RPi Camera
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Overview
Original Raspberry Pi Camera Module, fixed-focus
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Hardware Connection
To test the Camera, you need to connect a HDMI display or a DIS display for previewing.
The connectors of the DSI interface (display) and the CSI interface (camera) look the same, please take care of it when you connect the camera. The CSI interface is placed between the Audio jack and the HDMI port. The CSI connector of Pi zero series is beside the Power interface. If you use the Compute Module, please check the actual place of the carrier board.
- Connect to Raspberry Pi 5
- Place the metal surface of the FPC cable towards the wired network port, then connect to the CSI port. The Pi 5 has two CSI ports; either port can be used for connection.
- Connect to Raspberry Pi Zero Series
- Place the metal surface of the cable downward, then connect it to the CSI port.
- Connect to other Raspberry Pi boards
- Place the metal surface of the cable towards the HDMI port and connect to the CSI port.
About the model
| Photosensitive Chip Model | Raspberry Pi Board Model Supported | Driver Type Supported |
|---|---|---|
| OV5647 | All Raspberry Pi boards | libcamera/Raspicam |
| OV9281 | All Raspberry Pi boards | libcamera |
| IMX219 (Official Raspberry Pi) | All Raspberry Pi boards | libcamera/Raspicam |
| IMX219 (Third party) | Raspberry Pi Compute Module | libcamera |
| IMX290/IMX327 | All Raspberry Pi boards | libcamera |
| IMX378 | All Raspberry Pi boards | libcamera |
| IMX477 (Official Raspberry Pi) | All Raspberry Pi boards | libcamera/Raspicam |
| IMX477 (Third party) | Raspberry Pi Compute Module | libcamera |
| IMX519 | All Raspberry Pi boards | libcamera (driver required) |
| IMX708 (Raspberry Pi Camera Module 3) | All Raspberry Pi boards | libcamera |
| IMX296 (Raspberry Pi Global Camera) | All Raspberry Pi boards | libcamera |
Test Camera
Software Configuration
If you are using the latest Raspberry Pi Camera Module 3 or Raspberry Pi Global Shutter Camera, you need to run the following commands to update the system (network connection is required).
sudo apt-get update -y sudo apt-get upgrade -y
If only one camera is invoked, connect the camera to the CAM1 port.
If you do not use an official Raspberry Pi camera, you need to configure the "config.txt " file. If you use the latest Bookworm system, you need to configure /boot/firmware/config.txt.
sudo nano /boot/config.txt #If using the bookworm system sudo nano /boot/firmware/config.txt
Find "camera-auto-detect=1" and modify it to "camera_auto_detect=0".
At the end of the file, add the following setting statements according to the camera model.
| Model | Set Statement |
|---|---|
| OV9281 | dtoverlay=ov9281 |
| IMX290/IMX327 | dtoverlay=imx290, clock-frequency=37125000 |
| IMX378 | dtoverlay=imx378 |
| IMX219 | dtoverlay=imx219 |
| IMX477 | dtoverlay=imx477 |
| IMX708 | dtoverlay=imx708 |
Note: To connect IMX290 to Raspberry Pi 5, it is necessary to add a json file to the command directory. The operation is as follows:
sudo wget https://www.waveshare.net/w/upload/7/7a/Imx290.zip sudo unzip Imx290.zip sudo cp imx290.json /usr/share/libcamera/ipa/rpi/pisp
Binocular Camera Configuration
- Currently, both the CM4 carrier board and Raspberry Pi 5 support the connection of two cameras.
- If you want to simultaneously connect to two cameras, you can designate the cameras by adding 'cam0' and 'cam1' after the corresponding camera configuration statements.
- For example, the imx219 is connected to the cam0 interface and the ov5647 camera is connected to the cam1 interface.
dtoverlay=imx219,cam0 dtoverlay=ov5647,cam1
Test Camera Commands
Enter the Raspberry Pi terminal and enable the camera to preview:
sudo libcamera-hello -t 0
If you want to close the preview window, you can directly press the keys "Alt + F4", or click "X" to close. Also, you can return to the terminal interface and press "Ctrl + c" to end the demo.
Note: If using "Camera Module 3", the auto-focus function is enabled.
Test Binocular Camera
- When testing the binocular camera, you need to add "--camera" to specify the camera. If you do not add this parameter, "cam0" is specified by default.
sudo libcamera-hello -t 0 --camera 0 sudo libcamera-hello -t 0 --camera 1
libcamera/libcamera Usage
Introduction
After the Bullseye version, the underlying Raspberry Pi driver for the Raspberry Pi image has been switched from Raspicam to libcamera. Libcamera is an open-source software stack (referred to as a driver later for ease of understanding) that is convenient for third-party porting and developing their own camera drivers. As of December 11, 2023, the official pycamera2 library has been provided for libcamera, making it easier for users to call Python demos.
Call Camera
The libcamera software stack provides six commands for users to preview and test the camera interface.
libcamera-hello
This is a simple "hello world" program that previews the camera and displays the camera image on the screen.
Example
libcamera-hello
This command will preview the camera on the screen for about 5 seconds. The user can use the "-t <duration>" parameter to set the preview time, where the unit of <duration> is milliseconds. If it is set to 0, it will keep previewing all the time. For example:
libcamera-hello -t 0
Tuning File
The libcamera driver of the Raspberry Pi will call a tuning file for different camera modules. The tuning file provides various parameters. When calling the camera, libcamera will call the parameters in the tuning file, and process the image in combination with the algorithm. The final output is the preview screen. Since the libcamera driver can only automatically receive the signal of the chip, the final display effect of the camera will also be affected by the entire module. The use of the tuning file is to flexibly handle the cameras of different modules and adjust to improve the image quality.
