Control method for image acquisition device, control device therefor, and storage medium

1. A method, comprising:

receiving image brightness values from a plurality of image acquisition devices;

performing a weighted summation on the image brightness values of the plurality of image acquisition devices according to brightness weights preset by the plurality of image acquisition devices, to obtain a weighted sum value;

dividing the weighted sum value by a sum of the brightness weights preset by the plurality of image acquisition devices to determine an average brightness value of the plurality of image acquisition device;

determining a brightness difference value between the image brightness value of an image acquisition device of the plurality of image acquisition devices and the average brightness value as a brightness gain of the image acquisition device; and

configuring the image acquisition device with the brightness gain.

2. The method according to claim 1 , further comprising:

receiving image data acquired by the image acquisition device;

analyzing the image data, to obtain an analysis result;

obtaining an image timing according to the analysis result;

determining a frame synchronization signal with which the image acquisition device outputs the image data according to the image timing;

determining a phase offset between the frame synchronization signal and a preset trigger signal; and

adjusting a phase of a control signal based on the phase offset.

3. The method according to claim 2 , wherein the adjusting the phase of the control signal based on the phase offset comprises:

adjusting the phase of the control signal using the phase offset in response to image data output time of the image acquisition device being coincident with exposure start time of the image acquisition device.

4. The method according to claim 3 , wherein the adjusting the phase of the control signal using the phase offset comprises:

dividing the phase offset into a plurality of shifts smaller than a preset shift threshold, wherein the preset shift threshold is a maximum phase shift allowed by a single adjustment; and

adjusting the phase of the control signal in a gradually approaching manner based on the plurality of shifts.

5. The method according to claim 2 , wherein the adjusting the phase of the control signal based on the phase offset comprises:

determining a waiting duration between image data output time of the image acquisition device and exposure start time of the image acquisition device in response to the image data output time being not coincident with the exposure start time;

adjusting the phase of the control signal using the phase offset; and

advancing trigger time of the control signal by the waiting duration.

6. The method according to claim 5 , wherein the adjusting the phase of the control signal using the phase offset comprises:

dividing the phase offset into a plurality of shifts smaller than a preset shift threshold, wherein the preset shift threshold is the maximum phase shift allowed by a single adjustment; and

adjusting the phase of the control signal in a gradually approaching manner based on the plurality of shifts.

7. The method according to claim 1 , further comprising:

in response to exposure durations of the plurality of image acquisition devices being different with each other:

determining a uniform exposure duration of the plurality of image acquisition devices based on the image brightness values; and

controlling the image acquisition device to expose in the uniform exposure duration.

8. A device, comprising at least one processor, at least one memory, and computer program instructions stored in the at least one memory that, when executed by the processor, implement a method comprising:

receiving image brightness values from a plurality of image acquisition devices;

performing a weighted summation on the image brightness values of the plurality of image acquisition devices according to brightness weights preset by the plurality of image acquisition devices, to obtain a weighted sum value;

dividing the weighted sum value by a sum of the brightness weights preset by the plurality of image acquisition devices to determine an average brightness value of the plurality of image acquisition device;

determining a brightness difference value between the image brightness value of an image acquisition device of the plurality of image acquisition devices and the average brightness value as a brightness gain of the target image acquisition device; and

configuring the image acquisition device with the brightness gain.

9. The device according to claim 8 , wherein the method further comprises:

receiving image data acquired by the image acquisition device;

analyzing the image data, to obtain an analysis result;

obtaining image timing according to the analysis result;

determining a frame synchronization signal with which the image acquisition device outputs the image data according to the image timing;

determining a phase offset between the frame synchronization signal and a preset trigger signal; and

adjusting a phase of a control signal based on the phase offset.

10. The device according to claim 9 , wherein the adjusting the phase of the control signal based on the phase offset comprises:

adjusting the phase of the control signal using the phase offset in response to image data output time of the image acquisition device being coincident with exposure start time of the image acquisition device.

11. The device according to claim 10 , wherein the adjusting the phase of the control signal using the phase offset comprises:

dividing the phase offset into a plurality of shifts smaller than a preset shift threshold, wherein the preset shift threshold is a maximum phase shift allowed by a single adjustment; and

adjusting the phase of the control signal in a gradually approaching manner based on the plurality of shifts.

12. The device according to claim 9 , wherein the adjusting the phase of the control signal based on the phase offset comprises:

determining a waiting duration between image data output time of the image acquisition device and exposure start time of the image acquisition device in response to the image data output time being not coincident with the exposure start time;

adjusting the phase of the control signal using the phase offset; and

advancing trigger time of the control signal by the waiting duration.

13. The device according to claim 12 , wherein the adjusting the phase of the control signal using the phase offset comprises:

dividing the phase offset into a plurality of shifts smaller than a preset shift threshold, wherein the preset shift threshold is the maximum phase shift allowed by a single adjustment; and

adjusting the phase of the control signal in a gradually approaching manner based on the plurality of shifts.

14. The device according to claim 8 , wherein the method further comprises:

in response to exposure durations of the plurality of image acquisition devices being different with each other:

determining a uniform exposure duration of the plurality of image acquisition devices based on the image brightness values; and

controlling the image acquisition device to expose in the uniform exposure duration.

15. A non-transitory computer-readable storage medium having computer program instructions stored thereon that, when executed by a processor, implement a method comprising:

receiving image brightness values from a plurality of image acquisition devices;

performing a weighted summation on the image brightness values of the plurality of image acquisition devices according to brightness weights preset by the plurality of image acquisition devices, to obtain a weighted sum value;

dividing the weighted sum value by a sum of the brightness weights preset by the plurality of image acquisition devices to determine an average brightness value of the plurality of image acquisition device;

determining a brightness difference value between the image brightness value of an image acquisition device of the plurality of image acquisition devices and the average brightness value as a brightness gain of the image acquisition device; and

configuring the image acquisition device with the brightness gain.

16. The non-transitory computer-readable storage medium according to claim 15 , wherein the method further comprises:

receiving image data acquired by the image acquisition device;

analyzing the image data, to obtain an analysis result;

obtaining image timing according to the analysis result;

determining a frame synchronization signal with which the image acquisition device outputs the image data according to the image timing;

determining a phase offset between the frame synchronization signal and a preset trigger signal; and

adjusting a phase of a control signal based on the phase offset.

17. The non-transitory computer-readable storage medium according to claim 16 , wherein the adjusting the phase of the control signal based on the phase offset comprises:

adjusting the phase of the control signal using the phase offset in response to image data output time of the image acquisition device being coincident with exposure start time of the image acquisition device.

18. The non-transitory computer-readable storage medium according to claim 16 , wherein the adjusting the phase of the control signal based on the phase offset comprises:

determining a waiting duration between image data output time of the image acquisition device and exposure start time of the image acquisition device in response to the image data output time being not coincident with the exposure start time;

adjusting the phase of the control signal using the phase offset; and

advancing trigger time of the control signal by the waiting duration.

19. The non-transitory computer-readable storage medium according to claim 18 , wherein the adjusting the phase of the control signal using the phase offset comprises:

dividing the phase offset into a plurality of shifts smaller than a preset shift threshold, wherein the preset shift threshold is the maximum phase shift allowed by single adjustment; and

adjusting the phase of the control signal in a gradually approaching manner based on the plurality of shifts.

20. The non-transitory computer-readable storage medium according to claim 15 , wherein the method further comprises:

in response to exposure durations of the plurality of image acquisition devices being different with each other:

determining a uniform exposure duration of the plurality of image acquisition devices based on the image brightness values; and

controlling the image acquisition device to expose in the uniform exposure duration.