Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
bebop_cam module

Compile and control the settings of the Bebop front and bottom cameras.

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="bebop_cam"/>

Module configuration options

Airframe file section

  • section name: Front camera prefix: MT9F002_
    • name RESOLUTION value: 0
      Description: Preset image resolutions, 0 = VGA, 1 = 720p, 2 = 720p 4:3 aspect ratio, 3 = 1080p, 4 = 1080p 4:3 aspect ratio, 5 = 2048*2048, this is the max dimention allowable with isp
    • name OUTPUT_WIDTH value: 640
      Description: Image horizontal resolution used if MT9F002_RESOLUTION not defined
    • name OUTPUT_HEIGHT value: 640
      Description: Image vertical resolution used if MT9F002_RESOLUTION not defined
    • name OFFSET_X value: 0
      Description: Signed fractional offset from centre of image of original sensor [-0.5,0.5]
    • name OFFSET_Y value: 0
      Description: Signed fractional offset from centre of image of original sensor [-0.5,0.5]
    • name ZOOM value: 1
      Description: Zoom factor of image
    • name TARGET_EXPOSURE value: 30
      Description: Exposure of the front camera of the bebop. Experimental values: Outside: 15; Inside well lit: 30; Inside poorly lit: 60
    • name TARGET_FPS value: 30
      Description: Desired frame rate
    • name GAIN_GREEN1 value: 2
      Description: Green gain
    • name GAIN_GREEN2 value: 2
      Description: Green gain
    • name GAIN_RED value: 1.4
      Description: Red gain
    • name GAIN_BLUE value: 2.7
      Description: Blue gain
    • name FOCAL_X value: 0.48686
      Description: Focal length in the x-direction in pixels
    • name OFFSET_X value: 0.48908
      Description: Focal length in the y-direction in pixels
    • name CENTER_X value: 0.51015
      Description: Center image coordinate in the x-direction
    • name CENTER_Y value: 0.51015
      Description: Center image coordinate in the y-direction
    • name DHANE_K value: 1.25
      Description: (Un)Distortion parameter for a fish-eye lens
  • section name: Bottom camera prefix: MT9V117_
    • name TARGET_FPS value: 30
      Description: Desired frame rate
    • name FOCAL_X value: 0.48686
      Description: Focal length in the x-direction in pixels
    • name OFFSET_X value: 0.48908
      Description: Focal length in the y-direction in pixels
    • name CENTER_X value: 0.51015
      Description: Center image coordinate in the x-direction
    • name CENTER_Y value: 0.51015
      Description: Center image coordinate in the y-direction
    • name DHANE_K value: 1.25
      Description: (Un)Distortion parameter for a fish-eye lens

Module functions

Init Functions

These initialization functions are called once on startup.

  • mt9v117_init(PTR(mt9v117))
  • mt9f002_init(PTR(mt9f002))

