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官方教程(raspberry-pi-camera-guide).pdf

发布时间：2023-12-03 发布人：admin 分类：养殖 资料大小：4.15M 资料格式：pdf 举报 版权申诉
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    Introduction
    Overview
    The Camera Module
    CSI Connector
    On-Chip Hardware
    Software and Control Algorithms
    Driver Framework
    Camera Drivers
    Device Tree
    The CamHelper Class
    Control Algorithm Overview
    Framework
    Defining and Loading Algorithms
    Standard Algorithms
    Algorithm Communication
    Performance Considerations
    Example Camera Tuning File
    Pi 4 and Ealier Devices
    Pi 5 Devices
    Directory Structure
    Raspberry Pi Control Algorithms
    Black Level
    Name
    Overview
    Metadata Dependencies
    Defective Pixel Correction (DPC)
    Name
    Overview
    Parameters
    Metadata Dependencies
    Lux
    Name
    Overview
    Parameters
    Metadata Dependencies
    Noise
    Name
    Overview
    Parameters
    Metadata Dependencies
    GEQ (Green Equalisation)
    Name
    Overview
    Parameters
    Metadata Dependencies
    SDN (Spatial Denoise)
    Name
    Overview
    External API
    Parameters
    Metadata Dependencies
    Denoise (Combined Denoise Algorithms)
    Name
    Overview
    External API
    Parameters
    Metadata Dependencies
    AWB (Automatic White Balance)
    Name
    Overview
    Implementation
    External API
    Parameters
    Metadata Dependencies
    Extensions
    AGC/AEC (Automatic Gain Control / Automatic Exposure Control)
    Name
    Overview
    Implementation
    External API
    Parameters
    Metadata Dependencies
    ALSC (Automatic Lens Shading Correction)
    Name
    Overview
    Adaptive ALSC Algorithm
    Implementation
    Parameters
    Metadata Dependencies
    Contrast
    Name
    Overview
    External API
    Parameters
    Metadata Dependencies
    CCM (Colour Correction Matrices)
    Name
    Overview
    External API
    Parameters
    Metadata Dependencies
    Sharpening
    Name
    Overview
    External API
    Parameters
    Auto Focus
    Name
    Overview
    External API
    Parameters
    Metadata Dependencies
    Chromatic Aberration Correction
    Name
    Overview
    External API
    Parameters
    HDR (High Dynamic Range)
    Name
    Overview
    External API
    Parameters
    Metadata Dependencies
    Metadata and Statistics Usage
    Camera Tuning Tool
    Overview
    Raspberry Pi rpicam-apps
    Software Requirements
    Equipment
    X-rite (Macbeth) Colour Checker
    Colorimeter
    Integrating Spheres and Flat Field LEDs
    Capturing Calibration Images with libcamera
    Capturing a Raw Image
    Image Capture Requirements
    Macbeth Chart Images
    Lens Shading Images
    Chromatic Aberration Correction (CAC) Images
    Creating the Tuning
    Collecting the Files
    Running the Tool
    Tweaking the Tuning produced by the Tool
    Blocks not Tuned
    Guidance on how to Tweak the Tuning
    Raspberry Pi Camera Algorithm and Tuning Guide Raspberry Pi Trading Ltd.
    Raspberry Pi Camera Algorithm and Tuning Guide Colophon Released under the BSD 2-Clause "Simplified" License. Copyright © 2023, Raspberry Pi Trading Ltd. All rights reserved. Compiled on 27/11/2023 Version 1.2(43d8169039926960bf43dac73d3b9404475f4410) Revision History Version Date Description 1.3 1.2 1.1 1.0 25-Oct-2023 General update and add Pi 5 information. 30-Jan-2021 Update formatting and style template to match internal guidelines. 27-Jan-2021 Update to CamHelper and various algorithm APIs. Also use of qcam replaced by libcamera-apps. 15-May-2020 Initial revision. Raspberry Pi Trading Ltd.
