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Camarray – Arducam 1MP*2 Stereo Camera MIPI Module

Introduction

This Arducam 1MP*2 Stereo Camera MIPI Module is a stereo camera module with two synchronized monochrome global shutter OV9281 image sensors (2×1MP). It directly connects to the MIPI CSI-2 connectors of Raspberry Pi and Jetson Nano, and runs with a V4L2 camera driver on those platforms. It offers better flexibility to be integrated into your own hardware design or run with your own algorithm on embedded systems for applications like depth sensing, 3d mapping, SLAM, etc.

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 ModelOV9281
Shutter TypeGlobal Shutter
Active Pixels1280*2×800
Resolution1MP*2
Image Sensor FormatType 1/4″
Pixel Size3μm×3μm
Color Filter ArrayNone(Monochrome)
9281block diagam
OV9281 Block Diagram

Lens Assembly

InterchangeabilityYES
F/NO2.8
Focus TypeManual Focus
Focusing Range30cm to infinity (when focused to infinity)
Effective Focal Length(EFL)2.8 mm
Field of View(FoV)70° Horizontal
Lens MountM12 Lens
IR SensitivityNo IR filter (sensitive to IR light)
2311stero camera lens 3d

Camera Board

Camera Board Size105×24 mm
2311stereo camera board
Mechanical Drawing
Pin No.Pin NameTypeDescription
13V3Power3.3V power supply
2FSINInputFrame Sync Input
3STBOutputLED Strobe Output
4GNDGroundGround
53V3Power3.3V power supply
6SDAI/OSCCB serial interface data I/O
7SCLInputSCCB serial interface clock input
8GNDGroundGround

Connector & Cable

Connector InterfaceMIPI CSI-2 15-pin 2-lane
Ribbon Cable Length150mm (15-pin), 150mm(15-22pin)
Mating connector typeSFW15R-2STE1LF
Pin No.Pin NameTypeDescription
1GNDPowerGround
2CAM_D0_NOutputMIPI Data Lane 0 Negative
3CAM_D0_POutputPixel Data Lane0 Positive
4GNDPowerGround
5CAM_D1_NOutputMIPI Data Lane 1 Negative
6CAM_D1_POutputMIPI Data Lane 1 Positive
7GNDPowerGround
8CAM_CK_NOutputMIPI Clock Lane Negative
9CAM_CK_POutputMIPI Clock Lane Positive
10GNDPowerGround
11CAM_IO0InputPower Enable
12CAM_IO1InputLED Indicator
13CAM_SCLBidirectionI2C SCL
14CAM_SDABidirectionI2C SDA
15CAM_3V3Power3.3V Power Input

Driver Performance (With Official V4L2 Driver)

Video FormatGERY(8-bit)/Y10P(10-bit)
Output Interface2-lane MIPI serial output
Output Formats8/10-bit BW RAW

Frame rate (adjustable: 5fps~80fps)

Raspberry PiJetson Nano
RAW8(GREY)[email protected]×800[email protected]×800
RAW10(Y10P)[email protected]×800[email protected]×800

Quick Start Guide

Hardware Setup

9281 connect
Arducam 1MP*2 Stereo Camera MIPI Module and Raspberry Pi 4B are used.

Driver Installation

1.Driver note

There are 3 drivers for Raspberry Pi:

  • Official driver
  • Arducam MIPI camera driver
  • Arducam V4L2 driver

1)Arducam MIPI camera driver is not in conflict with the official driver.

2)Arducam V4L2 driver is in conflict with the official driver. If you want to use the official driver, you need to uninstall the Arducam V4L2 driver first.

3)Arducam V4L2 driver is in conflict with Arducam MIPI camera driver. If you want to use the Arducam MIPI camera driver, you need to uninstall the Arducam V4L2 driver first.

4)Arducam V4L2 driver automatically overwrites the other two drivers. After uninstalling the Arducam V4L2 driver, it automatically reverts to the official driver.

The product is driven by the Arducam V4L2 driver.

2.Check the driver

Check if the system is installed with the Arducam V4L2 driver.

sudo nano /boot/config.txt

Press【PageDown】several times or scroll your mouse wheel down to check if there is “dtoverlay=arducam”.

dtoverlayarducam”

1)If you see “dtoverlay=arducam”, the Arducam V4L2 driver has been previously installed and is in a valid state.

2)If you see “#dtoverlay=arducam”, it means you have installed Arducam V4L2 driver before, but it is uninstalled now, remove the “#” to restore the V4L2 driver. Then reboot Pi to take effect.

3)If you don’t see “dtoverlay=arducam” or “#dtoverlay=arducam”, it means that Arducam’s V4L2 driver has never been installed before, so you need to follow the instructions below for a complete installation.

