1. A method of detecting an imaging condition, the method comprising: determining, based on luminance distribution in a first image of a scene, imaging lightness of the first image, the first image being captured by a first camera; and determining, based on a detection of a highlighted region in a second image of the scene, imaging exposureness of the second image, the second image being captured by a second camera, wherein the first image and the second image are captured under a same or similar imaging condition, and an exposure amount of the first camera is lower than an exposure amount of the second camera.