    Raspberry Pi Camera Algorithm and Tuning Guide Contents 1 Introduction 2 Overview . 2.1 The Camera Module . . . 2.2 CSI Connector . 2.3 On-Chip Hardware . . . 2.4 Software and Control Algorithms . . . . . . . . . . . . . . . . . . . . . 3 Driver Framework . 3.1 Camera Drivers . 3.2 Device Tree . . . 3.3 The CamHelper Class . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Control Algorithm Overview . . . . . . . . . . . . . . 4.1 Framework . . 4.2 Defining and Loading Algorithms . . . 4.3 Standard Algorithms . . . 4.4 Algorithm Communication . . . 4.5 Performance Considerations . 4.6 Example Camera Tuning File . . . 4.6.1 Pi 4 and Ealier Devices . . . 4.6.2 Pi 5 Devices . . . . 4.7 Directory Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 Black Level 5 Raspberry Pi Control Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3 Lux . 5.4 Noise . 5.2 Defective Pixel Correction (DPC) . . . . . . . 5.1.1 Name . . 5.1.2 Overview . . 5.1.3 Metadata Dependencies . . . 5.2.1 Name . . . 5.2.2 Overview . . . 5.2.3 Parameters . . 5.2.4 Metadata Dependencies . . . . . . . 5.3.1 Name . . . . 5.3.2 Overview . 5.3.3 Parameters . . 5.3.4 Metadata Dependencies . . . . . . . . 5.4.1 Name . . 5.4.2 Overview . . 5.4.3 Parameters . . 5.4.4 Metadata Dependencies . . . . 5.5.1 Name . . . 5.5.2 Overview . . 5.5.3 Parameters . . 5.5.4 Metadata Dependencies . . 5.6.1 Name . . . 5.6.2 Overview . . 5.6.3 External API . 5.6.4 Parameters . . 5.6.5 Metadata Dependencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.7 Denoise (Combined Denoise Algorithms) 5.6 SDN (Spatial Denoise) . . . . . 5.5 GEQ (Green Equalisation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Raspberry Pi Trading Ltd. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 3 3 3 4 4 5 5 5 5 7 7 7 8 9 9 10 10 12 14 . . . . . . . . . . . . . . . . 16 16 . 16 . 16 . 17 . 17 . 17 . 17 . 18 . 18 . 18 . 18 . 18 . 18 . 18 . 19 . 19 . 19 . 19 . 19 . 19 . 19 . . 19 . 20 . 20 . 20 . 20 . 21 . 21 . 22 . 22 . 22
    Raspberry Pi Camera Algorithm and Tuning Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.11 Contrast . . . 5.9.1 Name . . . 5.9.2 Overview . . . 5.9.3 Implementation . . 5.9.4 External API . 5.9.5 Parameters . . . 5.9.6 Metadata Dependencies . 5.8 AWB (Automatic White Balance) . . . . . . . 5.7.1 Name . . 5.7.2 Overview . . 5.7.3 External API 5.7.4 Parameters . . 5.7.5 Metadata Dependencies . . . . 5.8.1 Name . . . 5.8.2 Overview . . . 5.8.3 Implementation . . 5.8.4 External API . 5.8.5 Parameters . . . 5.8.6 Metadata Dependencies . 5.8.7 Extensions . . . . . . . . . . . . . . . 5.9 AGC/AEC (Automatic Gain Control / Automatic Exposure Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.10 ALSC (Automatic Lens Shading Correction) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.10.1 Name . 5.10.2 Overview . . 5.10.3 Adaptive ALSC Algorithm . . 5.10.4 Implementation . 5.10.5 Parameters . . . 5.10.6 Metadata Dependencies . . . . . 5.11.1 Name . . . 5.11.2 Overview . . 5.11.3 External API 5.11.4 Parameters . . 5.11.5 Metadata Dependencies . 5.12 CCM (Colour Correction Matrices) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.14 Auto Focus . 5.13 Sharpening . . . 5.13.1 Name . . 5.13.2 Overview . 5.13.3 External API 5.13.4 Parameters . . . . . 5.12.1 Name . . . 5.12.2 Overview . . 5.12.3 External API 5.12.4 Parameters . . 5.12.5 Metadata Dependencies . . . . . . . . . . 5.14.1 Name . . . 5.14.2 Overview . . 5.14.3 External API 5.14.4 Parameters . . 5.14.5 Metadata Dependencies . 5.15 Chromatic Aberration Correction . . . . . . . . . . . . 5.16 HDR (High Dynamic Range) . . . 5.15.1 Name . . 5.15.2 Overview . 5.15.3 External API 5.15.4 Parameters . 5.16.1 Name . . 5.16.2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 . 22 . 23 . 23 . 24 . 24 . 24 . 24 . 27 . 28 . 28 . 29 . 30 . 30 . 30 . 30 . 34 . 35 . 36 . 37 . 37 . 37 . 37 . 39 . 41 . 41 . 42 . 43 . 43 . 43 . 44 . 44 . 44 . 45 . 45 . 45 . 46 . 46 . 46 . 46 . 46 . 47 . 47 . 48 . 48 . 48 . 48 . 48 . 49 . 50 . 50 . 50 . 50 . 51 . 51 . 51 . 51 . 51 2