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw bebop_cam.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="bebop_cam" dir="../boards/bebop">
<doc>
<description>
Compile and control the settings of the Bebop front and bottom cameras.
</description>
<section name="Front camera" prefix="MT9F002_">
<define name="RESOLUTION" value="0" description="Preset image resolutions, 0 = VGA, 1 = 720p, 2 = 720p 4:3 aspect ratio, 3 = 1080p, 4 = 1080p 4:3 aspect ratio, 5 = 2048*2048, this is the max dimention allowable with isp"/>
<define name="OUTPUT_WIDTH" value="640" description="Image horizontal resolution used if MT9F002_RESOLUTION not defined"/>
<define name="OUTPUT_HEIGHT" value="640" description="Image vertical resolution used if MT9F002_RESOLUTION not defined"/>
<define name="OFFSET_X" value="0" description="Signed fractional offset from centre of image of original sensor [-0.5,0.5]"/>
<define name="OFFSET_Y" value="0" description="Signed fractional offset from centre of image of original sensor [-0.5,0.5]"/>
<define name="ZOOM" value="1" description="Zoom factor of image"/>
<define name="TARGET_EXPOSURE" value="30" description="Exposure of the front camera of the bebop. Experimental values: Outside: 15; Inside well lit: 30; Inside poorly lit: 60"/>
<define name="TARGET_FPS" value="30" description="Desired frame rate"/>
<define name="GAIN_GREEN1" value="2" description="Green gain"/>
<define name="GAIN_GREEN2" value="2" description="Green gain"/>
<define name="GAIN_RED" value="1.4" description="Red gain"/>
<define name="GAIN_BLUE" value="2.7" description="Blue gain"/>
<define name="FOCAL_X" value="0.48686" description="Focal length in the x-direction in pixels"/>
<define name="OFFSET_X" value="0.48908" description="Focal length in the y-direction in pixels"/>
<define name="CENTER_X" value="0.51015" description="Center image coordinate in the x-direction"/>
<define name="CENTER_Y" value="0.51015" description="Center image coordinate in the y-direction"/>
<define name="DHANE_K" value="1.25" description="(Un)Distortion parameter for a fish-eye lens"/>
</section>
<section name="Bottom camera" prefix="MT9V117_">
<define name="TARGET_FPS" value="30" description="Desired frame rate"/>
<define name="FOCAL_X" value="0.48686" description="Focal length in the x-direction in pixels"/>
<define name="OFFSET_X" value="0.48908" description="Focal length in the y-direction in pixels"/>
<define name="CENTER_X" value="0.51015" description="Center image coordinate in the x-direction"/>
<define name="CENTER_Y" value="0.51015" description="Center image coordinate in the y-direction"/>
<define name="DHANE_K" value="1.25" description="(Un)Distortion parameter for a fish-eye lens"/>
</section>
</doc>
<settings>
<dl_settings NAME="Bebop camera control">
<dl_settings name="Front camera">
<dl_setting var="mt9f002.set_zoom" min="1." step="0.05" max="2.5" shortname="zoom" param="MT9F002_ZOOM"/>
<dl_setting var="mt9f002.set_offset_x" min="-0.5" step="0.05" max="0.5" shortname="offset_x" param="MT9F002_OFFSET_X"/>
<dl_setting var="mt9f002.set_offset_y" min="-0.5" step="0.05" max="0.5" shortname="offset_y" param="MT9F002_OFFSET_Y"/>
<dl_setting var="mt9f002_send_resolution" min="1" step="1" max="1" values="SEND" shortname="update_resolution" module="boards/bebop/mt9f002" handler="setting_update_resolution"/>
<dl_setting var="mt9f002.gain_green1" min="1" step="0.1" max="60" shortname="green_1" param="MT9F002_GAIN_GREEN1"/>
<dl_setting var="mt9f002.gain_green2" min="1" step="0.1" max="60" shortname="green_2" param="MT9F002_GAIN_GREEN2"/>
<dl_setting var="mt9f002.gain_blue" min="1" step="0.1" max="60" shortname="blue" param="MT9F002_GAIN_BLUE"/>
<dl_setting var="mt9f002.gain_red" min="1" step="0.1" max="60" shortname="red" param="MT9F002_GAIN_RED"/>
<dl_setting var="mt9f002_send_color" min="1" step="1" max="1" values="SEND" shortname="update_color" module="boards/bebop/mt9f002" handler="setting_update_color"/>
<dl_setting var="mt9f002.target_exposure " min="0.1" step="0.1" max="80" shortname="exposure" param="MT9F002_TARGET_EXPOSURE"/>
<dl_setting var="mt9f002_send_exposure" min="1" step="1" max="1" values="SEND" shortname="update_exposure" module="boards/bebop/mt9f002" handler="setting_update_exposure"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>i2c,video_thread</depends>
</dep>
<header>
<file name="mt9v117.h"/>
<file name="mt9f002.h"/>
</header>
<init fun="mt9v117_init(PTR(mt9v117))"/>
<init fun="mt9f002_init(PTR(mt9f002))"/>
<makefile target="ap">
<file name="mt9v117.c"/>
<file name="mt9f002.c"/>
<file name="libisp.c" dir="boards/bebop/isp"/>
<define name="I2C_BUF_LEN" value="56"/>
<define name="USE_I2C0"/>
<test>
<define name="USE_I2C0"/>
</test>
</makefile>
<makefile target="nps">
<file name="mt9v117_nps.c"/>
<file name="mt9f002_nps.c"/>
<file name="libisp.c" dir="boards/bebop/isp"/>
<define name="I2C_BUF_LEN" value="56"/>
<define name="USE_I2C0"/>
</makefile>
</module>