Oleg Dzhimiev committed changes to the Elphel git project :
10389 board not present case

Oleg Dzhimiev committed changes to the Elphel git project :
status file if 10389 is present

Oleg Dzhimiev committed changes to the Elphel git project :
status file if 10389 is present

Improvements over the earlier generation Eyesis4Pi:

← Older revision Revision as of 23:31, 22 December 2016 (2 intermediate revisions not shown)Line 20: Line 20: ^* ''Car and backpack mounts are not included.'' ^* ''Car and backpack mounts are not included.'' -====Improvements over older generation [[Eyesis4Pi]]====+====Improvements over the earlier generation [[Eyesis4Pi]]==== * new [[10393]] system boards * new [[10393]] system boards -** faster recording+** compressor bandwidth: 1 GPix/s vs. 85 MPix/s -** more powerful+** only 3 system boards needed to support all 26 sensors vs. 9 -* more compact - the pole is 2 times shorter+** contemporary OpenEmbedded Linux OS -* lighter+** full 5 FPS at high quality vs. 2 FPS  +** faster recording speed: 220 MB/s x 3 vs. 16 MB/s x 9  +** Gigabit Ethernet vs. 100 MB  +* more compact    +* more lightweight |} |} Olga

Status:

← Older revision Revision as of 21:45, 22 December 2016 Line 5: Line 5: <font style="font-size:1em;color:black">Production</font> <font style="font-size:1em;color:black">Production</font> -The newer version <font style='font-size:1.5em;color:red'><b>EYESIS4PI-26-393</b></font> is <font style='font-size:1em;color:red'><b>coming soon</b></font>.  +The newer version <font style='font-size:1.5em;color:red'><b>EYESIS4PI-26-393</b></font> is <font style='font-size:1em;color:red'><b>available</b></font>. Jump to [[Eyesis4Pi_393|Eyesis4Pi-393 article]]. Features: Features: Oleg

Status:

← Older revision Revision as of 21:45, 22 December 2016 Line 4: Line 4: <font style="font-size:1em;color:black">Production</font> <font style="font-size:1em;color:black">Production</font> -The newer version <font style='font-size:1.5em;color:red'><b>EYESIS4PI-26-393</b></font> is <font style='font-size:1em;color:red'><b>coming soon</b></font>.  +The newer version [[Eyesis4Pi_393|<font style='font-size:1.5em;color:red'><b>EYESIS4PI-393</b></font>]] is <font style='font-size:1em;color:red'><b>available</b></font>. Jump to [[Eyesis4Pi_393|Eyesis4Pi-393 article]]. Features: Features: Oleg

← Older revision Revision as of 20:53, 22 December 2016 (3 intermediate revisions not shown)Line 1: Line 1:  +[[Image:hp_banner_eyesis.png]] ==Status== ==Status== Available Available Line 109: Line 110: ==More information== ==More information== - +* [[Mt9p006_specs| Image sensors specs]] -====Tech specs of a single image sensor====+ -{| border="1" class="wikitable"+ -|-+ -! Model+ -| [http://www.onsemi.com/PowerSolutions/product.do?id=MT9P006 ONSemi MT9P006]+ -|-+ -! Color Image Sensor + -| 1/2.5" bayer-pattern CMOS+ -|-+ -! Effective number of pixels + -| 2592x1936 (5,018,112 pixels)+ -|-+ -! Aspect Ratio + -| Chip 4:3, Region of interest freely adjustable in 16 pixel steps+ -|-+ -! Sensor Output + -| 12 Bit ADC+ -|-+ -! Sensor Features + -| Region of interest, on-chip binning and decimation+ -|-+ -! Dynamic Range + -| 70 db (76 db at 2x2 binning)+ -|-+ -! Electronic Shutter + -| 1 us to "very long" (~3h) in 1us steps+ -|-+ -! Shutter Type+ -| ERS+ -|-+ -! Gain + -| Analog &amp; Digital (0 db to 12 db continuous)+ -|}+ {| {| Oleg