    Raspberry Pi Camera Algorithm and Tuning Guide . 5.16.3 External API 5.16.4 Parameters . . 5.16.5 Metadata Dependencies . . 5.17 Metadata and Statistics Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Camera Tuning Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1 Overview . . 6.2 Raspberry Pi rpicam-apps . . 6.3 Software Requirements . 6.4 Equipment . . 6.5 Capturing Calibration Images with libcamera . . . . . . . . . . . . . . 6.4.1 X-rite (Macbeth) Colour Checker 6.4.2 Colorimeter . . . 6.4.3 Integrating Spheres and Flat Field LEDs . . . . . . . . . . . . . . . 6.5.1 Capturing a Raw Image . . . . 6.6.1 Macbeth Chart Images . . 6.6.2 Lens Shading Images . . 6.6.3 Chromatic Aberration Correction (CAC) Images . . . . . . . 6.6 Image Capture Requirements . 6.7 Creating the Tuning . . 6.7.1 Collecting the Files . 6.7.2 Running the Tool . . . . . 6.8 Tweaking the Tuning produced by the Tool . . . . . 6.8.1 Blocks not Tuned . . 6.8.2 Guidance on how to Tweak the Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 . 53 . 54 . 54 56 . 56 . 56 . 56 . 57 . 57 . 57 . 58 . 58 . 58 . 58 . 59 . 59 . 60 . 61 . 61 . 61 . 62 . 62 . 63 Raspberry Pi Trading Ltd.
    Raspberry Pi Camera Algorithm and Tuning Guide List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 3 4 1 2 3 4 Connecting a camera board through the CSI-2 port. Raspberry Pi 5 has a pair of mini CSI-2 . . . connectors in the same location. . Overview of the libcamera system, explained below. . Control algorithms use image metadata and statistics to update their parameters. . Magnified image showing a bright defective pixel - its effect spreads slightly because of the fil- . 17 . tering operations performed using it. . . . 20 Highly magnified image showing maze artifacts (right), and correction (left). . . 21 . . Same image as figure 5, highly magnified, showing “noise speckles”. CT Curve showing colour temperature associated with each point. . 25 . . . AWB example - the incandascent illuminant gives a more plausible result than the daylight one. . 26 AGC metering regions. . . 31 . 32 . 34 . 37 5 6 7 8 . 9 10 Cumulative frequency: a proportion q of the pixels lie below the value p . 11 12 13 . . . . . An example exposure profile - analogue gain and shutter time increase one after the other. Lens shading: no correction (left), luminance correction only (middle), full correction (right). . A grid of 16x12 lens shading gains. The grid may extend slightly beyond the image to ensure . every pixel is covered. On a Pi 5, the grid consists of 32x32 regions. Cells and their neighbours in a 16x12 grid. The same kinds of definitions hold for the 32x32 grid . . on a Pi 5. An example gamma curve with 16-bit inputs and outputs. . Sharpening Parameter model . . Usage of image metadata and other information by ISP control algorithms on a Pi 4. Pi 5 operates mostly in an identical manner. . . . . X-rite Macbeth Chart. A Colorimeter. . . . . . . . 55 . . 57 . 18 . 57 . 19 . 59 20 Acceptable Macbeth Chart calibration images. . 60 . 21 22 CAC images . 60 . 23 Too little denoise (left), and on the right the leaves look even more plasticky than they really are! . 64 . . 65 24 . 65 . 25 26 . . 66 27 No contrast enhancement (left) and strong contrast enhancement (right) - note the change to . . Effect of setting sensitivities to 0.8 (left), 1.0 (centre) and 1.2 (right). . . base_ev at the default value 1.0 on the left, and at 1.414 - about half a stop - on the right. sigma has the extreme value 0.03 on the left - spot the purple halo round the green chair. Lens shading images . . . . 38 . 40 . 43 . 47 14 15 16 17 . 67 . 68 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . the image histogram. . 28 On the left too much residual noise is being sharpened because threshold was lowered. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Raspberry Pi Trading Ltd.
