Former 2D Cameras¶
See also
V18 | V18A
2D Cameras¶
Two identical video cameras are located in the forehead. They provide a resolution up to 2560*1920 at 1 frames per second (fps) or 640*480 at 30 fps.
Specifications¶
| Camera | Model | OV5640 |
| Type | System-on-a-chip (SoC) CMOS image sensor | |
| Imaging Array | Resolution | 5Mp |
| Optical format | 1/4 inch | |
| Active Pixels (HxV) | 2592x1944 | |
| Sensitivity | Pixel size | 1.4µm*1.4µm |
| Dynamic range | 68db@8x gain |
|
| Signal/Noise ratio (max) | 36dB (maximum) | |
| Responsivity | 600 mV/Lux-sec | |
| Output | Camera output | 640*480@30fps or 2560*1920@1fps |
| Data Format | YUV and RGB | |
| Shutter type | Rolling shutter | |
| View | Field of view | 67.4°DFOV (56.3°HFOV,43.7°VFOV) |
| Focus type | Auto focus |
Parameters¶
The camera has a list of parameters which can be modified.
Model¶
Camera Model has the following value:
| Parameter ID Name | ID Value | Description |
|---|---|---|
| AL::kOV5640 | 3 | HD Camera |
Supported parameters¶
Software parameters¶
| Parameter | Min value | Max value | Default value | Camera ID name | ID value |
|---|---|---|---|---|---|
| Keep Alive | 0 | 1 | 0 | kCameraKeepAliveID | 35 |
Hardware parameters¶
| Parameter | Min Value | Max Value | Default Value | Camera ID name | ID Value | Remarks |
|---|---|---|---|---|---|---|
| Brightness | 0 | 255 | 0 | kCameraBrightnessID | 0 | |
| Contrast | 0 | 127 | 32 | kCameraContrastID | 1 | |
| Saturation | 0 | 255 | 64 | kCameraSaturationID | 2 | |
| Hue | -180 | 180 | 0 | kCameraHueID | 3 | |
| Horizontal Flip | 0 | 1 | 0 | kCameraHFlipID | 7 | |
| Vertical Flip | 0 | 1 | 0 | kCameraVFlipID | 8 | |
| Auto Exposition | 0 | 1 | 1 | kCameraAutoExpositionID | 11 | |
| Auto White Balance | 0 | 1 | 1 | kCameraAutoWhiteBalanceID | 12 | |
| Auto Gain | 0 | 1 | 1 | kCameraAutoGainID | 13 | |
| Gain | 0 | 1024 | NA | kCameraGainID | 6 | Read only if auto gain enabled |
| Exposure | 0 | 65536 | NA | kCameraExposureID | 17 | Read only if auto exposure enabled |
| Reset camera registers | 0 | 1 | 0 | kCameraSetDefaultParamsID | 19 | 1: reset camera and reset parameter to 0 |
| BLC red value | 0 | 4096 | NA | kCameraBlcRedID | 30 | Read Only |
| BLC green value | 0 | 4096 | NA | kCameraBlcGbID or kCameraBlcGrID | 31 or 32 | Read only |
| BLC blue value | 0 | 4096 | NA | kCameraBlcBlueID | 29 | Read only |
| Resolution | kQVGA | kVGA | kQVGA | kCameraResolutionID | 14 | Not to be set manually |
| Frames Per Second | 1 | 30 | 1 | kCameraFrameRateID | 15 | Not to be set manually |
| Average Luminance | 0 | 255 | NA | kCameraAverageLuminanceID | 39 | Read only |
| Auto Focus | 0 | 1 | 1 | kCameraAutoFocusID | 40 | 0: disabled 1: enabled |
Supported colorspaces¶
A color space is a model describing the way to represent color as an ordered list of numbers. For example you can represent the color of each pixel of your screen as a list of three elements R, G and B. Which are respectively the value of Red, Green, and Blue usually stored in an byte (range from 0 to 255).
