Specs and Selection Guide for Arducam 1MP Stereoscopic Camera Bundle Kit
Introduction
This Arducam stereo camera bundle kit consists of two synched OV9281 global shutter cameras and an Arducam Camarray stereo camera HAT. As a stereo bundle system, it enables simultaneously working dual cameras with a variable baseline for better prototyping and evaluation with a single MIPI CSI camera slot: The two image sensors are on separated camera boards, and you easily move them around for different perspectives while the Camarray HAT handles the rest of the work. This is helpful for proof-of-concept stages when you may want more flexibilities than what a fixed stereo camera module can offer. You will be able to find the optimal baseline for your application with this bundle, and we welcome you to send us product customization requests after that.
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 is added to your multi-camera applications.
Common Specs
Image sensor
| Sensor Model | OV9281 |
| Shutter Type | Global Shutter |
| Active Pixels | 1280*2×800 |
| Resolution | 1MP*2 |
| Image Sensor Format | Type 1/4″ |
| Pixel Size | 3μm×3μm |
| Color Filter Array | None(Monochrome) |
Lens Assembly
| Interchangeability | YES |
| F/NO | 2.8 |
| Focus Type | Manual Focus |
| Focusing Range | 30cm to infinity (when focused to infinity) |
| Effective Focal Length(EFL) | 2.8 mm |
| Field of View(FoV) | 70° Horizontal |
| Lens Mount | M12 Lens |
| IR Sensitivity | No IR filter (sensitive to IR light) |
Board
| HAT Size | 65×56 mm |
| Camera Board Size | 40×40 mm |
HAT Mechanical Drawing
| 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
| Camera HAT Connector Interface | MIPI CSI-2 22-pin 2-lane |
| Camera Module Connector Interface | MIPI CSI-2 22-pin 2-lane |
| Ribbon Cable Length | 150mm (22-pin), 300mm(15-22pin), 73mm(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 (With Official V4L2 Driver)
| Video Format | GERY(8-bit)/Y10P(10-bit) |
| Output Interface | 2-lane MIPI serial output |
| Output Formats | 8/10-bit BW RAW |
| Frame Rates | [email protected]*4 × 800(on RPi) [email protected]*4 × 800(on Jetson) |
Quick Start Guide for Arducam 1MP Stereoscopic Camera Bundle Kit
Hardware Setup
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.
2.Check the driver
Determine 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”.
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 the driver
#Download driver package
wget https://github.com/ArduCAM/Arducam_OBISP_MIPI_Camera_Module/releases/download/v1.0/Release.tar.gz
#Extract the archive files
tar zxvf Release.tar.gz
#Enter the extracted folder
cd Release/
#Install the driver
./install_driver.sh
#Reboot the device
Press y, and then hit Enter to reboot.
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:
1.Execute the uninstall command
cd Release/
./uninstall_driver.sh
NOTE
You to reboot your Pi to make it efffect.
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”.
Modify “dtoverlay=arducam” as “#dtoverlay=arducam” to uninstall the V4L2 driver. Press 【Ctrl+X】, 【Y】,【Enter】to save the change and exit.
NOTE
You to reboot your Pi to make it effect.
First Use
1.Check whether the camera is detected
ls /dev/video*
2.List the available video modes
v4l2-ctl --list-formats-ext
At present, only “GREY” and “Y10P” formats are supported, and “Y10” format is not supported.
Run the command without results?
You might have to check the ribbon connection or install the drivers correctly, then reboot the Raspberry Pi.
3.Preview the camera feed in real time
#RAW8
arducamstill -t 0 -pixfmt GREY -w 2560 -h 800
arducamstill -t 0 -pixfmt GREY -w 2560 -h 720
arducamstill -t 0 -pixfmt GREY -w 1280 -h 400
arducamstill -t 0 -pixfmt GREY -w 640 -h 200
#RAW10
arducamstill -t 0 -pixfmt Y10P -w 2560 -h 800
arducamstill -t 0 -pixfmt Y10P -w 2560 -h 720
arducamstill -t 0 -pixfmt Y10P -w 1280 -h 400
arducamstill -t 0 -pixfmt Y10P -w 640 -h 20021
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.
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
5.Store a video
Record 10 seconds (time in milliseconds) of h264 video and save it as image.h264.
arducamstill -t 10000 -e h264 -o image.h264 -pixfmt GREY -w 1280 -h 400
Raspberry Pi can only record video (h264 format) up to 1080p (1920×1080) due to hardware encoder limitations.
(Large resolutions such as 2560×800 cannot be recorded.)
Display images via VLC player
You can display images in real time via the VLC player.
(The VLC player can only play images that are output in RAW8 format.)
Select 【Media】→【Open Capture Device…】
【Video device name】→ select “/dev/video0“→ click 【Play】.
The image screen may be too large for the display to be complete.
Right-click on the VLC title bar and select 【Maximize】.
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.
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.)
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.
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 for Arducam 1MP Stereoscopic Camera Bundle Kit
Depth Mapping on Raspberry Pi
1.Install Driver
Please refer to this page for a driver demonstration.
2.Hardware Setup
3.Reboot RPi
After rebooting RPi, use ls /dev/video* command to see the video device.
4.Software Setup
4.1Download 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
5.1Capture Images
python 1_test.py
Help message:
Example:
5.2Collect Images for Calibration
python 2_chess_cycle.py
5.3Separate Captured Images
python 3_pairs_cut.py
5.4Calibration
python 4_calibration.py
5.5Depth Map Tuning
python 5_dm_tune.py
5.6Real-Time Depth Map Using Video
python 6_dm_video.py