3. Install Arducam V4L2 driver

#Download driver package

wget https://github.com/ArduCAM/Arducam_OBISP_MIPI_Camera_Module/releases/download/v1.0/Release.tar.gz
Download driver package1

#Extract the archive files

tar zxvf Release.tar.gz
Extract the archive files1

#Enter the extracted folder

cd Release/

#Install the driver

./install_driver.sh
Install the driver1

#Reboot the device

Press y, and then hit Enter to reboot.

Get an error?

If your operating system is not released by official Raspberry Pi, the driver installation will report an error and give a version error message.

version error b0267

Check out Raspberry Pi official supported operating system:

https://www.raspberrypi.org/software/operating-systems/

4. Uninstall the driver

Note that the driver will occupy CSI hardware resources. After installation, you will not be able to use the raspistill tool. There are two ways to uninstall Arducam V4L2 driver:

Method 1: Execute the uninstall command
cd Release/
./uninstall_driver.sh

NOTE

You have to reboot your Pi to make it effect.

Method 2: Modify configuration files

1.Type the following command:

sudo nano /boot/config.txt

2.Press【PageDown】several times or scroll your mouse wheel down to check if there is “dtoverlay=arducam”.

dtoverlayarducam”

Modify “dtoverlay=arducam” as “#dtoverlay=arducam” to uninstall the V4L2 driver. Press 【Ctrl+X】【Y】,【Enter】to save the change and exit.

NOTE

You have to reboot your Pi to make it effect.

First Use

1.Check whether the camera is detected

ls /dev/video0
Check whether the camera is detected b0266

2.Check the video format supported

v4l2-ctl --list-formats-ext
Check the video format supported b0263

At present, only “GREY” and “Y10P” formats are supported, and “Y10” format is not supported.

Run the command without results?

Run the command without results?

3.Preview the camera feed in real time

#RAW8

arducamstill -t 0 -pixfmt GREY -w 2560 -h 800

#RAW10

arducamstill -t 0 -pixfmt Y10P -w 2560 -h 800
image 2

The last line shows frame in real time.

​GREY for RAW8 and Y10P for RAW10.

​-w and -h indicate the width and height of the input image.

9281 pic

Press Ctrl+C to exit the preview.

4.Save an image

Take a picture after a two-second (time in milliseconds) delay and save it as image.jpg.

arducamstill -t 1000 -o image.jpg -pixfmt GREY -w 2560 -h 800 -p 800,100,1024,768
save image
pi doc
image see

5.Receive data without displaying the image

Dropped frames may exist due to platform performance. You can test the actual input frames by only receiving data without displaying the image.

#RAW8

v4l2-ctl --set-fmt-video=width=2560,height=800,pixelformat='GREY' --stream-mmap --stream-count=-1 -d /dev/video0

#RAW10

v4l2-ctl --set-fmt-video=width=2560,height=800,pixelformat='Y10P' --stream-mmap --stream-count=-1 -d /dev/video0
5.Receive data without displaying the image

6.Adjust exposure

Open two terminals, the first one is for executing the displaying images command, the second one is for executing the adjusting exposure command.

#Adjust exposure:

v4l2-ctl -c exposure=1000

#Check exposure parameters (minimum, maximum, default)

v4l2-ctl -l
Adjust exposure b0263 pi 1

For example, execute the below command in the second terminal:

v4l2-ctl -c exposure=4000
Adjust exposure b0263 pi 2

Turning up the exposure time results in a brighter image and a lower frame rate.

7. Adjust gain

Open two terminals, the first one is for executing the displaying images command, the second one is for executing the adjusting gain command.

#Adjust gain:

v4l2-ctl -c gain=12

#Check exposure parameters (minimum, maximum, default)

v4l2-ctl -l
Adjust gain b0263 pi1

For example, execute the below command in the second terminal:

v4l2-ctl -c gain=12
Adjust gain b0263 pi2

Turning up the gain results in a brighter image and no change in frame rate.

8.Change frame rate

Type the following command, change the value of “X” to change frame rate.

v4l2-ctl -c frame_rate=X

For example, you want to change the frame rate to 30. First, open two terminals, type the following command in the first terminal:

arducamstill -t 0 -pixfmt GREY -w 2560 -h 800
change frame rate1
The last line shows the current frame rate in real time, and the RAW8 configuration defaults to 58fps.

Type the following command in the second terminal to change frame rate:

v4l2-ctl -c frame_rate=30
change frame rate2
The frame rate changes to 30fps.

