systems of single cameras, and the control system of a single camera includes a delay trigger module 1, a delay calculation module 2, and a time lag detection module 3. After receiving the shooting instruction, the delay triggering module 1 delays and triggers the shutters of the cameras 4, so that the exposure time of each camera 4 of the camera set tends to be consistent.
The delay calculating module 2 calculates the delay time of the camera for delaying and triggering the shutter. As described above, the method for calculating the delay time of the camera delay triggering shutter comprises the following steps: tdiTy-t (i). As shown in fig. 1, the delay calculating module 2 includes a subtractor 22, and the subtractor 22 implements the subtraction. The shutter lag estimate t (i) of the camera can be directly preset, for example, the shutter lag of the camera is regularly and specially detected and preset. However, this method has low accuracy, needs to be updated regularly, and is inconvenient to operate.
The shutter lag estimate t (i) may be designed to be automatically calculated and may be automatically updated.
The shutter time lag T of each shooting of the camera needs to be detectediImplemented by the skew detection module 3. As shown in fig. 1, the time lag detection module 3 includes a reference clock 31, a timer 32, and a latch 33, when the ith shooting is performed and the delay trigger module 1 triggers the shutter of the camera, the timer 32 and the reference clock 31 start timing, after receiving the shutter response, the latch 33 stores the timing duration of the timer 32, where the timing duration is the shutter time lag T of the shooting of the camerai。
Next, the shutter lag estimate t (i) for that camera is calculated. Such asAs shown in FIG. 1, the delay calculation module 2 further comprises a time lag pre-estimation calculator 21, and the time lag detection module 3 delays the shutter time by TiProviding the shutter time lag estimation value T (i) to a time lag estimation calculator 21, wherein the time lag estimation calculator 21 calculates the shutter time lag estimation value T (i) of the camera by adopting one of the two shutter time lag estimation values T (i) and the calculation method, and the shutter time lag used at the moment is the data T shot before the ith timei-1、Ti-2、Ti-3···。
The first calculation method of the shutter time lag estimate t (i) is as follows: t (i) = (T)i-1+Ti-2+Ti-3+···+Ti-N) and/N. The algorithm needs to use the shutter time lag of the last N times of shooting, so that the shutter time lag data of each camera which are the last N times of shooting need to be stored in a rolling mode, and the result can be obtained only by carrying out the operation of adding N numbers in succession or adding old numbers and new numbers each time, and the consumption of hardware resources is high.
In contrast, the second calculation method of the shutter lag estimate t (i) is: t (i) = Ti-1α + T (i-1) 1- α, the algorithm is realized by only saving the operation result T (i-1) of each camera and the shutter time lag Ti-1The updating can be continuously iterated, and the consumption of hardware resources is less.
For a plurality of cameras in a camera group, it is necessary to arrange a plurality of systems shown in fig. 1 in parallel, and the plurality of systems shown in fig. 1 are arranged in parallel to constitute the camera group synchronous exposure control system of the present invention.
And the second method comprises the following steps: realized by a computer and a computer program.
The computer program can be written to realize the synchronous exposure control method of the camera group, and is stored in a computer readable storage medium. The processor of the computer can execute the computer program stored in the computer readable storage medium, thereby implementing the camera group synchronous exposure control method.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. The synchronous exposure control method of the camera set is characterized in that after a shooting instruction is received, each camera of the camera set is delayed to trigger a shutter, so that the exposure time of each camera of the camera set tends to be consistent.
2. The method for controlling the synchronous exposure of the camera group as claimed in claim 1, wherein the calculation method of the delay time length of each camera for delaying the trigger shutter comprises:
Tdi=Ty-t(i)，
i is a sequentially numbered imaging number, i is a positive integer, and TdiThe time delay duration for triggering the shutter when the camera shoots the ith time is represented, Ty is the common preset time duration of the camera group, t (i) is the shutter time delay estimated value of the camera shooting the ith time,
the shutter lag is the length of time from triggering the shutter to exposure.
3. The method for controlling exposure synchronization of a camera set according to claim 2,
t(i)=(Ti-1+Ti-2+Ti-3+···+Ti-N)/N，
n is a preset positive integer, TiThe shutter lag for the ith shot of the camera.
4. The method for controlling exposure synchronization of a camera set according to claim 2,
t(i)=Ti-1*α+t(i-1)*(1-α)，
α is a preset weighting factor, TiThe shutter lag for the ith shot of the camera.
5. The synchronous exposure control system of the camera set is characterized by comprising a delay triggering module, wherein after receiving a shooting instruction, the delay triggering module respectively delays and triggers the shutters of all cameras of the camera set so as to enable the exposure time of all the cameras of the camera set to be consistent.
6. The system of claim 5, further comprising a delay calculation module for calculating the delay time of each camera delay trigger shutter, wherein the calculation method of the delay time of each camera delay trigger shutter comprises:
Tdi=Ty-t(i)，
i is a sequentially numbered imaging number, i is a positive integer, and TdiThe time delay duration for triggering the shutter when the camera shoots the ith time is represented, Ty is the common preset time duration of the camera group, t (i) is the shutter time delay estimated value of the camera shooting the ith time,
the shutter lag is the length of time from triggering the shutter to exposure.
7. The camera group synchronous exposure control system according to claim 6, further comprising a time lag detection module which detects a shutter time lag of each shooting of each camera and supplies the shutter time lag to the time lag calculation module, wherein the calculation method of the shutter time lag estimated value is:
t(i)=(Ti-1+Ti-2+Ti-3+···+Ti-N)/N，
n is a preset positive integer, TiThe shutter lag for the ith shot of the camera.
8. The camera group synchronous exposure control system according to claim 6, further comprising a time lag detection module which detects a shutter time lag of each shooting of each camera and supplies the shutter time lag to the time lag calculation module, wherein the calculation method of the shutter time lag estimated value is:
t(i)=Ti-1*α+t(i-1)*(1-α)，
α is a preset weighting factor, TiThe shutter lag for the ith shot of the camera.
9. A computer-readable storage medium storing a computer program, wherein the computer program is capable of implementing the method for controlling exposure synchronization of a camera group according to any one of claims 1 to 4 when executed.
10. Camera group control system comprising a processor and a computer readable storage medium, characterized in that the computer readable storage medium is the computer readable storage medium of claim 9, the processor being adapted to execute a computer program stored in the computer readable storage medium.
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| CN111556224A (en) * | 2020-05-20 | 2020-08-18 | 武汉四维图新科技有限公司 | Multi-camera synchronous calibration method, device and system |
| CN114143527A (en) * | 2021-11-09 | 2022-03-04 | 长沙眸瑞网络科技有限公司 | Sectional type shooting instruction control method, device and system, electronic device and storage medium |
| CN117812463A (en) * | 2024-03-01 | 2024-04-02 | 深圳赛尔智控科技有限公司 | Synchronous control method and related equipment for multi-camera global exposure |
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Application publication date: 20201009 |