If the output image of the camera is not ideal after using the default tuning file, the user can adjust the image by calling the custom tuning file. For example, if you are using the official NOIR version of the camera, the NOIR camera may require different white balance parameters compared with the regular Raspberry Pi Camera V2. In this case, you can switch by calling the tuning file.
libcamera-hello --tuning-file /usr/share/libcamera/ipa/raspberrypi/imx219_noir.json
Users can copy the default tuning files and modify them according to their needs.
Note: The use of tuning files applies to other libcamera commands, and will not be introduced in subsequent commands.
Preview Window
Most libcamera commands will display a preview window on the screen. Users can customize the title information of the preview window through the --info-text parameter, and can also call some camera parameters through %directives and display them on the window.
For example, if you use HQ Camera: You can display the focal length of the camera on the window through --info-txe "%focus".
libcamera-hello --info-text "focus %focus".
Note: For more information on parameter settings, please refer to the following chapters.
libcamera-jpeg
libcamera-jpeg is a simple static picture shooting program, different from the complex functions of libcamera-still, libcamera-jpeg code is more concise and has many of the same functions to complete picture shooting.
Take a JPEG image of full pixel
libcamera-jpeg -o test.jpg
This shooting command will display a preview serial port for about 5 seconds, and then shoot a full-pixel JPEG image and save it as test.jpg.
Users can set the preview time through the -t parameter and can set the resolution of the captured image through --width and --height. E.g.:
libcamera-jpeg -o test.jpg -t 2000 --width 640 --height 480
Exposure control
All libcamera commands allow the user to set the shutter time and gain themselves, such as:
libcamera-jpeg -o test.jpg -t 2000 --shutter 20000 --gain 1.5
This command will capture an image with 20ms exposure and camera gain set to 1.5x. The gain parameter set will first set the analog gain parameter inside the photosensitive chip. If the set gain exceeds the maximum built-in analog gain value of the driver, the maximum analog gain of the chip will be set first, and then the remaining gain multiples will be used as digital gains to take effect.
Note: The digital gain is realized by ISP (image signal processing), not directly adjusting the built-in register of the chip. Under normal circumstances, the default digital gain is close to 1.0, unless there are the following three situations.
- Overall gain parameter requirements, that is, when the analog gain cannot meet the set gain parameter requirements, the digital gain will be needed for compensation.
- One of the color gains is less than 1 (the color gain is achieved by digital gain), in this case, the final gain is stabilized at 1/min(red_gain, blue_gain), that is, a uniform digital gain is applied, and is the gain value for one of the color channels (not the green channel).
- AEC/AGC was modified. If there is a change in AEC/AGC, the digital gain will also change to a certain extent to eliminate any fluctuations, this change will be quickly restored to the "normal" value.
The Raspberry Pi's AEC/AGX algorithm allows the program to specify exposure compensation, which is to adjust the brightness of the image by setting the aperture value, for example:
libcamera-jpeg --ev -0.5 -o darker.jpg libcamera-jpeg --ev 0 -o normal.jpg libcamera-jpeg --ev 0.5 -o brighter.jpg
libcamera-still
libcamera-still and libcamera-jpeg are very similar, the difference is that libcamera inherits more functions of raspistill. As before, users can take a picture with the following command.
Test Command
libcamera-still -o test.jpg
Encoder
libcamea-still supports image files in different formats, can support png and bmp encoding, and also supports saving binary dumps of RGB or YUV pixels as files without encoding or in any image format. If you save RGB or YUV data directly, the program must understand the pixel arrangement of the file when reading such files.
libcamera-still -e png -o test.png libcamera-still -e bmp -o test.bmp libcamera-still -e rgb -o test.data libcamera-still -e yuv420 -o test.data
Note: The format of image saving is controlled by the -e parameter. If the -e parameter is not called, it will be saved in the format of the output file name by default.
Raw Image Capture
The raw image is the image output by the direct image sensor without any ISP or CPU processing. For color camera sensors, the output format of the raw image is generally Bayer. Note that the raw image is different from the bit-encoded RGB and YUV images we said earlier, and RGB and YUV are also ISP-processed images.
A command to take a raw image:
libcamera-still -r -o test.jpg
The raw image is generally saved in DNG (Adobe Digital Negative) format, which is compatible with most standard programs, such as dcraw or RawTherapee. The raw image will be saved as a file of the same name with the .dng suffix, for example, if you run the above command, it will be saved as a test.dng, and generate a jpeg file at the same time. The DNG file contains metadata related to image acquisition, such as white balance data, ISP color matrix, etc. The following is the metadata encoding information displayed by the exiftool:
File Name : test.dng Directory : . File Size : 24 MB File Modification Date/Time : 2021:08:17 16:36:18+01:00 File Access Date/Time : 2021:08:17 16:36:18+01:00 File Inode Change Date/Time : 2021:08:17 16:36:18+01:00 File Permissions : rw-r--r-- File Type : DNG File Type Extension : dng MIME Type : image/x-adobe-dng Exif Byte Order : Little-endian (Intel, II) Make : Raspberry Pi Camera Model Name : /base/soc/i2c0mux/i2c@1/imx477@1a Orientation : Horizontal (normal) Software : libcamera-still Subfile Type : Full-resolution Image Image Width : 4056 Image Height : 3040 Bits Per Sample : 16 Compression : Uncompressed Photometric Interpretation : Color Filter Array Samples Per Pixel : 1 Planar Configuration : Chunky CFA Repeat Pattern Dim : 2 2 CFA Pattern 2 : 2 1 1 0 Black Level Repeat Dim : 2 2 Black Level : 256 256 256 256 White Level : 4095 DNG Version : 1.1.0.0 DNG Backward Version : 1.0.0.0 Unique Camera Model : /base/soc/i2c0mux/i2c@1/imx477@1a Color Matrix 1 : 0.8545269369 -0.2382823821 -0.09044229197 -0.1890484985 1.063961506 0.1062747385 -0.01334283455 0.1440163847 0.2593136724 As Shot Neutral : 0.4754476844 1 0.413686484 Calibration Illuminant 1 : D65 Strip Offsets : 0 Strip Byte Counts : 0 Exposure Time : 1/20 ISO : 400 CFA Pattern : [Blue, Green][Green, Red] Image Size : 4056x3040 Megapixels : 12.3 Shutter Speed : 1/20
Long Exposure
If we want to take a super long exposure picture, we need to disable AEC/AGC and white balance, otherwise, these algorithms will cause the picture to wait for a lot of frame data when it converges. Disabling these algorithms requires another explicit value to be set. Additionally, the user can skip the preview process with the --immediate setting.
