Cameras for Raspberry Pi

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Camarray – Arducam 1MP Quadrascopic Camera Bundle Kit

Introduction

This Arducam quadrascopic camera bundle incorporates four 1MP OV9281 global shutter cameras, and the cutting-edge MIPI stereo camera breakthrough from Arducam – The Arducam Camarray HAT. As the upgraded version of Arducam Synched Stereo Camera HAT, the Camarray further pushes the multi-camera limits and doubles the interfacing capabilities to allow 4 synchronized MIPI camera modules to be interfaced to a single MIPI CSI-2 slot on prevailing single-board computers like Raspberry Pi, Jetson Nano, and Jetson Xavier NX.

Also, as the Camarray HAT releases, Arducam starts to support a variable baseline for stereo camera applications with some modified Arducam camera modules, such as those OV9281 ones included in this bundle. Since no shared camera board or clock-sharing soldering is required for the image sensors, you can kick off your prototyping for stereo camera applications and then decide the optimal baseline. Arducam also accepts subsequent customizations for your stereo camera 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 ModelOV9281
Shutter TypeGlobal Shutter
Active Pixels1280*4×800
Resolution1MP*4
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

Board

HAT Size65×56 mm
Camera Board Size40×40 mm
UC 512.Rev .C DIM 01
HAT Mechanical Drawing
Mechanical Drawing ov9281

OV9281 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 (22-pin), 300mm(15-22pin), 73mm(15-22pin)
Pin #NameDescription
1GNDGround
2CAM_D0_NMIPI Data Lane 0 Negative
3CAM_D0_PMIPI Data Lane 0 Positive
4GNDGround
5CAM_D1_NMIPI Data Lane 1 Negative
6CAM_D1_PMIPI Data Lane 1 Positive
7GNDGround
8CAM_CK_NMIPI Clock Lane Negative
9CAM_CK_PMIPI Clock Lane Positive
10GNDGround
11CAM_IO0Power Enable
12CAM_IO1LED Indicator
13CAM_SCLI2C SCL
14CAM_SDAI2C SDA
15CAM_3V33.3V 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 Rates[email protected]*4 × 800(on RPi)
[email protected]*4 × 800(on Jetson)

Quick Start Guide​​

The driver only supports the following kernel version:
  • 4.19.113-v7+
  • 4.19.118
  • 4.19.118-v7+
  • 4.19.118-v7l+
  • 5.4.42-v7+
  • 5.4.51+
  • 5.4.51-v7+
  • 5.4.51-v7l+

Hardware Setup​​​​

B0267 04
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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.

Enter the config.txt :

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. Press 【Ctrl+X】, 【Enter】to exit the config.txt.

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. Press 【Ctrl+X】【Y】,【Enter】to save the change and exit the config.txt..

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. Press 【Ctrl+X】, 【Enter】to exit the config.txt.

3. Install the 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 b0267

2.Check the video format supported

v4l2-ctl --list-formats-ext
Check the video format supported b0267 pi
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

#RAW10

arducamstill -t 0 -pixfmt Y10P -w 5120 -h 800

#RAW8

arducamstill -t 0 -pixfmt GREY -w 5120 -h 800 
Preview the camera feed in real time b0267 pi 1

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.

pic b0267

Press Ctrl+C to exit the preview.

NOTE

The HAT can output 45fps, but the Raspberry Pi performance is limited to displaying 30fps (the 8G version of the Raspberry Pi can output 38fps).

Advanced Commands

#View v4l2 command parameters

v4l2-ctl -l

#Adjust exposure

v4l2-ctl -c exposure=100

#Adjust gain

v4l2-ctl -c gain=14

4.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.

#RAW10

v4l2-ctl --set-fmt-video=width=5120,height=800,pixelformat='Y10P' --stream-mmap --stream-count=-1 -d /dev/video0

#RAW8

v4l2-ctl --set-fmt-video=width=5120,height=800,pixelformat='GREY' --stream-mmap --stream-count=-1 -d /dev/video0
Preview the camera feed in real time b0267 pi 1
frame rate when displaying the image
Receive data without displaying the image b0267 pi
frame rate when receiving data without displaying the image

5.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

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

v4l2-ctl -c exposure=4000
Adjust exposure b0267 pi

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

Adjust exposure b0267 pi 1

6. 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

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

v4l2-ctl -c gain=12
Adjust gain b0267 pi

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

Adjust gain b0267 pi 1

7.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 5120 -h 800
Change frame rate b0267
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 rate b0267 1
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 rate b0267 2
You can change the frame rate from 5fps to 46fps. 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

Dropped frames may exist due to the platform performance.

For example, if the frame rate is set to 46 fps, the display only goes up to 38fps.

IMPORTANT NOTE b0267 pi1

But when you use only receiving data without displaying the image, the frame rate goes back to 45fps. (The frame rate values here are not real-time and are calculated iteratively with historical values, changing slowly.)

IMPORTANT NOTE b0267 pi2

Display Images via VLC Media Player

The Raspberry Pi system comes with a VLC madia player.

1.Open VLC media plyer

1 3

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

Select 【Media】→【Open Capture Device…】b0266

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

3 1
vlc media player b01671 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
install mplayer b0267

2.Display images

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

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

mplayer command b0267
mplayer pic b0267

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. (The image is pretty smooth.)

mplayer pic full b0267

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 200

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

mplayer pic zoom b0267

External Trigger Mode

Hardware Setup

The external trigger mode has requirements on the connection method and electrical level of the external trigger signal.

The external trigger signal voltage should be 1.8V, and then send it to four cameras at the same time (It can be achieved through the breadboard ).

NOTE: 3.3V may burn out the device for the DOVDD of the camera is 1.8V.

external trigger mode1 pi

The external trigger signal is connected to the FSIN test hole of the camera board (you may need to solder the row of pins by yourself. Note that GND should also be connected).

external trigger mode2 pi

Software Setup

Method 1: Through terminal

Enter external trigger mode:

v4l2-ctl -c trigger_mode=1

Exit external trigger mode:

v4l2-ctl -c trigger_mode=0
Method 2: Through software interface

If you use VLC player, you can check “trigger_mode” under [v4l2 controls] tab to enter external trigger mode.

external trigger mode3 pi

NOTE

After the external trigger signal is effective, the field signal will be effective after a while, which is mainly for the exposure time. If the external trigger frequency is very fast and the exposure time is long, because the field will not respond to the external trigger signal when it is effective, it will cause the display frame rate is lower than the external trigger frequency, then shorten the exposure time can improve the frame rate (but the image will become dim).

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.

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