Setting the color space allows you to set the image buffer encoding in
AL::ALImage.
Color space parameter for 2D camera can have the following values:
| Parameter ID Name | ID Value | Number of layers | Number of channels | Description |
|---|---|---|---|---|
| AL::kYuvColorSpace | 0 | 1 | 1 | Buffer only contains the Y (luma component) equivalent to one unsigned char |
| AL::kyUvColorSpace | 1 | 1 | 1 | Buffer only contains the U (Chrominance component) equivalent to one unsigned char |
| AL::kyuVColorSpace | 2 | 1 | 1 | Buffer only contains the V (Chrominance component) equivalent to one unsigned char |
| AL::kRgbColorSpace | 3 | 1 | 1 | Buffer only contains the R (Red component) equivalent to one unsigned char |
| AL::krGbColorSpace | 4 | 1 | 1 | Buffer only contains the G (Green component) equivalent to one unsigned char |
| AL::krgBColorSpace | 5 | 1 | 1 | Buffer only contains the B (Blue component) equivalent to one unsigned char |
| AL::kHsyColorSpace | 6 | 1 | 1 | Buffer only contains the H (Hue component) equivalent to one unsigned char |
| AL::khSyColorSpace | 7 | 1 | 1 | Buffer only contains the S (Saturation component) equivalent to one unsigned char |
| AL::khsYColorSpace | 8 | 1 | 1 | Buffer only contains the Y (Brightness component) equivalent to one unsigned char |
| AL::kYUV422ColorSpace | 9 | 2 | 2 | Native format, 0xY’Y’VVYYUU equivalent to four unsigned char for two pixels. With Y luma for pixel n, Y’ luma for pixel n+1, and U and V are the average chrominance value of both pixels. |
| AL::kYUVColorSpace | 10 | 3 | 3 | Buffer contains triplet on the format 0xVVUUYY, equivalent to three unsigned char |
| AL::kRGBColorSpace | 11 | 3 | 3 | Buffer contains triplet on the format 0xBBGGRR, equivalent to three unsigned char |
| AL::kHSYColorSpace | 12 | 3 | 3 | Buffer contains triplet on the format 0xYYSSHH, equivalent to three unsigned char |
| AL::kBGRColorSpace | 13 | 3 | 3 | Buffer contains triplet on the format 0xRRGGBB, equivalent to three unsigned char |
| AL::kYYCbCrColorSpace | 14 | 2 | 2 | TIFF format, four unsigned characters for two pixels. |
| AL::kH2RGBColorSpace | 15 | 3 | 3 | H from “HSY to RGB” in fake colors. |
| AL::kHSMixedColorSpace | 16 | 3 | 3 | HS and (H+S)/2. |
Supported resolutions¶
Resolution parameter can have the following values:
| Parameter ID Name | ID Value | Description |
|---|---|---|
| AL::kQQQQVGA | 8 | Image of 40*30px |
| AL::kQQQVGA | 7 | Image of 80*60px |
| AL::kQQVGA | 0 | Image of 160*120px |
| AL::kQVGA | 1 | Image of 320*240px |
| AL::kVGA | 2 | Image of 640*480px |
| AL::k4VGA | 3 | Image of 1280*960px |
| AL::k16VGA | 4 | Image of 2560*1920px |
Note
The camera OV5640 can only run internally in VGA, 16VGA, otherwise scale down is performed (without binning or linear interpolation).
Supported framerates¶
Here a list of supported frame rates according to resolution set.
| Resolution | Supported Framerate |
|---|---|
| AL::kQQQQVGA | from 1 to 30 fps |
| AL::kQQQVGA | from 1 to 30 fps |
| AL::kQQVGA | from 1 to 30 fps |
| AL::kQVGA | from 1 to 30 fps |
| AL::kVGA | from 1 to 30 fps |
| AL::k4VGA | 1 fps |
| AL::k16VGA | 1 fps |