Here is the command to take an image with an exposure of 100 seconds:
libcamera-still -o long_exposure.jpg --shutter 100000000 --gain 1 --awbgains 1,1 --immediate
Remarks: Reference table for the longest exposure time of several official cameras.
| Module | Maximum exposure time (s) |
|---|---|
| V1 (OV5647) | 6 |
| V2 (IMX219) | 11.76 |
| V3 (IMX708) | 112 |
| HQ (IMX477) | 670 |
libcamera-vid
libcamera-vid is a video recording demo that uses the Raspberry Pi hardware H.264 encoder by default. After the program runs, a preview window will be displayed on the screen, and simultaneously the bitstream encoding will be output to the specified file. For example, record a 10s video.
libcamera-vid -t 10000 -o test.h264
If you want to view the video, you can use vlc to play it.
vlc test.h264
Note: The recorded video stream is unpacked. Users can use --save-pts to set the output timestamp to facilitate the subsequent conversion of the bit stream to other video formats.
libcamera-vid -o test.h264 --save-pts timestamps.txt
If you want to output the mkv file, you can use the following command:
mkvmerge -o test.mkv --timecodes 0:timestamps.txt test.h264
Encoder
Raspberry Pi supports JPEG format and YUV420 without compression and format:
libcamera-vid -t 10000 --codec mjpeg -o test.mjpeg libcamera-vid -t 10000 --codec yuv420 -o test.data
The --codec option sets the output format, not the output file extension.
Use the --segment parameter to split the output file into segments (unit is ms), which is suitable for JPEG files that need to split the JPEG video stream into separate short (about 1ms) JPEG files.
libcamera-vid -t 10000 --codec mjpeg --segment 1 -o test%05d.jpeg
UDP Video Streaming Transmission
UDP can be used for video streaming transmission, and the Raspberry Pi runs (server):
libcamera-vid -t 0 --inline -o udp://<ip-addr>:<port>
Among them, <ip-addr> needs to be replaced with the actual client IP address or multicast address. On the client (client), enter the following commands to obtain and display the video stream (you can use one of the two commands):
vlc udp://@:<port> :demux=h264 vlc udp://@:<port> :demux=h264
Note: The port needs to be the same as the one you set on the Raspberry Pi.
TCP Video Streaming Transmission
You can use TCP for video streaming Transmission, and the Raspberry Pi runs (server):
libcamera-vid -t 0 --inline --listen -o tcp://0.0.0.0:<port>
The client runs:
vlc tcp/h264://<ip-addr-of-server>:<port> #Select one of the two commands ffplay tcp://<ip-addr-of-server>:<port> -vf "setpts=N/30" -fflags nobuffer -flags low_delay -framedrop
RTSP Video Streaming Transmission
On the Raspberry Pi, vlc is usually used to process the RTSP video stream:
libcamera-vid -t 0 --inline -o - | cvlc stream:///dev/stdin --sout '#rtp{sdp=rtsp://:8554/stream1}' :demux=h264
On the playback side, you can run any of the following commands:
vlc rtsp://<ip-addr-of-server>:8554/stream1 ffplay rtsp://<ip-addr-of-server>:8554/stream1 -vf "setpts=N/30" -fflags nobuffer -flags low_delay -framedrop
In all preview commands, if you want to turn off the preview window on the Raspberry Pi, you can use the parameter -n (--nopreview) to set it. Also, pay attention to the setting of the --inline parameter. Changing the setting will force the header information of the video stream to be included in each I (intra) frame. This setting allows the client to correctly parse the video stream even if the video header is lost.
High Frame Rate Mode
If you use the libcamera-vid command to record high frame rate video (generally higher than 60fps) while reducing frame loss, you need to pay attention to the following points:
- The target level of H.264 needs to be set to 4.2, which can be set with the --level 4.2 parameter.
- The color noise reduction function must be turned off, which can be set with the --denoise cdn_off parameter.
- If the set frame rate is higher than 100fps, close the preview window to release more CPU resources and avoid frame loss, which can be set with the -n parameter.
- It is recommended to add the setting force_turbo=1 in the /boot/config.txt file to ensure that the CPU clock will not be limited in the video stream.
- Adjust the ISP output resolution, use -width 1280 --height 720 to set the resolution, or set it to a lower resolution, depending on the camera model.
- If you are using Pi 4 or higher-performance model, you can add the setting gpu_freq=550 or higher in the /boot/config.txt file to overclock the motherboard GPU to achieve higher performance.
For example, record 1280x720 120fps video.
libcamera-vid --level 4.2 --framerate 120 --width 1280 --height 720 --save-pts timestamp.pts -o video.264 -t 10000 --denoise cdn_off -n
libcamera-raw
Libcamera-raw is similar to a video recording demo. The difference is, libcamera-raw records the Bayer format data output by the direct sensor, that is, the raw image data. Libcamera-raw doesn't show a preview window. For example, record a 2-second piece of raw data.
libcamera-raw -t 2000 -o test.raw
The demo will directly dump the raw frame without format information, the program will directly print the pixel format and image size on the terminal, and the user can view the pixel data according to the output data.
