CN113096194B - Method, device, terminal and non-transitory storage medium for determining time sequence - Google Patents
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Abstract
Embodiments of the present disclosure provide a method, apparatus, terminal, and non-transitory storage medium for determining timing for a device having a plurality of image capturing elements, wherein the method comprises: transmitting an image acquisition instruction to the plurality of image acquisition elements; responding to the image acquisition instruction, and respectively acquiring a plurality of corresponding images of the same preset target by the plurality of image acquisition elements; respectively acquiring corresponding image features of the preset targets in the corresponding images; and determining the time sequence of the plurality of corresponding images according to the corresponding image characteristics and preset information. The method for determining the time sequence can determine the time sequence according to the corresponding image characteristics of the dynamic preset target.
Description
Technical Field
The present disclosure relates to the field of computer technology, and more particularly, to a method, apparatus, terminal, and non-transitory storage medium for determining timing.
Background
The existing time sequence calibration method is mostly aimed at calibrating internal parameters of a lens, and the time sequence corresponding relation of a plurality of images can only depend on clock connection lines of hardware to synchronize, but for cameras without clock synchronization such as usb cameras, the time sequence matching of the images cannot be carried out.
Disclosure of Invention
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
In order to solve the above problems, the present disclosure provides a method, apparatus, terminal, and non-transitory storage medium for determining timing.
According to an embodiment of the present disclosure, there is provided a method of determining timing for an apparatus having a plurality of image capturing elements, including:
transmitting an image acquisition instruction to the plurality of image acquisition elements;
responding to the image acquisition instruction, and respectively acquiring a plurality of corresponding images of the same preset target by the plurality of image acquisition elements;
respectively acquiring corresponding image features of the preset targets in the corresponding images; and
And determining the time sequence of the plurality of corresponding images according to the corresponding image characteristics and preset information.
According to an embodiment of the present disclosure, there is provided an apparatus for determining timing for a device having a plurality of image capturing elements, including:
a transmitting module for transmitting image acquisition instructions to the plurality of image acquisition elements;
the acquisition module is used for responding to the image acquisition instruction, and the plurality of image acquisition elements are used for respectively acquiring a plurality of corresponding images of the same preset target and respectively acquiring corresponding image characteristics of the preset target in the plurality of corresponding images; and
And the determining module is used for determining the time sequence of the plurality of corresponding images according to the corresponding image characteristics and preset information.
According to an embodiment of the present disclosure, there is provided a terminal including: at least one memory and at least one processor; the memory is used for storing program codes, and the processor is used for calling the program codes stored in the memory to execute the method.
According to an embodiment of the present disclosure, there is provided a non-transitory storage medium for storing program code for performing the above-described method.
By adopting the scheme for determining the time sequence, the time sequence can be determined according to the corresponding image characteristics of the dynamic preset target.
Drawings
The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.
Fig. 1 shows a flowchart of a method of determining timing according to an embodiment of the present disclosure.
Fig. 2 shows a schematic structural diagram of a deterministic timing apparatus according to an embodiment of the present disclosure.
Fig. 3 shows a schematic structural diagram of an electronic device suitable for use in implementing embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure have been shown in the accompanying drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
Terminals in the present disclosure may include, but are not limited to, mobile terminal devices such as mobile phones, smart phones, notebook computers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), navigation devices, in-vehicle terminal devices, in-vehicle display terminals, in-vehicle electronic rear view mirrors, and the like, and fixed terminal devices such as digital TVs, desktop computers, and the like.
As shown in fig. 1, the present disclosure provides a method of determining timing for an apparatus having a plurality of image capturing elements according to an embodiment, including the following steps.
S100, sending image acquisition instructions to the plurality of image acquisition elements.
The plurality of image capturing elements may include, among others, a color imaging device such as a binocular color camera, a depth imaging device such as a TOF camera, or the like, a camera or an imaging device capable of capturing color or achromatic information. Specifically, the same preset target as the reference frame may be included in the viewfinder frames of the plurality of image capturing elements.
S200, responding to the image acquisition instruction, and respectively acquiring a plurality of corresponding images of the same preset target by the plurality of image acquisition elements.