More information:

← Older revision Revision as of 20:33, 22 December 2016 (One intermediate revision not shown)Line 109: Line 109: ==More information== ==More information== - +* [[Mt9p006_specs| Image sensors specs]] -====Tech specs of a single image sensor====+ -{| border="1" class="wikitable"+ -|-+ -! Model+ -| [http://www.onsemi.com/PowerSolutions/product.do?id=MT9P006 ONSemi MT9P006]+ -|-+ -! Color Image Sensor + -| 1/2.5" bayer-pattern CMOS+ -|-+ -! Effective number of pixels + -| 2592x1936 (5,018,112 pixels)+ -|-+ -! Aspect Ratio + -| Chip 4:3, Region of interest freely adjustable in 16 pixel steps+ -|-+ -! Sensor Output + -| 12 Bit ADC+ -|-+ -! Sensor Features + -| Region of interest, on-chip binning and decimation+ -|-+ -! Dynamic Range + -| 70 db (76 db at 2x2 binning)+ -|-+ -! Electronic Shutter + -| 1 us to "very long" (~3h) in 1us steps+ -|-+ -! Shutter Type+ -| ERS+ -|-+ -! Gain + -| Analog &amp; Digital (0 db to 12 db continuous)+ -|}+ {| {| Oleg

Created page with "==Specs== {| border="1" class="wikitable" |- ! Model | [http://www.onsemi.com/PowerSolutions/product.do?id=MT9P006 ONSemi MT9P006] |- ! Color Image Sensor | 1/2.5" bayer-pattern..."

New page

==Specs==
{| border="1" class="wikitable"
|-
! Model
| [http://www.onsemi.com/PowerSolutions/product.do?id=MT9P006 ONSemi MT9P006]
|-
! Color Image Sensor
| 1/2.5" bayer-pattern CMOS
|-
! Effective number of pixels
| 2592x1936 (5,018,112 pixels)
|-
! Aspect Ratio
| Chip 4:3, Region of interest freely adjustable in 16 pixel steps
|-
! Sensor Output
| 12 Bit ADC
|-
! Sensor Features
| Region of interest, on-chip binning and decimation
|-
! Dynamic Range
| 70 db (76 db at 2x2 binning)
|-
! Electronic Shutter
| 1 us to "very long" (~3h) in 1us steps
|-
! Shutter Type
| ERS
|-
! Gain
| Analog &amp; Digital (0 db to 12 db continuous)
|}

==Resolution/FPS==
{| class="wikitable" style='padding:5px;text-align:center'
! style='padding:0px 10px;' | Standard
! style='padding:0px 10px;' | Resolution
! style='padding:0px 10px;' | max FPS (jpeg)
! style='padding:0px 10px;' | max FPS (JP4 RAW)
|-
|Full Sensor
| 2592x1936
| 10.6
| 14
|-
| Full HD (1080p)
| 1920x1088
| 25.2
| 30.9
|-
| HD (720p)
| 1280x720
| 57.9
| 60
|-
| NTSC DV
| 640x480
| 126
| 126
|-
| PAL DV
| 720x576
| 100
| 100
|-
|
| 512x512
| 129
| 129
|-
|
| 320x240
| 310
| 310
|-
| Line Scan Mode
| 2536 pixels
| 2300 lines/sec
| 2300 lines/sec
|} Oleg

Modifications:

← Older revision Revision as of 20:23, 22 December 2016 Line 88: Line 88: ==Modifications== ==Modifications== * [http://community.elphel.com/pictures/10393/FIX_boot_from_flash/ Fix boot from flash/mmc] * [http://community.elphel.com/pictures/10393/FIX_boot_from_flash/ Fix boot from flash/mmc]  +==Known issues==  +* [http://wiki.elphel.com/index.php?title=SATA_issues SATA issues] [[Category:393]] [[Category:393]] Mikhail

Created page with "== Issue 1: Handshake Error during fast recording == === Description === AHCI controller sets Handshake Error bit in PxSERR register and Interface Fatal Error Status bit in PxIS ..."