By default, the program will save the raw frame as a file, the file is usually large, and the user can divide the file by the --segement parameter.
libcamera-raw -t 2000 --segment 1 -o test%05d.raw
If the memory is large (such as using SSD), libcamera-raw can write the official HQ Camera data (about 18MB per frame) to the hard disk at a speed of about 10 frames per second. To achieve this speed, the demo writes the unformatted raw frames, there is no way to save them as DNG files like libcamera-still does. If you want to ensure that there are no dropped frames, you can use --framerate to reduce the frame rate.
libcamera-raw -t 5000 --width 4056 --height 3040 -o test.raw --framerate 8
Common Command Setting Options
Common command setting options apply to all libcamera commands:
--help, -h
Print program help information, you can print the available setting options for each program command, and then exit.
--version
Print the software version, print the software version of libcamera and libcamera-app, then exit.
--list-cameras
Display the recognized supported cameras. For example:
Available cameras
-----------------
0 : imx219 [3280x2464] (/base/soc/i2c0mux/i2c@1/imx219@10)
Modes: 'SRGGB10_CSI2P': 640x480 [206.65 fps - (1000, 752)/1280x960 crop]
1640x1232 [41.85 fps - (0, 0)/3280x2464 crop]
1920x1080 [47.57 fps - (680, 692)/1920x1080 crop]
3280x2464 [21.19 fps - (0, 0)/3280x2464 crop]
'SRGGB8' : 640x480 [206.65 fps - (1000, 752)/1280x960 crop]
1640x1232 [41.85 fps - (0, 0)/3280x2464 crop]
1920x1080 [47.57 fps - (680, 692)/1920x1080 crop]
3280x2464 [21.19 fps - (0, 0)/3280x2464 crop]
1 : imx477 [4056x3040] (/base/soc/i2c0mux/i2c@1/imx477@1a)
Modes: 'SRGGB10_CSI2P': 1332x990 [120.05 fps - (696, 528)/2664x1980 crop]
'SRGGB12_CSI2P': 2028x1080 [50.03 fps - (0, 440)/4056x2160 crop]
2028x1520 [40.01 fps - (0, 0)/4056x3040 crop]
4056x3040 [10.00 fps - (0, 0)/4056x3040 crop]
According to the printed information, the IMX219 camera has a suffix of 0, and the IM new 477 camera has a suffix of 1. When calling the camera, you can specify the corresponding suffix.
--camera
Specify the camera, and the corresponding suffix can refer to the print information of the command --list-camera.
For example: libcamera-hello -c config.txt
In the setting file, set parameters one line at a time, in the format of key=value:
timeout=99000 verbose=
--config, -c
Under normal circumstances, we can directly set the camera parameters through commands. Here we use the --config parameter to specify the setting file and directly read the setting parameters in the file to set the camera preview effect.
--timeout, -t
The "-t" option sets the runtime of the libcamera demo. If the video recording command is run, the timeout option sets the recording duration. If the image capture command is run, the timeout sets the preview time before the image is captured and output.
If "timeout" is not set when running the libcamera demo, the default timeout value is 5000 (5 seconds). If the timeout is set to 0, the demo will continue to run.
Example: libcamera-hello -t 0
--preview, -p
"-p" sets the size and position of the preview window (the qualified settings are valid in both X and DRM version windows), and the format is --preview <x. y, w, h> where "x", "y" sets the preview window coordinates, "w" and "h" set the width and length of the preview window.
The settings of the preview serial port will not affect the resolution and aspect ratio of the camera image preview. The demo will scale the preview image to display in the preview window and adapt it according to the original image aspect ratio.
Example: libcamera-hello -p 100,100,500,500
--fullscreen, -f
The "-f" option sets the preview window full screen, the preview window and the border in full-screen mode. Like "-p", it does not affect the resolution and aspect ratio, and will automatically adapt.
Example: libcamera-still -f -o test.jpg
--qt-preview
Using the preview window based on the QT framework, this setting is not recommended under normal circumstances, because the preview demo will not use zero-copy buffer sharing and GPU acceleration, which will occupy more resources. The QT preview window supports X forwarding (the default preview program does not).
The Qt preview serial port does not support the "--fullscreen" setting option. If the user wants to use the Qt preview, it is recommended to keep a small preview window to avoid excessive resource usage and affecting the normal operation of the system.
Example: libcamera-hello --qt-preview
--nopreview, -n
Images are not previewed. This setting will turn off the image preview function.
Example: libcamera-hello -n
--info-text
Set the title and information display of the preview window (only available in the X graphics window) using the format --info-text <string>. When calling this option, multiple parameters can be set, and the parameters are usually called in the % command format. The demo will call the corresponding value in the graphics metadata according to the instructions.
If no window info is specified, the default --info-text is set to "#%frame (%fps fps) exp %exp ag %ag dg %dg" .
Example: libcamera-hello --info-test "Focus measure: %focus
Available parameters:
| Instructions | Instructions |
|---|---|
| %frame | Frame sequence number |
| %fps | Instantaneous frame rate |
| %exp | Shutter speed when capturing the image, in ms |
| %ag | Image analog gain controlled by the sensor chip |
| %dg | Image value gain controlled by ISP |
| %rg | Gain of the red component of each pixel |
| %bg | Gain of the blue component of each pixel |
| %focus | Corner detection of the image, the larger the value, the clearer the image |
| %lp | Diopter of the current lens (1/distance in meters) |
| %afstate | Autofocus state (idle, scanning, focused, failed) |
--width --height
These two parameters set the width and height of the image respectively. For libcamera-still, libcamera-jpeg, and libcamera-vid commands, these two parameters can set the resolution of the output image/video.
