Introduction
This Arducam 5MP Synchronized Stereo Camera Bundle Kit is capable of running two OV5647 Camera Modules simultaneously through a single MIPI CSI-2 camera slot connection on popular embedded systems like Jetson Nano and Jetson Xavier NX. It consists of two OV5647 camera modules and an Arducam stereo camera HAT. The stereo camera HAT is enabled by ArduChip to disguise the dual-camera connection as a single camera to be accepted by the single-board computers. You can use this bundle to build your stereo camera system for depth-related vision applications.
What is Camarray
Camarray is a series of embedded stereo cameras and multiple camera solutions from Arducam. Upgraded from Arducam Sync Stereo Camera HAT, the Camarry can disguise up to 4 synched camera modules as a single camera slot connection to embedded systems like the Raspberry Pi, Jetson nano, and Xavier NX. With Arducam camarray, your camera connectivities are no longer limited to the camera connectors on the motherboard or the carrier board. Along with Arducam-provided camera drivers, more flexibility can be added to your multi-camera applications.
NOTE
1.The Camarray HAT does not support digital pan in half resolution combine and programmable pan speed control.
2.The Camarray HAT is not a crop and a half (halving the horizontal resolution of each camera and halving the field of view) but a compressed half (halving the horizontal resolution of each camera but leaving the field of view unchanged), so it does not need to support scan mode.
Common Specs
Image Sensor
| Sensor Model | OV5647 |
| Shutter Type | Rolling Shutter |
| Active Pixels | 2592×1944 |
| Resolution | 5MP*2 |
| Image Sensor Format | Type 1/4″ |
| Pixel Size | 1.4μm×1.4μm |
Lens Assembly
| Interchangeability | No |
| F/NO | 2.8 |
| Focus Type | Fixed Focus |
| Focusing Range | 10cm to infinity (when focused to infinity) |
| Focal Length | 3.51 mm |
| Field of View(FoV) | 66° Horizontal |
| Lens Mount | M12 Lens |
| IR Sensitivity | Visible light |
Board
| Camera Board Size | 105(L) x 24(W) x 20.1(H) mm |
| HAT Size | 65×56 mm |
| Pin No. | Pin Name | Type | Description |
|---|---|---|---|
| 1 | 3V3 | Power | 3.3V power supply |
| 2 | FSIN | Input | Frame Sync Input |
| 3 | STB | Output | LED Strobe Output |
| 4 | GND | Ground | Ground |
| 5 | 3V3 | Power | 3.3V power supply |
| 6 | SDA | I/O | SCCB serial interface data I/O |
| 7 | SCL | Input | SCCB serial interface clock input |
| 8 | GND | Ground | Ground |
Connector & Cable
| Connector Interface | MIPI CSI-2 15-pin 2-lane |
| Ribbon Cable Length | 150mm (22-pin), 300mm(15-22pin), |
| Pin No. | Pin Name | Type | Description |
|---|---|---|---|
| 1 | GND | Power | Ground |
| 2 | CAM_D0_N | Output | MIPI Data Lane 0 Negative |
| 3 | CAM_D0_P | Output | Pixel Data Lane0 Positive |
| 4 | GND | Power | Ground |
| 5 | CAM_D1_N | Output | MIPI Data Lane 1 Negative |
| 6 | CAM_D1_P | Output | MIPI Data Lane 1 Positive |
| 7 | GND | Power | Ground |
| 8 | CAM_CK_N | Output | MIPI Clock Lane Negative |
| 9 | CAM_CK_P | Output | MIPI Clock Lane Positive |
| 10 | GND | Power | Ground |
| 11 | CAM_IO0 | Input | Power Enable |
| 12 | CAM_IO1 | Input | LED Indicator |
| 13 | CAM_SCL | Bidirection | I2C SCL |
| 14 | CAM_SDA | Bidirection | I2C SDA |
| 15 | CAM_3V3 | Power | 3.3V Power Input |
Driver Performance
| Video Format | GERY(8-bit)/Y10P(10-bit) |
| Output Interface | 2-lane MIPI serial output |
| Output Formats | 8/10-bit RAW |
Quick Start Guide
NOTE
Same operation on Xavier NX.The only difference is the driver package.
Hardware Setup
Check the Driver
This step is to check if you have other drivers installed. If you are sure that you don’t have other drivers installed, you can skip this step and go to install Arducam V4L2 driver.
1.Driver type
There is three drivers for Jetson:
- Official IMX219 driver
- Arducam IMX477 driver
- Arducam V4L2 driver
NOTE
These three drivers are in conflict with each other and only one of the three options is available.
