Aupicam

Raspberry PI camera

This plugin uses the android driver for Raspberry Pi camera.

To compile the 'userland-master' driver must be installed - as described on the installation page (Install on raspberry)

Use

The plugin has possibility to set camera parameters (shutter, white ballance, exposure metering and gain) along with image size (up to 2048 x 2048) at framerates up to 30.

CPU load is 10% at 30 fps and image size of 1024 x 512.

The driver can generate a pyramid of images with halved resolution - using the graphics processor.

ucamserver.ini file

Possible camera configuration. Focal length is not measured.

# camera server scriptfile
server imagepath="."
server datapath="."
server replayPath="log"
module load=var
module load=odopose
module load=mappose
module load=utmpose
module load=augps.so.0
module load=mapbase.so.0
module load=aupoly.so.0
# camera parameters
camset device=13 focallength=715
camset device=13 posX=0.04 posy=0.0 posZ=0.3 rotPhi=0.1
#
module load=aupicam.so.0
var picam.resolution="1024 512"
var picam.framerate=3
var picam.pyramidLevels=4
picam open
var picam.white=7
var picam.imagelogn=1

Recording

Images can be recorded at about 5 images per second size (1024 x 512) - format is YUV420 (raw camera format). The saved images is in BMP-format, but the image itself is still YUV420, so it looks werd in a BMP viewer.

The recorded images can be replayed using the camera pool utility.

Replay

In a replay directory make a subdirectory called log/rawimg. Copy all images to this directory.

Move the picamImage.log to the log/ directory and rename it to image.log

ucamserver.ini for replay

Set the replay path to log, as shown here

server imagepath="."
server datapath="."
server replayPath="log"
module load=var
module load=odopose
module load=aupoly.so.0
# camera parameters
camset device=13 focallength=715
camset device=13 posX=0.04 posy=0.0 posZ=0.3 rotPhi=0.1
camset replay
camset step

You may add the pyramide image creation as on the Raspberry:

poolpush img=13 cmd="poolget img=13 toimg=14 scale=0.5"
poolpush img=14 cmd="poolget img=14 toimg=15 scale=0.5"