If the libcamera-raw command is used, these two parameters will affect the size of the obtained metadata frame. The camera has a 2 x 2 block reading mode. If the set resolution is smaller than the split mode, the camera will obtain the metadata frame according to the 2 x 2 block size.
libcamera-hello cannot specify the resolution.
Example:
libcamera-vid -o test.h264 --width 1920 --height 1080 Record a 1080p video
libcamera-still -r -o test.jpg --width 2028 --height 1520 Take a 2028 x 1520 JPEG image
--viewfinder-width --viewfinder-height
This setting option is also used to set the resolution of the image, the difference is only the image size of the preview. It does not affect the final output image or video resolution.The size of the preview image will not affect the size of the preview window and it will be adapted according to the window.
Example: libcamera-hello --viewfinder-width 640 --viewfinder-height 480
--rawfull
This setting forces the sensor chip to activate --width and --height settings to output still images and video in full-resolution reading mode. This setting libcamera-hello is invalid.
With this setting, the framerate will be affected. In full-resolution mode, frame reading will be slower.
Example: libcamera-raw -t 2000 --segment 1 --rawfull -o test%03d.raw
The example command will capture multiple Metadata frames in full-resolution mode. If you are using an HQ camera, the size of each frame is 18MB, and if --rawfull is not set, the HQ camera defaults to 2 x 2 mode, and the data size of each frame is only 4.5MB.
--mode
This parameter is more general than rawfull. It is used to set the camera mode. When using it, you need to specify the width, height, bit depth and packing mode, and separate them with colons. The set value does not have to be completely accurate, the system will automatically match the closest value, and the bit depth and packing mode can be set (the default is 12 and P means packing).
- 4056:3040:12:P - 4056x3040 resolution, 12 bits per pixel, packing. Packing means that the raw image data will be packed in the buffer. In this case, two pixels will only occupy 3 bytes, which can save memory.
- 1632:1224:10 - 1632x1224 resolution, 10 bits per pixel, packing by default. In 10-bit packing mode, 4-pixel data will occupy 5 bytes.
- 2592:1944:10:U - 2592x1944 resolution, 10 bits per pixel, no packing. In the case of unpacking, each pixel will occupy 2 bytes of memory, in this case, the highest 6 bits will be set to 0.
- 3262:2448 - 3264x2448 resolution, 12 bits and packing mode are used by default. However, if the camera model, such as Camera V2 (IMX219), does not support 12-bit mode, the system will automatically select 10-bit mode.
--viewfinder-mode #Specify sensor mode, given as <width>:<height>:<bit-depth>:<packing>
The --mode parameter is used to set the camera mode when recording video and shooting still images. If you want to set it when previewing, you can use the --viewfinder-mode parameter.
--lores-width --lores-height
These two options set low-resolution images. The low-resolution data stream compresses the image, causing the aspect ratio of the image to change. When using libcamera-vid to record video, if a low resolution is set, functions such as color image denoising will be disabled.
Example: libcamera-hello --lores-width 224 --lores-height 224
Note that low-resolution settings are often used in conjunction with image postprocessing, otherwise it has little effect.
--hflip #Flip the image horizontally --vflip #Flip the image vertically --rotation #Flip the image horizontally or vertically according to the given angle <angle>
These three options are used to flip the image. The parameters of --rotation currently only support 0 and 180, which are equivalent to --hflip and --vflip.
Example: libcamera-hello --vflip --hflip
--roi #Crop image <x, y, w, h>
The --roi parameter allows the user to crop the image area they want according to the coordinates from the complete image provided by the sensor, that is digital scaling, note that the coordinate values should be within the valid range. For example --roi 0, 0, 1, 1 is an invalid instruction.
Example: libcamera-hello --roi 0.25,0.25,0.5,0.5
The example command will crop 1/4 of the image from the center of the image.
--hdr #Run the camera in HDR mode (supported cameras only)
The --hdr parameter is used to set the wide dynamic mode of the camera. This setting will only take effect if the camera supports a wide dynamic range. You can use --list-camera to see if the camera supports hdr mode.
--sharpness #Set the sharpness of the image <number>
Adjust the sharpness of the image by the value of <number>. If set to 0, sharpening will be applied. If you set a value above 1.0, an extra sharpening amount will be used.
Example: libcamera-still -o test.jpg --sharpness 2.0
--contrast #Set image contrast <number>
Example: libcamera-still -o test.jpg --contrast 1.5
--brightness #Set image brightness <number>
The setting range is -1.0 ~ 1.0
Example: libcamera-still -o test.jpg --brightness 0.2
--saturation #Set image color saturation <number>
Example: libcamera-still -o test.jpg --saturation 0.8
--ev #Set EV compensation <number>
Set the EV compensation of the image in units of aperture, the setting range is -10 ~ 10, the default value is 0. The program runs using the AEC/AGC algorithm.
Example: libcamera-still -o test.jpg --ev 0.3
--shutter #Set the exposure time, the unit is ms <number>
Note: If the frame rate of the camera is too fast, it may not work according to the set shutter time. If this happens, you can try to use --framerate to reduce the frame rate.
Example: libcamera-hello --shutter 30000
--gain #Set gain value (combination of numerical gain and analog gain) <number> --analoggain #--gain synonym
--analoggain is the same as --gain, the use of analoggain is only for compatibility with raspicam programs.
--metering #Set metering mode <string>
Set the metering mode of the AEC/AGC algorithm, the available parameters are:
- centre - Center metering (default)
- spot - spot metering
- average - average or full frame metering
- custom - custom metering mode, can be set via tuning file
Example: libcamera-still -o test.jpg --metering spot
--exposure #Set exposure profile <string>
The exposure mode can be set to normal or sport. The report profile for these two modes does not affect the overall exposure of the image, but in the case of sport mode, the program will shorten the exposure time and increase the gain to achieve the same exposure effect.
