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Appendix #Raspberry Pi Camera

Overview

The Raspberry Pi Camera Module v2 replaced the original Camera Module in April 2016. The v2 Camera Module has a Sony IMX219 8-megapixel sensor (compared to the 5-megapixel OmniVision OV5647 sensor of the original camera). The Camera Module can be used to take high-definition video, as well as stills photographs. It’s easy to use for beginners, but has plenty to offer advanced users if you’re looking to expand your knowledge. There are lots of examples online of people using it for time-lapse, slow-motion, and other video cleverness. You can also use the libraries we bundle with the camera to create effects.

Specifications

Hardware Specifications

Items Specifications
Net price $25
Size Around 25 × 24 × 9 mm
Weight 3g
Still resolution 8 Megapixels
Video modes 1080p30, 720p60 and 640 × 480p60/90
Linux integration V4L2 driver available
C programming API OpenMAX IL and others available
Sensor Sony IMX219
Sensor 3280 × 2464 pixels
Sensor 3.68 x 2.76 mm (4.6 mm diagonal)
Pixel size 1.12 µm x 1.12 µm
Optical size 1/4”
Full-frame SLR lens equivalent 35 mm
S/N ratio 36 dB
Dynamic range 67 dB @ 8x gain
Sensitivity 680 mV/lux-sec
Dark current 16 mV/sec @ 60 C
Well capacity 4.3 Ke-
Fixed focus 1 m to infinity
Focal length 3.04 mm
Horizontal field of view 62.2 degrees
Vertical field of view 48.8 degrees
Focal ratio (F-Stop) 2.0

Hardware features

Available Implemented
Chief ray angle correction Yes
Global and rolling shutter Rolling shutter
Automatic exposure control (AEC) No - done by ISP instead
Automatic white balance (AWB) No - done by ISP instead
Automatic black level calibration (ABLC) No - done by ISP instead
Automatic 50/60 Hz luminance detection No - done by ISP instead
Frame rate up to 120 fps Max 90fps. Limitations on frame size for the higher frame rates (VGA only for above 47fps)
AEC/AGC 16-zone size/position/weight control No - done by ISP instead
Mirror and flip Yes
Cropping No - done by ISP instead (except 1080p mode)
Lens correction No - done by ISP instead
Defective pixel cancelling No - done by ISP instead
10-bit RAW RGB data Yes - format conversions available via GPU
Support for LED and flash strobe mode LED flash
Support for internal and external frame synchronisation for frame exposure mode No
Support for 2 × 2 binning for better SNR in low light conditions Anything output res below 1296 x 976 will use the 2 x 2 binned mode
Support for horizontal and vertical sub-sampling Yes, via binning and skipping
On-chip phase lock loop (PLL) Yes
Standard serial SCCB interface Yes
Digital video port (DVP) parallel output interface No
MIPI interface (two lanes) Yes
32 bytes of embedded one-time programmable (OTP) memory No
Embedded 1.5V regulator for core power Yes

Software features

Software features  
Picture formats JPEG (accelerated), JPEG + RAW, GIF, BMP, PNG, YUV420, RGB888
Video formats raw h.264 (accelerated)
Effects negative, solarise, posterize, whiteboard, blackboard, sketch, denoise, emboss, oilpaint, hatch, gpen, pastel, watercolour, film, blur, saturation
Exposure modes auto, night, nightpreview, backlight, spotlight, sports, snow, beach, verylong, fixedfps, antishake, fireworks
Metering modes average, spot, backlit, matrix
Automatic white balance modes off, auto, sun, cloud, shade, tungsten, fluorescent, incandescent, flash, horizon
Triggers Keypress, UNIX signal, timeout
Extra modes demo, burst/timelapse, circular buffer, video with motion vectors, segmented video, live preview on 3D models

Mechanical Drawing

Here is the detail specification document: Raspberry Pi Camera Module v2 Datasheet

Raspberry Pi Camera for TurtleBot3

The Raspberry Pi Camera Module v2 is applied on TurtleBot3 Waffle Pi.

Introduction Video

The TurtleBot3 Waffle Pi uses Raspberry Pi Camera Module v2 as a default vision sensor. Check this video out that shows how Raspberry Pi Camera Module v2 can be used in TurtleBot3 Waffle Pi.

User Guide

Raspberry Pi Camera packages enable the use of Raspberry Pi Camera Module v1.x and v2.x with ROS. Below table describes packages required to operate Raspberry Pi Camera. You will be guided to install these packaged in the next section.

Package Description
Raspberry Pi Camera Underlying library driver for communicating with Raspberry Pi Camera

Installation

[TurtleBot] Setting up the camera hardware

$ sudo raspi-config

Select 3 Interfacing Options

Select P1 Camera

Enable camera interface

Enable camera interface

After reboot Raspberry Pi ,to test that the system is installed and working, try the following command:

$ raspistill -v -o test.jpg

The display should show a five-second preview from the camera and then take a picture, saved to the file test.jpg

[TurtleBot] The following commands will install relevant Raspberry Pi Camera packages on your ROS system.

$ cd ~/catkin_ws/src
$ git clone https://github.com/UbiquityRobotics/raspicam_node.git
$ sudo apt-get install ros-kinetic-compressed-image-transport ros-kinetic-camera-info-manager
$ cd ~/catkin_ws && catkin_make

Run raspicam Node

[TurtleBot] Run the following command

$ roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch

or

$ roslaunch raspicam_node camerav2_1280x960.launch

While the raspicam node is running, you can view various data from Raspberry Pi Camera by launching rqt_image_view.

Warning! Before you run Rviz in Remote PC, check your Raspberry Pi 3 and Remote PC whether they are connected.

[Remote PC] Run the following command

$ rqt_image_view

Once the gui application is appeared on the screen, you can select data topic name related to Raspberry Pi Camera from drop down menu at the top of the application.

References