The preset target may include an indication mark of constant rotation, and specifically may include a fan blade connected to a motor that rotates at a constant speed, that is, a reference system in the embodiment of the present disclosure. In particular, when a plurality of cameras are mounted on a smart device such as a mobile phone, it is generally necessary to synthesize image information acquired by the plurality of cameras to obtain an optimized synthesized image as a final image. Because the response speeds of different image acquisition devices to the image acquisition instructions are different, the time required for acquiring imaging after the image acquisition instructions are acquired is also different, so that time differences can exist in images acquired by the different image acquisition devices respectively responding to the same image acquisition instructions, and when a dynamic object is shot, the synthesized images can be mismatched due to the time differences. More specifically, the plurality of image capturing elements of the embodiments of the present disclosure may include a color image capturing element that captures a first image and a depth image capturing element that captures a second image in response to the image capturing instructions being captured simultaneously.
S300, respectively acquiring the corresponding image characteristics of the preset targets in the corresponding images.
Specifically, the embodiment of the disclosure may respectively obtain angles of the indication marks rotating at a uniform speed in a plurality of corresponding images. When the photographing times of the plurality of image capturing elements are not completely identical, the indication marks such as angles of the fan blades in the plurality of corresponding images may also be different. Embodiments of the present disclosure may further include acquiring a first position of the fan blade in the first image and a second position of the fan blade in the second image, respectively; and acquiring an included angle between the first position and the second position. The preset information may include information indicating the rotation speed, rotation angle, rotation direction, etc. of the mark.
S400, determining the time sequence of the plurality of corresponding images according to the corresponding image characteristics and preset information.
The preset information comprises the rotating speed of the indication mark rotating at the uniform speed. Specifically, embodiments of the present disclosure may include obtaining a difference value of the angle, and obtaining time differences of the plurality of corresponding image acquisitions according to the rotational speed and the difference value. In view of the foregoing, embodiments of the present disclosure may further include obtaining a time difference between the first image and the second image according to the rotation speed and the included angle.
The embodiment of the disclosure can compare the angles, acquire the difference value of the angles, and acquire the time difference of image acquisition according to the rotating speed and the difference value. In addition, the embodiments of the present disclosure may also obtain a difference in angle; and obtaining a time difference between the first image and the second image according to the rotating speed and the difference value. In particular, the time difference may be obtained by a ratio of the difference in angle to the rotational speed. The time sequence may include a sequence of image acquisitions and a time difference, among other things.
After step S400, embodiments of the present disclosure may further include a step of sequentially obtaining a plurality of images by each image obtaining element, and time-aligning the plurality of images of different image obtaining elements according to the obtained time difference. After a plurality of images which are aligned in time and obtained by different image obtaining devices are obtained, the embodiment of the disclosure can synthesize the images to obtain the synthesized optimized image.
According to the embodiment of the disclosure, the fan blades are driven by the reference system such as the constant-speed motor, the image acquisition elements are instructed to capture images, and according to the rotating speed, the time difference between the images can be calculated by calculating the angle difference of the fan blades in the images, so that the time difference of time sequence calibration can be achieved, the time difference between the images acquired by different image acquisition elements such as the cameras can be obtained without hardware clock connection, the effect of matching the images at the same time is achieved, and therefore the product cost, the research and development time and the economic cost can be effectively reduced.
As shown in fig. 2, fig. 2 shows a schematic structural diagram of a deterministic timing apparatus according to an embodiment of the present disclosure. In fig. 2, the apparatus 10 is for example used in a device having a plurality of image acquisition elements, comprising a transmission module 11, an acquisition module 13 and a determination module 15. Wherein the sending module 11 is configured to send image capturing instructions to the plurality of image capturing elements; the acquiring module 13 may be configured to, in response to the image acquiring instruction, acquire a plurality of corresponding images of the same preset target respectively by the plurality of image acquiring elements, and acquire corresponding image features of the preset target in the plurality of corresponding images respectively; the determining module 15 may be configured to determine a timing of the plurality of corresponding images according to the corresponding image features and the preset information.