- sport: Short exposure, larger gains
- normal: Normal expoeure, normal gains
- long: Long exposure, smaller gains
Example: libcamera-still -o test.jpg --exposure sport
--awb #Set white balance mode <string>
Available white balance modes:
| Mode | Color Temperature |
|---|---|
| auto | 2500K ~ 8000K |
| incadescent | 2500K ~ 3000K |
| tungsten | 3000K ~3500K |
| fluorescent | 4000K ~ 4700K |
| indoor | 3000K ~ 5000K |
| daylight | 5500K ~ 6500K |
| cloudy | 7000K ~ 8500K |
| custom | Custom range, set via tuning file |
Example: libamera-still -o test.jpg --awb tungsten
--awbgains #Set a fixed color gain <number,number>
Set red and blue gain.
Example: libcamera-still -o test.jpg --awbgains 1.5, 2.0
--denoise #Set denoising mode <string>
Supported denoising modes:
- auto - Default mode, use standard spatial denoising. If it is a video, fast color denoising will be used, and high-quality color denoising will be used when taking still images. Previewing images will not use any color denoising.
- off - Turn off spatial denoising and color denoising.
- cdn_off - Turn off color denoising.
- cdn_fast - Use fast color denoising.
- cdn_hq - Use high-quality color denoising, not suitable for video recording.
Example: libcamera-vid -o test.h264 --denoise cdn_off
--tuning-file #Specify camera tuning file <string>
For more instructions on tuning files, you can refer to official tutorial.
Example: libcamera-hello --tuning-file ~/my~camera-tuning.json
--autofocus-mode #Specify the autofocus mode <string>
Set the autofocus mode.
- default - By default, the camera will use continuous autofocus mode, unless --lens-position or --autofocus-on-capture manual focus is set.
- manual - Manual focus mode, the focus position can be set by --lens-position.
- auto - Focusing will only be done once when the camera is turned on, and will not be adjusted in other cases. (If you use the libcamera-still command, only when --autofocus-on-capture is used, it will focus once before taking a photo).
- continuous - The camera will automatically adjust the focus position according to the scene changes.
--autofocus-range #Specify the autofocus range <string>
Set the autofocus range.
- normal -- The default mode, from nearest to infinity.
- macro - The macro mode, only focus on nearby objects.
- full - The full distance mode, adjusted to infinity for the closest object.
--autofocus-speed #Specify the autofocus speed <string>
Set the focus speed.
- normal - The default item, normal speed.
- fast - The fast focus mode.
--autofocus-window --autofocus-window
To display the focus window, you need to set x, y, width and height, and the coordinate value setting is based on the ratio of the image. For example --autofocus-window 0.25,0.25,0.5,0.5 would set a window that is half the size of the image and centered.
--lens-position #Set the lens to a given position <string>
Set the focus position.
- 0.0 -- Set the focus position to infinity.
- number -- Set the focus position to 1/number, number is any value you set, for example, if you set 2, it means that it will focus on the position of 0.5m.
- default -- Focus on the default position relative to the hyperfocal distance of the lens.
--output, -o #Output file name <string>
Set the filename of the output image or video. In addition to setting the file name, you can also specify the output udp or tcp server address to output the image to the server. If you are interested, you can check the relevant setting instructions of the subsequent tcp and udp.
Example: libcamera-vid -t 100000 -o test.h264
--wrap #Wrap the output file counter <number>
Example: libcamera-vid -t 0 --codec mjpeg --segment 1 --wrap 100 -o image%d.jpg
--flush #Flush the output file immediately
The --flush parameter will immediately update each frame of the image to the hard disk at the same time as it is written, reducing latency.
Example: libcamera-vid -t 10000 --flush -o test.h264
Still Image Shooting Setting Parameters
--quality, -q #Set JPEG image quality <0 ~ 100> --exif, -x #Add extra EXIF flags --timelapse #Time interval of time-lapse photography, the unit is ms --framestart #Start value of frame count --datetime #Name the output file with date format --timestamp #Name the output file with the system timestamp -- restart #Set the JPEG restart interval --keypress, -k #Set the Enter key photo mode --signal, -s #Set the signal to trigger the photo mode --thumb #Set thumbnail parameters <w:h:q> --ebcoding, -e #Set the image encoding type: jpg/png/bmp/rgb/yuv420 --raw, -r #Save raw image --latest #Associate symbols to the latest saved file --autofocus-on-capture #Set to do a focus action before taking a photo
Video Recording Image Setting Parameters
--quality, -q #Set JPEG commands <0 - 100> --bitrate, -b #Set H.264 bitrate --intra, -g #Set the internal frame period (only supports H.264) --profile #Set H.264 configuration --level #Set H.264 level --codec #Set encoding type h264 / mjpeg / yuv420 --keypress, -k #Set Enter key to pause and record --signal, -s #Set signal pause and record --initial #Start the program in the recording or paused state --split #Split video and save to another file --segment #Split video into multiple video segments --circular #Write video to the circular buffer --inline #Write header in each I frame (only supports H.264) --listen #Wait for a TCP connection --frames #Set the number of frames recorded
- For more camera setup instructions, please refer to Official Camera Documentation.
Raspicam User Guide
Introduction
If you are using the Buster version of the image, the Raspicam driver is installed by default in the system, you can directly turn on the camera and use it.
If you are using the latest Bullseye system, you need to install and configure it separately.
Applicable to OV5647, official IMX219, official IMX477.