New page

== Issue 1: Handshake Error during fast recording ==
=== Description ===
AHCI controller sets Handshake Error bit in PxSERR register and Interface Fatal Error Status bit in PxIS register. If debug messages for AHCI driver are enabled in sysfs then system log will contain the following record:
<font size='2'>
elphel_irq_handler: elphel-ahci 80000000.elphel-ahci: irq_stat = 0x8000000, host irq_stat = 0x1, SErr = 0x400000
</font>
The status of controller registers read from Python interface after system driver has started recovery is the following:
<font size='2'>
>>> sata.reg_status()
HBA_PORT__PxIS: 0x04000000 [80000110]
1 : INFS (Interface Non-Fatal Error Status (sect. 6.1.2))
HBA_PORT__PxCMD: 0x00040007 [80000118]
1 : HPCP (Hot Plug Capable Port)
1 : POD (Power On Device (RW with Cold Presence Detection))
1 : SUD (Spin-Up Device (RW with Staggered Spin-Up Support))
1 : ST (Start (HBA may process commands). See section 10.3.1)
HBA_PORT__PxTFD: 0x000001d0 [80000120]
1 : ERR (Latest Copy of Task File Error Register)
1 : STS.BSY (Latest Copy of Task File Status Register: BSY)
5 : STS.64 (Latest Copy of Task File Status Register: command-specific bits 4..6 )
HBA_PORT__PxSIG: 0x00000101 [80000124]
101 : SIG (Data in the first D2H Register FIS)
HBA_PORT__PxSSTS: 0x00000123 [80000128]
1 : IPM (Interface Power Management)
2 : SPD (Interface Speed)
3 : DET (Device Detection (should be detected if COMINIT is received))
HBA_PORT__PxSERR: 0x00400000 [80000130]
1 : DIAG.H (Handshake Error (i.e. Device got CRC error))
HBA_PORT__PxCI: 0x00000001 [80000138]
1 : CI (Command Issued: bit per Port, only set when PxCMD.ST==1, also cleared by PxCMD.ST: 1->0 by soft)
</font>
=== How to reproduce ===
This error can be reliably reproduced during fast recording to SanDisk SD7SF6S256G1122 mSATA SSD connected to eSATA port. All camera related software should be disabled during test as it will interfere with the test program. Edit /etc/init.d/init_elphel393
<font size='2'>
$CONFDIR/init_elphel393.py "{\"usb_hub\" :0,\"ip\" :1,\"mcntrl\" :0,\"imgsrv\" :0,\"port1\" :0,\"port2\" :0,\"port3\" :0,\"port4\" :0,\"framepars\" <br/>
:0,\"autoexp_daemon\" :0,\"autocampars\" :0,\"autoexp\" :0,\"autowb\" :0,\"sata\" :0,\"gps\" :0,\"eyesis\" :0 }"
</font>
and restart camera. Start AHCI controller configuration program,
<font size='2'>
root@elphel393:~# x393sata.py
</font>
switch SATA multiplexer to external disk (from browser)
<font size='2'>
http://192.168.0.38/x393_vsc330x.php?c:zynq=esata
</font>
and reload disk driver. Start test program and the error will most likely appear within several seconds of recording:
<font size='2'>
root@elphel393:~# camogm_test -d /dev/sda2 -b 3000000 -c 1000
</font>
This disk can be used from the system without this issue although long run tests have not been performed. Mikhail

Features and Specs:

