Image processing device and image processing method

1. An image processing device comprising:

a processor; and

a memory that stores a plurality of instructions, which when executed by the processor cause the processor to execute:

acquiring a first image and a second image at irregular intervals that are captured by cameras having optical axes different from each other;

calculating a reference length of a first portion of a user, the first portion being included in the first image and the second image; and

detecting a non-synchronization state of image capturing between the first image and the second image, based on a change of the reference length, wherein

the calculating the reference length calculates a first depth of the first portion from an arbitrary reference point based on a relationship expressed by a focus distance, a parallax with regard to the cameras, and a baseline length between a first optical center of the first image and a second optical center of the second image,

the first depth calculated based on a detection result of the non-synchronization state, and

the reference length calculated in a case where a displacement value of the first portion that is calculated from a plurality of parallaxes acquired at different timings is less than a predetermined first threshold value.

2. The device according to claim 1 , wherein the detecting detects the non-synchronization state by setting a comparison value between a second length of the first portion and the reference length of the first portion as the difference.

3. The device according to claim 1 , wherein each of the calculating calculates based on the parallax between a first position of the first portion at a first time when the acquiring acquires the first image, and a second position of a second portion at a second time when the acquiring acquires the second image.

4. The device according to claim 1 , wherein the reference point is a center point of the first optical center or the second optical center.

5. The device according to claim 2 , wherein the detecting detects the non-synchronization state in a case where the comparison value is equal to or greater than a predetermined second threshold value.

6. The device according to claim 2 , wherein the comparison value is a difference or a ratio between the second length and the reference length.

7. The device according to claim 1 , wherein the controlling, in a case where the non-synchronization state is detected, calculates a second depth of the first portion from the reference point, based on a relationship expressed by a length of the first portion, the focus distance, and the reference length in the camera coordinate system, and replaces the first depth with the second depth.

8. The device according to claim 7 , wherein the controlling calculates the second depth based on posture information of the first portion.

9. The device according to claim 1 , wherein the first portion is a finger or back of a hand.

10. An image processing method comprising:

by a processor,

acquiring a first image and a second image at irregular intervals that are captured by cameras having optical axes different from each other;

calculating, a reference length of a first portion of a user, the first portion being included in the first image and the second image; and

detecting a non-synchronization state of image capturing between the first image and the second image, based on a change of the reference length; wherein

the calculating the reference length calculates a first depth of the first portion from an arbitrary reference point based on a relationship expressed by a focus distance, a parallax with regard to the cameras, and a baseline length between a first optical center of the first image and a second optical center of the second image,

the first depth calculated based on a detection result of the non-synchronization state, and

the reference length calculated in a case where a displacement value of the first portion that is calculated from a plurality of parallaxes acquired at different timings is less than a predetermined first threshold value.

11. The method according to claim 10 , wherein the detecting detects the non-synchronization state by setting a comparison value between a second length of the first portion and the reference length of the first portion as the difference.

12. The method according to claim 10 , wherein each of the calculating calculates based on the parallax between a first position of the first portion at a first time when the acquiring acquires the first image, and a second position of a second portion at a second time when the acquiring acquires the second image.

13. The method according to claim 10 , wherein the reference point is a center point of the first optical center or the second optical center.

14. A computer-readable non-transitory storage medium storing an image processing program that causes a computer to execute a process comprising:

acquiring a first image and a second image at irregular intervals that are captured by cameras having optical axes different from each other;

calculating a reference length of a first portion of a user, the first portion being included in the first image and the second image; and

detecting a non-synchronization state of image capturing between the first image and the second image, based on a change of the reference length, wherein

the calculating the reference length calculates a first depth of the first portion from an arbitrary reference point based on a relationship expressed by a focus distance, a parallax with regard to the cameras, and a baseline length between a first optical center of the first image and a second optical center of the second image,

the first depth calculated based on a detection result of the non-synchronization state, and

the reference length calculated in a case where a displacement value of the first portion that is calculated from a plurality of parallaxes acquired at different timings is less than a predetermined first threshold value.