1) The Arducam IMX477 driver and Arducam V4L2 driver will automatically overwrite the other drivers and you don’t need to uninstall the other drivers.
2) If you want to use the official IMX219 driver, please type the following command to uninstall Arducam IMX477 driver or Arducam V4L2 driver.
sudo dpkg -r arducam-nvidia-l4t-kernel
3) Installing the Arducam IMX477 driver is the same process as installing the Arducam V4L2 driver, only the driver package (.deb) is different.
The product is driven by the Arducam V4L2 driver.
2.Check your driver
Execute the following command and see if it responds. If there is no response, the corresponding driver is not installed.
#Check if you have installed Official IMX219 driver
dmesg | grep imx219
#Check if you have installed Arducam IMX477 driver
dmesg | grep imx477
#Check if you have installed Arducam V4L2 driver
dmesg | grep arducam
For example, it has response, you installed Arducam V4L2 driver.
Failed means you haven’t connected Arducam IMX477 camera or the connection is wrong.Install Arducam V4L2 Driver
Please go to this page for detailed instruction.
First Use
1.Install V4L2 python module
for Python3.x：
wget https://bootstrap.pypa.io/get-pip.py
After you type the following command and press【Enter】, it will take several minutes to finish downloading.
sudo python3 get-pip.py
sudo pip3 install v4l2
NOTE: The V4L2 of Python3.x has a known bug that requires a manual fix, and the following error occurs when you import the v4l2 module into Python3.x:
You can refer to this link to fix this bug: https://bugs.launchpad.net/python-v4l2/+bug/1664158
2.Download the demo code
git clone https://github.com/ArduCAM/MIPI_Camera.git
3.Check whether the camera is detected
ls /dev/video0
4.Check the video format supported
v4l2-ctl --list-formats-ext
5.Display images in real time
If accessing Jetson via remote software (e.g., MobaXterm), the following command (executed only once) is required to display the image.
export DISPLAY=:0.0
Enter program directory:
cd MIPI_Camera/Jetson/Jetvariety/example/
OV5647 currently supports the following commands:
#RAW8
python3 arducam_displayer.py -f BA81 --width 5184 --height 1944 -d 0 --fps
#RAW10
python3 arducam_displayer.py -f Y16 --width 5184 --height 1944 -d 0 --fps
BA81 for RAW8 and Y16 for RAW10.
-width and -height indicate the width and height of the input image.
–fps means to display the current frames. If you don’t want to display frames, you can remove this command parameter.
For example, execute the following command:
python3 arducam_displayer.py -f BA81 --width 5184 --height 1944 -d 0 --fps
NOTE
Display resolution settings may affect the frames displayed.
Press Ctrl+C to exit image display.
Dropped frame?
Select Arducam/arducam_displayer.py, right-click on “open with Text Editor“.
The circled value below represents the number of column in the display resolution. Try making the value lower if the frame is dropped.
Even if the display resolution is reduced, dropped frames may still exist due to the platform performance.
It is possible to test the actual input frames by only receiving data without displaying the image.
#RAW8
v4l2-ctl --set-fmt-video=width=5184,height=1944,pixelformat='BA81' --stream-mmap --stream-count=-1 -d /dev/video0
#RAW10
v4l2-ctl --set-fmt-video=width=5184,height=1944,pixelformat='Y16 ' --stream-mmap --stream-count=-1 -d /dev/video0
Display the Image via VLC Media Player
1.Install VLC media player
sudo apt-get install vlc
2.Display the image
Open VLC media player
Press Ctrl+C
【Video device name】→ select “/dev/video0“→ click 【Play】.
It may be stuck due to player performance.
Application Note
Use with Arducam USB2.0 Camera Shield
| column | raw | FPS | bandwidths/MB |
| 2560 | 800 | 54.0 | 105.5 |
| 2560 | 800 | 21.0 | 41.0 |
The USB2.0 Camera Shield has a small bandwidth (around 40MB) and requires frame skipping to produce images (16.8fps original, 4.2fps after frame droppinging).
Please strictly follow the installation and operation order below, otherwise errors will occur!
1.Download File here.
2.Connect the camera module to the HAT then connect HAT to the USB Camera Shield in the case of a total power failure.
3.Power the HAT through micro USB port,then power the USB Camera Shield.
4.Run USBTest
5.Scan and select the camera device number
6.Select CfgFile
Download the CfgFile here.
7.Click 【load】- Click【open】
8.Power down the HAT then power the HAT.
9.Click【play】
Using Arducam Camarray on ROS
Please refer to this page:
Using Arducam Camarray on ROS