← Older revision Revision as of 20:15, 22 December 2016 (17 intermediate revisions not shown)Line 27: Line 27: |} |} -== Features ==+== Features and Specs== * 4*π (360x180) full sphere coverage * 4*π (360x180) full sphere coverage * 64 MPix panoramic image resolution after stitching   * 64 MPix panoramic image resolution after stitching   * Final panoramic image equirectangular projection dimensions - 14000x7000 * Final panoramic image equirectangular projection dimensions - 14000x7000 * 0.05 Pix stitching precision * 0.05 Pix stitching precision  +* Very small parallax - distance between entrance pupils: 46.5 mm  +* High resolution lenses: 26x M12 lens mount * Calibrated fixed lens to compensate for the lenses distortions * Calibrated fixed lens to compensate for the lenses distortions **10" (0.1 pix) in the center 80% x 80% area **10" (0.1 pix) in the center 80% x 80% area **30" (0.3 pix) maximal error over the full FoV **30" (0.3 pix) maximal error over the full FoV **<0.03um/° thermal expansion **<0.03um/° thermal expansion -* 5 FPS - maximum frame rate  +* Precise image capture synchronization  +* 5 FPS - maximum frame rate  +* RAW or compressed image formats  +* Images are geo-tagged (Exif) - 5Hz GPS receiver ([https://www.pololu.com/product/2138 Locosys LS20031]) * High-precision IMU [http://www.analog.com/en/products/sensors/inertial-measurement-units/adis16375.html ADIS 16375] * High-precision IMU [http://www.analog.com/en/products/sensors/inertial-measurement-units/adis16375.html ADIS 16375] -* Images are geo-tagged - 5Hz GPS receiver ([https://www.pololu.com/product/2138 Locosys LS20031])  * Recording to: * Recording to: -** internal SSDs+** internal SSDs - not swappable - 3x m.2 SSDs (physical size: 2242 or 2260) -** external SSDs+** external SSDs - swappable - 3x 2.5" SSDs connected in a hot swap rack -** a PC over network+** PC over network -* + * Web Based GUI * Web Based GUI * SYNC cable allows: * SYNC cable allows: ** receive and log external trigger (from a sensor such as odometer or extra GNSS system) ** receive and log external trigger (from a sensor such as odometer or extra GNSS system) ** generate output signal to trigger other sensors or cameras ** generate output signal to trigger other sensors or cameras  +* Weatherproof camera body and camera pole  +* Dimensions: 230x760 mm (9x30")  +* Weight: 8 kg (18 lbs)  +* The Eyesis4Pi-393 system is highly customizable * Free Software and Open Hardware * Free Software and Open Hardware  +  +==Operation==  +* The system is controlled from a laptop via a [[Eyesis4Pi User Guide - Recording|web-based interface (Eyesis4Pi GUI)]]. Which also displays real-time previews and parameters.  +* Power consumption is about 50W.  +* Power supply:  +** AC/DC power adapter (input: 110V/220V, output: 48V 2A) and can be used with a car power adapter (inverter), when mounted on a car roof.  +** 48V batteries (48V 4Ah - about 1h of operation)  +  +{| style='padding:0px;'  +|valign='top'|[[File:Eyesis4pi axes.jpeg|300px|thumb|Eyesis4Pi on a car]]  +|valign='top' style='padding:0px;'|[[File:Eyesis4pi393 cables.png|thumb|300px|Fig.1 Cables]]  +|-  +|valign='top' style='padding:0px;'|[[File:Eyesis4pi393 recording external disks.png|thumb|300px|Fig.2 Recording to swappable external drives]]  +|valign='top' style='padding:0px;'|[[File:Eyesis4pi393 recording internal ssds or network.png|thumb|300px|Fig.3 Recording to internal SSDs or over network]]  +|valign='top' style='padding:0px;'|[[File:Eyesis4pi393 footage download from internal ssds.png|thumb|300px|Fig.4 Downloading data from internal SSDs to PC]]  +|} ==Calibration== ==Calibration== Line 67: Line 90: |[[File:Eyesis-with-cradle-pattern_small_2.jpeg|340px|thumb| Calibration process drawing]] |[[File:Eyesis-with-cradle-pattern_small_2.jpeg|340px|thumb| Calibration process drawing]] |} |}  +  +==Software==  +All software is FOSS (Free and Open Source Software). It is experimental software that is used to test the camera performance, and it continues to be developed. All updates are available for download and build from https://github.com. Software may require integration with customer software depending upon camera hardware configuration and application. It includes:  +* Camera internal software/firmware and SDK  +* Post-processing tools  +* Calibration data ==3D Model== ==3D Model== Line 78: Line 107: |} |} |} |} -==Operating==+  -{|+==More information== -|[[File:Eyesis4pi393 cables.png|thumb|300px|Fig.1 Cables]]+   +====Tech specs of a single image sensor====  +{| border="1" class="wikitable" |- |- -|[[File:Eyesis4pi393 recording external disks.png|thumb|300px|Fig.2 Recording to swappable external drives]]+! Model -|[[File:Eyesis4pi393 recording internal ssds or network.png|thumb|300px|Fig.3 Recording to internal SSDs or over network]]+| [http://www.onsemi.com/PowerSolutions/product.do?id=MT9P006 ONSemi MT9P006] -|[[File:Eyesis4pi393 footage download from internal ssds.png|thumb|300px|Fig.4 Downloading data from internal SSDs to PC]]+|-  +! Color Image Sensor  +| 1/2.5" bayer-pattern CMOS  +|-  +! Effective number of pixels  +| 2592x1936 (5,018,112 pixels)  +|-  +! Aspect Ratio  +| Chip 4:3, Region of interest freely adjustable in 16 pixel steps  +|-  +! Sensor Output  +| 12 Bit ADC  +|-  +! Sensor Features  +| Region of interest, on-chip binning and decimation  +|-  +! Dynamic Range  +| 70 db (76 db at 2x2 binning)  +|-  +! Electronic Shutter  +| 1 us to "very long" (~3h) in 1us steps  +|-  +! Shutter Type  +| ERS  +|-  +! Gain  +| Analog &amp; Digital (0 db to 12 db continuous) |} |}  +  +{|  +|[[File:Eyesis4pi3d-24-illustration.jpg|thumb|300px|Head Contents Schematic]]  +|valign='top'|[[File:Eyesis4pi-fov.jpg|thumb|250px|FOV of sub-cameras in Eyesis4Pi-393, color shows time of acquisition (from red to blue):1-8 horizontal sensors; 1t-8t top sensors;1b-8b bottom sensors]]  +|}  +  +==How to buy==  +We are directly accepting orders and ship worldwide. Please contact Elphel for Lead Time and Quotes:  +  +*Email (Sales Inquiry): sales@elphel.com  +*Phone: (801) 783-5555 x 107  +*Toll-free: (888) 3 ELPHEL  +*Fax: (801) 812-8267 Oleg