Install Raspicam (optional)
Open the Raspberry Pi terminal, and enter the following command to install the driver. Note: This driver cannot support a 64-bit Raspberry Pi system temporarily.
sudo apt-get update cd sudo apt install cmake git clone https://github.com/raspberrypi/userland cd userland ./buildme cp build/bin/* ~/bin/
Restart the system after installation.
sudo reboot
Call camera
raspistill
The raspistill command is used to take still pictures. Example: raspistill -o cam.jpg
raspivid
The raspivid command is used to record video. Example: raspivid -o vid.h264
raspiyuv
The raspiyuv command has the same function as raspisitll, the difference is that raspiyuv dosen't output jpgs and other standard image files, but generate YUV420 or RGB888 image files from the camera's ISP output.
In most cases, it is better to use raspistill to capture images, but if you want to use uncompressed black and white images, you can choose to use the raspiyuv command.
Example: raspiyuv -o cam.jpg
Instruction Setting Options
When the raspicam command is used, the final imaging effect can be adjusted by setting options. The available setting options are listed below for reference.
--preview, -p #Set the preview window <x, y, w, h>
The user can set the position of the preview window by setting the values of x and y, and adjust the resolution of the preview image by setting the values of w and h.
--fullscreen, -f #Fullscreen preview window
Display the preview window in full screen.
--nopreview, -n #Do not display the preview window
Close the preview window and the command will output the image or video directly to a file.
--opacity, -op #Set the transparency of the preview window
Set the transparency of the preview window, 0 is invisible, and 255 is fully transparent.
--sharpness, -sh #Set image sharpness (-100 - 100)
The default sharpening value is 0.
--contrast. -co #Set image contrast (-100 - 100)
The default contrast is 0.
--brightness, -br #Set image contrast (0 - 100)
The default brightness is 50, 0 is fully black, and 100 is full white.
--saturation, -sa #Set image saturation (-100 - 100)
The default saturation is 0.
--ISO #Set shutter sensitivity (100 - 800)
Set sensitivity when taking pictures.
--vstab, -vs #Enable video stabilization
Only the video recording mode is valid, and video stabilization is enabled.
--ev #Set EV compensation
Set the EV compensation value of the image, default 0.
--exposure, -ex #Set exposure mode
Configurable exposure options:
- auto: automatic exposure mode
- night: night shooting mode
- nightpreview
- backlight: backlight mode
- spotlight
- sports: sports mode (the shutter time will be shortened in sports mode)
- snow: snow mode
- beach: beach mode
- verylong: long exposure mode
- fixedfps: fixed fps
- antishake: anti-shake mode
- fireworks: fireworks mode
Note: Depending on the camera model, some modes are not available.
--flicker, -fli #Flicker avoidance
Configurable modes:
- off: turn off anti-flicker mode
- auto: automatic detection of injection frequency
- 50Hz: set the anti-flicker frequency to 50Hz
- 60Hz: set the anti-flicker frequency to 60Hz
--awb, #Set auto white balance mode
- off: disable auto white balance
- auto: auto white balance mode (default)
- sun: sunny mode (5000K ~ 6500K)
- cloud: cloudy mode (6500K ~ 12000K)
- shade: shadow mode
- tungsten: Tungsten mode (2500K ~ 3500K)
- incadescent: Incadescent mode (2500K ~ 4500K)
- flash: flash mode
- horizon: horizon mode
- greyworld: If you are using a camera without an IR filter (eg NoIR), you can fix the white balance misalignment caused by the lack of an IR filter.
Note: Depending on the camera model, some modes are not available.
--imfx, -ifx #Set image filter effect
Configurable image filter effects:
- none: no effect (default)
- negative: color flip
- solarise: sunlight effect
- posterise: poster effect
- whiteboard: whiteboard effect
- backboard: blackboard effect
- sketch: sketch
- denoise: denoise
- emboss: emboss
- oilpaint: oil painting
- hatch: texture
- gpen: pencil sketch
- pastel: colored pencils
- watercolour: watercolor
- film: film
- blur: blur
- saturation: saturation
Note: Depending on the camera model, some modes are not available.
--colfx, -cfx #Set color effect <U:V>
The setting range of the U and V parameters is 0 ~ 255, which are used to adjust the values of the U and Y channels. For example --colfx 128:128 will set the image to monochrome.
--metering, -mm #Set metering mode
Configurable options:
- average: average or full frame metering
- spot: spot metering
- backlit: preset a backlight image
- matrix: matrix metering
--rotation, -rot #Set image rotation (0 - 359)
The image rotation angle can be set by the angle parameter.
--hflip, -hf #Set the image to flip horizontally
Set the image to be flipped horizontally.
--vflip, -vf #Set the image to flip vertically
Flip the image vertically.
--roi, #Crop image <x, y, w, h>
Crop the image according to the parameters, note that the parameters are all planned in (0,0 ~ 1.0), for example, if you want to crop 1/4 of the image, you can use the command - roi 0.5,0.5,0.25,0.25.
--shutter, --ss set shutter speed/time
Set the shutter time (unit: ms). The maximum shutter time that can be set is different depending on the photosensitive chip.
| Model | Max Digit (ms) |
|---|---|
| V1 (OV5647) | 6000000 (6s) |
| V2 (IMX219) | 10000000 (10s) |
| HQ (IMX477) | 200000000 (200s) |
--drc, -drc #Enable/disable dynamic range compression
- off (default)
- low
- med
- high
--stats, -st #Statistics images by static image frames
--awbgains, -awbg
Set blue and green gain, which takes effect if --awb off is set.