    Raspberry Pi Camera Algorithm and Tuning Guide List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Algorithm type monikers. . . Raspberry Pi controller folder structure. . . Black level algorithm parameters. . . Defective pixel correction algorithm parameters. . . . Lux algorithm parameters. . . . Noise algorithm parameters. . . Green equalisation algorithm parameters. . . . . Denoise algorithm public API. . . . . . Spatial denoise algorithm parameters. Denoise algorithm public API. . . . . . SDN, CDN and TDN denoise algorithm parameters. . . . AWB algorithm public API. . . . AWB algorithm parameters. . . AGC algorithm public API. . . . AGC algorithm parameters. . ALSC algorithm parameters. . . Contrast algorithm public API. . . Contrast algorithm parameters. . . . . . . . . . . . 2 . 3 . 4 . 5 . 6 . 7 . 8 . 9 . 10 . 11 . 12 . . 13 . . 14 . . 15 . . 16 . . 17 . . 18 . . 19 . . . . 20 Ccm algorithm public API. . . . CCM algorithm parameters. . . 21 . Sharpen algorithm public API. . . 22 . Sharpening algorithm parameters. 23 . 24 Autofocus algorithm public API. . . 25 Autofocus algorithm parameters. . 26 Chromatic aberration correction algorithm parameters. . . . 27 Hdr algorithm public API. . . 28 . . 29 Camera tuning tool command line options. . . 30 Camera tuning tool runtime config parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sharpening algorithm parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 . 15 . 16 . 18 . 18 . . 19 . 20 . 21 . 22 . 23 . 24 . 28 . 29 . 35 . 36 . 42 . 44 . 44 . 46 . 46 . 47 . 48 . 49 . 50 . 51 . 52 . 54 . 61 . 62 Raspberry Pi Trading Ltd.
    Raspberry Pi Camera Algorithm and Tuning Guide 1 Introduction The “Raspberry Pi Camera Algorithm and Tuning Guide” is intended for users of the Raspberry Pi computer with an image sensor (camera) connected through the Raspberry Pi’s CSI (Camera Serial Interface) camera port, such as one of the following. • The v1 camera based on the Omnivision OV5647. • The v2 camera based on the Sony imx219. • The HQ Camera, based on the Sony imx477. • The Camera Module 3, based on the Sony imx708. • The Global Shutter Camera, based on the Sony imx296. There are also a number of compatible camera modules available from third parties, though information and support for such modules will come from the respective third party vendor. Figure 1: Connecting a camera board through the CSI-2 port. Raspberry Pi 5 has a pair of mini CSI-2 connectors in the same location. The software stack driving the camera system is libcamera. Experience has shown that driving complex camera systems directly through kernel (typically, V4L2) drivers is very difficult, often leading to large amounts of un- desirable and highly platform-specific application code. For this reason a much higher level userspace camera stack, libcamera, has emerged providing mechanisms to integrate image sensors and Image Signal Processors (ISPs). Here we describe just such an integration, showing how drivers can be written to make the components of the Raspberry Pi imaging system work with libcamera, concentrating in particular on the processes of calibrating and tuning the ISP to work well with different image sensors. Moreover, the libcamera integration avoids using any of the proprietary control algorithms supplied by chip vendors. Rather, Raspberry Pi is providing its own control algorithms, running directly on the chip’s ARM cores, as open source code which can be easily inspected and modified by users. This document is not specifically a tutorial on or guide to libcamera itself, for which the reader is referred to http://libcamera.org for more information. The remainder of this document is organised as follows. • Chapter 2: Overview. This is a brief overview of the system as a whole, showing what is already pro- vided, and what must be added in terms of image sensor drivers and ISP control algorithms to obtain a successful images. • Chapter 3: Camera Drivers. As far as possible the camera, or image sensor, is driven by a standard type of kernel driver. However, there are one or two details involved in making drivers work optimally in the Raspberry Pi framework. 1 Introduction 1
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