For embodiments of the device, reference is made to the description of method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the modules illustrated as separate modules may or may not be separate. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
In addition, the present disclosure also provides a terminal, including: at least one memory and at least one processor; the memory is used for storing program codes, and the processor is used for calling the program codes stored in the memory to execute the method.
Furthermore, the present disclosure also provides a non-transitory storage medium for storing program code for performing the above-described method.
Referring now to fig. 3, a schematic diagram of an electronic device 800, such as a terminal, suitable for use in implementing embodiments of the present disclosure is shown. The terminal devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 3 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 3, the electronic device 800 may include a processing means (e.g., a central processor, a graphics processor, etc.) 801, which may perform various appropriate actions and processes according to programs stored in a Read Only Memory (ROM) 802 or programs loaded from a storage 808 into a Random Access Memory (RAM) 803. In the RAM803, various programs and data required for the operation of the electronic device 800 are also stored. The processing device 801, the ROM 802, and the RAM803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to the bus 804.
In general, the following devices may be connected to the I/O interface 805: input devices 806 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, and the like; an output device 807 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, etc.; storage 808 including, for example, magnetic tape, hard disk, etc.; communication means 809. The communication means 809 may allow the electronic device 800 to communicate wirelessly or by wire with other devices to exchange data. While fig. 3 shows an electronic device 800 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via communication device 809, or installed from storage device 808, or installed from ROM 802. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 801.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including, but not limited to, an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
In accordance with one or more embodiments of the present disclosure, there is provided a method of determining timing for an apparatus having a plurality of image capturing elements, comprising:
transmitting an image acquisition instruction to the plurality of image acquisition elements;
responding to the image acquisition instruction, and respectively acquiring a plurality of corresponding images of the same preset target by the plurality of image acquisition elements;
respectively acquiring corresponding image features of the preset targets in the corresponding images; and
And determining the time sequence of the plurality of corresponding images according to the corresponding image characteristics and preset information.
According to one or more embodiments of the present disclosure, the preset target is an indication mark rotating at a constant speed;
wherein the respectively acquiring the corresponding image features of the preset target in the plurality of corresponding images includes:
and respectively acquiring angles of the indication marks rotating at a constant speed in the plurality of corresponding images.
According to one or more embodiments of the present disclosure, the preset information includes a rotation speed of the indication mark that rotates at a constant speed;
wherein the determining the time sequence of the plurality of corresponding images according to the corresponding image features and preset information comprises:
and obtaining the difference value of the angles, and obtaining the time differences of the plurality of corresponding image acquisitions according to the rotating speed and the difference value.
According to one or more embodiments of the present disclosure, the plurality of image capturing elements includes a color image capturing element and a depth image capturing element;
wherein, the responding to the image acquisition instruction, the plurality of image acquisition elements respectively acquire a plurality of corresponding images of the same preset target comprises:
in response to the image acquisition instruction acquired simultaneously, the color image pickup element acquires a first image, and the depth image pickup element acquires a second image.
According to one or more embodiments of the present disclosure, the corresponding image features include fan blades connected to a motor that rotates at a uniform speed;
wherein the respectively acquiring the corresponding image features of the preset target in the plurality of corresponding images includes:
respectively acquiring a first position of the fan blade in the first image and a second position of the fan blade in the second image; and
And acquiring an included angle between the first position and the second position.
According to one or more embodiments of the present disclosure, the preset information includes a rotational speed of the fan blade.
According to one or more embodiments of the present disclosure, the determining the timing of the plurality of corresponding images according to the corresponding image features and preset information further includes:
and obtaining the time difference of the first image and the second image according to the rotating speed and the included angle.
According to one or more embodiments of the present disclosure, there is provided an apparatus for determining timing for a device having a plurality of image capturing elements, comprising:
a transmitting module for transmitting image acquisition instructions to the plurality of image acquisition elements;
the acquisition module is used for responding to the image acquisition instruction, and the plurality of image acquisition elements are used for respectively acquiring a plurality of corresponding images of the same preset target and respectively acquiring corresponding image characteristics of the preset target in the plurality of corresponding images; and
And the determining module is used for determining the time sequence of the plurality of corresponding images according to the corresponding image characteristics and preset information.