Type the following command in the second terminal to view the frame rate range of the current display mode:

v4l2-ctl -l
change frame rate3
You can change the frame rate from 5fps to 80fps. If the set frame rate exceeds the maximum value, it will work according to the maximum value. The same goes for the minimum value.
IMPORTANT NOTE

For example, if the frame rate is set to 80 fps, the display only goes up to 58fps.

note1

But when you use only receiving data without displaying the image, the frame rate goes back to 80fps. (The frame rate values here are not real-time and are calculated iteratively with historical values, changing slowly.)

note2

Display images via VLC media player

You can display images in real time via the VLC media player.
(The VLC media player can only play images that are output in RAW8 format.)

1.Open VLC media player.

1 3

2. Select 【Media】→【Open Capture Device…

vlc

3.【Video device name】→ select “/dev/video0“→ click 【Play】.

3 1
4 1

The image screen may be too large for the display to be complete.
Right-click on the VLC title bar and select 【Maximize】.

5 2
6 1

It may be stuck due to Raspberry Pi performance and VLC media player.

4.Adjust the exposuregain, and frame rate

【Tool】→【Effects and Filters】

Adjust the exposure gain and frame rate b0264 1

Drag the different slider to adjust the corresponding parameter.

Adjust the exposure gain and frame rate b0264 2

Display images via mplayer

1.Install mplayer

sudo apt-get install mplayer

2.Display images

mplayer tv:// -tv driver=v4l2:device=/dev/video0

Do not enter this command remotely, otherwise it will be stuck.

ov2311 mplayer
 mplayer pic

The image screen may be too large for the display to be complete.You need to drag the title bar to move the window to see the full image.

Right-click on the mplayer title bar and select 【Maximize】. Then you can see see the full image. (The image is pretty smooth.)

Right click on the mplyer title bar and select 【Maximize】.
 pic dual

Or enter the following command to zoom the image. The image will appear full, but it will become stuck.

mplayer tv:// -tv driver=v4l2:device=/dev/video0 -zoom -x 1280 -y 400

“-x” “- y” denotes the width and height of the scaled image, and it is recommended to modify them in equal proportion.

zoom pic

What’s Next

Here are the things you can do after this quick start:

  • Check the Application Note for applications like using Arducam userland MIPI camera drivers.
  • Join the discussion in our forum.

Application Note

Depth Mapping on Raspberry Pi

1.Install Driver

Please refer to this page for a driver demonstration.

2.Hardware Setup

9281 connect
Arducam 1MP*2 Stereo Camera MIPI Module and Raspberry Pi 4B are used.

3.Reboot RPi

After rebooting RPi, use ls /dev/video* command to see the video device.

4.Software Setup

4.1 Download the demo code
git clone https://github.com/ArduCAM/3d-camera.git
cd 3d-camera/stereo-camera/RaspberryPi/stereo_depth_demo/
4.2 Install Dependency for Python3.X

Latest Raspbian version is recommended.

sudo apt-get update && sudo apt-get install -y libhdf5-dev libhdf5-serial-dev libatlas-base-dev libjasper-dev libqtgui4 libqt4-test && sudo pip3 install opencv-python==3.4.6.27
sudo pip3 install stereovision
sudo pip3 install matplotlib

5.Run the Programs

5.1 Capture Images
python 1_test.py

Help message:

Help message

Example:

Example
5.2 Collect Images for Calibration
python 2_chess_cycle.py
5.3 Separate Captured Images
python 3_pairs_cut.py
5.4 Calibration
python 4_calibration.py
5.5 Depth Map Tuning
python 5_dm_tune.py
5.6 Real-Time Depth Map Using Video
python 6_dm_video.py
Real-Time-Depth-Map-Using-Video-Result

Using on OpenCV

Make sure you have installed the driver.

Download the file here.

import numpy as np
import cv2
import time
def fourcc(a, b, c, d):
    return ord(a) | (ord(b) << 8) | (ord(c) << 16) | (ord(d) << 24)

def pixelformat(string):
    if len(string) != 3 and len(string) != 4:
        msg = "{} is not a pixel format".format(string)
        raise argparse.ArgumentTypeError(msg)
    if len(string) == 3:
        return fourcc(string[0], string[1], string[2], ' ')
    else:
        return fourcc(string[0], string[1], string[2], string[3])
cap = cv2.VideoCapture(0,cv2.CAP_V4L2)
cap.set(cv2.CAP_PROP_FOURCC, pixelformat("GREY"))
cap.set(cv2.CAP_PROP_CONVERT_RGB,0)
now = time.time()
frame_num=0
while(True):
    if time.time() - now > 1:
        now = time.time()
        print(frame_num)
        frame_num=0
    else:
        frame_num = frame_num+1
    # Capture frame-by-frame
    ret, frame = cap.read()
    # Display the resulting frame
    cv2.imshow('frame',frame)
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break
# When everything done, release the capture
cap.release()
cv2.destroyAllWindows()

Then type the following command:

sudo python ov9281_dulcam_opencv_raw8.py

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