--analoggain, -ag
Set the analog gain value
--digitalgain, -dg
Set digital gain value
--mode, -md
Set sensor mode:
- OV5647
| Mode | Resolution | Aspect Ratio | Frame Rate | FoV |
|---|---|---|---|---|
| 0 | Automatic selection | |||
| 1 | 1920 x 1080 | 16:9 | 1-30fps | Partial |
| 2 | 2592 x 1944 | 4:3 | 1-15fps | Full Frame |
| 3 | 2592 x 1944 | 4:3 | 0.1666 - 1fps | Full Frame |
| 4 | 1296 x 972 | 4:3 | 1 - 42fps | Full Frame |
| 5 | 1296 x 730 | 16:9 | 1- 49fps | Full Frame |
| 6 | 640 x 480 | 4:3 | 42.1 - 60fps | Full Frame |
| 7 | 640 x 480 | 4:3 | 60.1 - 90fps | Full Frame |
- IMX219
| Mode | Resolution | Aspect Ratio | Frame Rate | FoV |
|---|---|---|---|---|
| 0 | Automatic selection | |||
| 1 | 1920 x 1080 | 16:9 | 0.1-30fps | Partial |
| 2 | 3280 x 2464 | 4:3 | 0.1-15fps | Full Frame |
| 3 | 3280 x 2464 | 4:3 | 0.1 - 15fps | Full Frame |
| 4 | 1640 x 972 | 4:3 | 1 - 42fps | Full Frame |
| 5 | 1296 x 730 | 16:9 | 1- 49fps | Full Frame |
| 6 | 640 x 480 | 4:3 | 42.1 - 60fps | Full Frame |
| 7 | 640 x 480 | 4:3 | 60.1 - 90fps | Full Frame |
- HQ Camera
| Mode | Resolution | Aspect Ratio | Frame Rate | FoV |
|---|---|---|---|---|
| 0 | Automatic selection | |||
| 1 | 2028 x 1080 | 169:90 | 0.1-50fps | Partial |
| 2 | 2028 x 1080 | 4:3 | 0.1-50fps | Full Frame |
| 3 | 4056 x 3040 | 4:3 | 0.005 - 10fps | Full Frame |
| 4 | 1332 x 990 | 74:55 | 50.1-120 fps | Partial |
--camselect, -cs
When multiple cameras are connected to the system, select camera, 0 or 1.
--annotate, -a #enable/set annotations
The parameters are represented by bit masks in the metadata, which can be directly represented by addition. For example, 12 can represent the display time (4) and the display date (8), which is represented by the addition of 4+8 =12.
Configurable options
| Value | Parameter description |
|---|---|
| -a 4 | Time |
| -a 8 | Date |
| -a 12 | Time and date, actually 4 + 8 |
| -a 16 | Shutter setting |
| -a 32 | CAF settings |
| -a 64 | Gain setting |
| -a 128 | Lens settings |
| -a 256 | Animation settings |
| -a 512 | Number of frames |
| -a 1024 | Black background |
| -a "ABC %Y-%m-%d %X" | Display text |
| -a 4 -a "ABC %Y-%m-%d %X" | Display time/date in custom format |
| -a 8 -a "ABC %Y-%m-%d %X" | Display time/date in custom format |
--annotateex, -ae #Set additional annotation parameters
--stereo, -3d
Set the binocular mode.
- sbs - Side-by-side mode
- tb: - Portrait mode
- off - turn off binocular mode (default)
--decimate, -dec
Halve the width and height of the binocular image.
--setting, -set
Output current camera settings.
raspistill setting parameters
--width, -w #Set image width --height, -h #Set image height --quality, 0q #Set JPEG quality <0 ~ 100> --raw, -r #Add raw Bayer data to JPEG metadata --output, -o #Output file <filename> --latest, -l #Associate the last frame image to the file <filename> --verbose, -v #Print details --timeout, -t #Set the program preview time --timelapse, -tl #Set up demo photography --framestart, -fs #Save the number of the first frame --datetime, -dt #Name the file with DateTime --timestamp, -ts #Name files with timestamps --thumb, -th #Set thumbnail parameters <x:y:quility>, the default is (64:48:35) --demo, -d #Run demo mode <ms> --encoding, -e #Encode according to the specified format, jpg, BMP, or png --restart, -rs #Set JPEG restart flag --exif, -x #Set EXIF flag --gpsdexif, -gps #Set real-time Exif time (requires GPS Dongle access) --fullpreview, -fg #Fullscreen preview --keypress, -k #Keypress camera mode --signal, -s #Signal mode --burst, -bm #Snapshot mode
raspivid setting parameters
--width, -w #Set the video width --height, -h #Set the video height --bitrate, -b #Set bitrate --output, -o #Set the output filename <filename> --listen, -l #When using a network connection, wait for a network connection --versbose, -v #Print details --timeout, -t #Set preview time --demo, -d #Run demo <ms> --framerate, -fs #Set frame rate --penc, -e #Display the encoded preview image --intra, -g #Set the internal refresh cycle --qp, -qp #Set quantization parameters --profile, -pf #Specify H264 profile, baseline/main/high --level, -lev #Set H264 encoding level --irefresh, -if #Set H264 internal refresh type cyclic/adaptive/both/cyclicrows --inline, -ih #Insert PPS, SPS header --spstimings, -stm #Insert timing information into SPS blocks --timed, -td #Timed switch recording and pause function --keypress, -k #Keypress to pause recording --signal, -s #Switch pause and record state according to SIGUSR1 --split, -sp #In signal and keypress mode, the file will be recreated every time you re-record --vectors, -x #Vector output --flush, -fl #Force the output data buffer to be flushed immediately after writing video data, bypassing any OS cache for written data and reducing latency --save-pts, -pts #Save timestamp information to the specified file --codec, -cd #Specify encoder H264 / MJPEG --initial, -i #Set the initial state of startup --segment, -sg #Split video stream into multiple files --wrap, -wr #Set the maximum value of the split --start, -sn #Set the initial split encoding --raw, -r #Set metadata file name --raw-format, -rf #Specify metadata format yuv/rgb/grey
Resources
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