According to one or more embodiments of the present disclosure, there is provided a terminal including: at least one memory and at least one processor; the memory is used for storing program codes, and the processor is used for calling the program codes stored in the memory to execute the method.
According to one or more embodiments of the present disclosure, there is provided a non-transitory storage medium for storing program code for performing the above-described method.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in this disclosure is not limited to the specific combinations of features described above, but also covers other embodiments which may be formed by any combination of features described above or equivalents thereof without departing from the spirit of the disclosure. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).
Moreover, although operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are example forms of implementing the claims.
Claims (8)
1. A method of determining timing for an apparatus having a plurality of image capturing elements, comprising:
transmitting an image acquisition instruction to the plurality of image acquisition elements;
responding to the image acquisition instruction, and respectively acquiring a plurality of corresponding images of the same preset target by the plurality of image acquisition elements;
respectively acquiring corresponding image features of the preset targets in the corresponding images; and
Determining the time sequence of the plurality of corresponding images according to the corresponding image characteristics and preset information;
the preset target is an indication mark rotating at a constant speed; the preset information comprises the rotating speed of the indication mark rotating at a constant speed;
the respectively acquiring the corresponding image features of the preset target in the plurality of corresponding images comprises: respectively acquiring angles of the indication marks rotating at constant speed in the corresponding images;
the determining the time sequence of the plurality of corresponding images according to the corresponding image features and preset information comprises the following steps: and obtaining the difference value of the angles, and obtaining the time differences of the plurality of corresponding image acquisitions according to the rotating speed and the difference value.
2. The method of claim 1, wherein the plurality of image capturing elements comprises a color imaging element and a depth imaging element;
wherein, the responding to the image acquisition instruction, the plurality of image acquisition elements respectively acquire a plurality of corresponding images of the same preset target comprises:
in response to the image acquisition instruction acquired simultaneously, the color image pickup element acquires a first image, and the depth image pickup element acquires a second image.
3. The method of claim 2, wherein the corresponding image features comprise fan blades coupled to a motor that rotates at a constant speed;
wherein the respectively acquiring the corresponding image features of the preset target in the plurality of corresponding images includes:
respectively acquiring a first position of the fan blade in the first image and a second position of the fan blade in the second image; and
And acquiring an included angle between the first position and the second position.
4. A method according to claim 3, wherein the predetermined information comprises a rotational speed of the fan blade.
5. The method of claim 4, wherein determining the timing of the plurality of corresponding images from the corresponding image features and preset information further comprises:
and obtaining the time difference of the first image and the second image according to the rotating speed and the included angle.
6. An apparatus for determining timing for a device having a plurality of image capturing elements, comprising:
a transmitting module for transmitting image acquisition instructions to the plurality of image acquisition elements;
the acquisition module is used for responding to the image acquisition instruction, and the plurality of image acquisition elements are used for respectively acquiring a plurality of corresponding images of the same preset target and respectively acquiring corresponding image characteristics of the preset target in the plurality of corresponding images; and
The determining module is used for determining the time sequence of the plurality of corresponding images according to the corresponding image characteristics and preset information;
the preset target is an indication mark rotating at a constant speed; the preset information comprises the rotating speed of the indication mark rotating at a constant speed;
the respectively acquiring the corresponding image features of the preset target in the plurality of corresponding images comprises: respectively acquiring angles of the indication marks rotating at constant speed in the corresponding images;
the determining the time sequence of the plurality of corresponding images according to the corresponding image features and preset information comprises the following steps: and obtaining the difference value of the angles, and obtaining the time differences of the plurality of corresponding image acquisitions according to the rotating speed and the difference value.
7. A terminal, comprising:
at least one memory and at least one processor;
wherein the at least one memory is configured to store program code, and the at least one processor is configured to invoke the program code stored by the at least one memory to perform the method of any of claims 1 to 5.
8. A non-transitory storage medium for storing program code for performing the method of any one of claims 1 to 5.
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