Video cameras¶
Two identical video cameras provide a resolution up to 2560*1920 at 1 frames per second (fps) or 640*480 at 30 fps.
Camera indexes¶
The camera indexes are:
| Parameter ID Name | ID Value | Description |
|---|---|---|
| AL::kTopCamera | 0 | camera on the top. |
| AL::kBottomCamera | 1 | camera on the bottom. |
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¶
| Camera ID name | ID Value | Parameter | Min Value | Max Value | Default Value | Remarks |
|---|---|---|---|---|---|---|
| kCameraBrightnessID | 0 | Brightness | -255 | 255 | 0 | |
| kCameraContrastID | 1 | Contrast | 0 | 255 | 32 | |
| kCameraSaturationID | 2 | Saturation | 0 | 255 | 64 | |
| kCameraHueID | 3 | Hue | -180 | 180 | 0 | |
| kCameraGainID | 6 | Gain | 0 | 1023 | 16 | Read only if auto exposure enabled |
| kCameraHFlipID | 7 | Horizontal Flip | 0 | 1 | 0 | |
| kCameraVFlipID | 8 | Vertical Flip | 0 | 1 | 0 | |
| kCameraAutoExpositionID | 11 | Auto Exposition | 0 | 1 | 1 | 0: disabled 1: enabled |
| kCameraAutoWhiteBalanceID | 12 | Auto White Balance | 0 | 1 | 1 | 0: disabled 1: enabled |
| kCameraExposureID | 17 | Exposure | 0 | 65535 | 32 | Read only if auto exposure enabled |
| kCameraSharpnessID | 24 | Sharpness | 0 | 9 | 4 | |
| kCameraBacklightCompensationID | 34 | Backlight compensation | 0 | 1 | 0 | 0: disabled 1: enabled |
| kCameraAverageLuminanceID | 39 | Average Luminance | 0 | 255 | NA | Read only |
| kCameraAutoFocusID | 40 | Auto Focus | 0 | 1 | 0 | 0: disabled 1: enabled |
| kCameraFocusID | 43 | Manual Focus | 0 | 250 | 0 | This parameter is available only when Auto Focus is disabled Parameter’s step is 25 Use range [0-225] to control the focus Setting the value 250 will trigger a one-shot auto focus |
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 Format¶
Format parameter can have the following values:
| Resolution ID Name | Resolution ID Value | FrameRate Value | Description | Available on Camera ... |
|---|---|---|---|---|
| AL::k16VGA | 4 | 1 to 15 | 2560x1920px | Top only |
| AL::k4VGA | 3 | 1 to 30 | 1280x960px | Top & Bottom |
| AL::kVGA | 2 | 1 to 30 | 640x480px | |
| AL::kQVGA | 1 | 1 to 30 | 320x240px |
Note
The camera OV5640 can only run internally from 2560x1920 to 320x240, otherwise scale down is performed (without binning or linear interpolation).
Note
The camera OV5640 can only run internally at 15 or 30fps (except in 2560x1920, 15fps only).