Other info:

← Older revision Revision as of 19:21, 22 December 2016 (10 intermediate revisions not shown)Line 32: Line 32: * Final panoramic image equirectangular projection dimensions - 14000x7000 * Final panoramic image equirectangular projection dimensions - 14000x7000 * 0.05 Pix stitching precision * 0.05 Pix stitching precision  +* Very small parallax - distance between entrance pupils: 46.5 mm  +* High resolution lenses: 26x M12 lens mount * Calibrated fixed lens to compensate for the lenses distortions * Calibrated fixed lens to compensate for the lenses distortions **10" (0.1 pix) in the center 80% x 80% area **10" (0.1 pix) in the center 80% x 80% area **30" (0.3 pix) maximal error over the full FoV **30" (0.3 pix) maximal error over the full FoV **<0.03um/° thermal expansion **<0.03um/° thermal expansion -* 5 FPS - maximum frame rate  +* Precise image capture synchronization  +* 5 FPS - maximum frame rate  +* RAW or compressed image formats  +* Images are geo-tagged (Exif) - 5Hz GPS receiver ([https://www.pololu.com/product/2138 Locosys LS20031]) * High-precision IMU [http://www.analog.com/en/products/sensors/inertial-measurement-units/adis16375.html ADIS 16375] * High-precision IMU [http://www.analog.com/en/products/sensors/inertial-measurement-units/adis16375.html ADIS 16375] -* Images are geo-tagged - 5Hz GPS receiver ([https://www.pololu.com/product/2138 Locosys LS20031])  * Recording to: * Recording to: ** internal SSDs ** internal SSDs ** external SSDs ** external SSDs ** a PC over network ** a PC over network -*   * Web Based GUI * Web Based GUI * SYNC cable allows: * SYNC cable allows: ** receive and log external trigger (from a sensor such as odometer or extra GNSS system) ** receive and log external trigger (from a sensor such as odometer or extra GNSS system) ** generate output signal to trigger other sensors or cameras ** generate output signal to trigger other sensors or cameras  +* Weatherproof camera body and camera pole  +* The Eyesis4Pi-393 system is highly customizable * Free Software and Open Hardware * Free Software and Open Hardware  +  +==Operation==  +* The system is controlled from a laptop via a [[Eyesis4Pi User Guide - Recording|web-based interface (Eyesis4Pi GUI)]]. Which also displays real-time previews and parameters.  +* Power consumption is about 50W.  +* Power supply:  +** AC/DC power adapter (input: 110V/220V, output: 48V 2A) and can be used with a car power adapter (inverter), when mounted on a car roof.  +** 48V batteries (48V 4Ah - about 1h of operation)  +  +{| style='padding:0px;'  +|valign='top'|[[File:Eyesis4pi axes.jpeg|300px|thumb|Eyesis4Pi on a car]]  +|valign='top' style='padding:0px;'|[[File:Eyesis4pi393 cables.png|thumb|300px|Fig.1 Cables]]  +|-  +|valign='top' style='padding:0px;'|[[File:Eyesis4pi393 recording external disks.png|thumb|300px|Fig.2 Recording to swappable external drives]]  +|valign='top' style='padding:0px;'|[[File:Eyesis4pi393 recording internal ssds or network.png|thumb|300px|Fig.3 Recording to internal SSDs or over network]]  +|valign='top' style='padding:0px;'|[[File:Eyesis4pi393 footage download from internal ssds.png|thumb|300px|Fig.4 Downloading data from internal SSDs to PC]]  +|} ==Calibration== ==Calibration== Line 78: Line 99: |} |} |} |} -==Operating==+  -{|+==Other info== -|[[File:Eyesis4pi393 cables.png|thumb|300px|Fig.1 Cables]]+====Storage====  +=====Internal=====  +* 3x m.2 SSDs:  +** physical size: 2242 or 2260  +=====External=====  +* 3x 2.5" SSDs connected in a hot swap rack  +====Tech specs of a single image sensor====  +{| border="1" class="wikitable" |- |- -|[[File:Eyesis4pi393 recording external disks.png|thumb|300px|Fig.2 Recording to swappable external drives]]+! Model -|[[File:Eyesis4pi393 recording internal ssds or network.png|thumb|300px|Fig.3 Recording to internal SSDs or over network]]+| [http://www.onsemi.com/PowerSolutions/product.do?id=MT9P006 ONSemi MT9P006] -|[[File:Eyesis4pi393 footage download from internal ssds.png|thumb|300px|Fig.4 Downloading data from internal SSDs to PC]]+|-  +! Color Image Sensor  +| 1/2.5" bayer-pattern CMOS  +|-  +! Effective number of pixels  +| 2592x1936 (5,018,112 pixels)  +|-  +! Aspect Ratio  +| Chip 4:3, Region of interest freely adjustable in 16 pixel steps  +|-  +! Sensor Output  +| 12 Bit ADC  +|-  +! Sensor Features  +| Region of interest, on-chip binning and decimation  +|-  +! Dynamic Range  +| 70 db (76 db at 2x2 binning)  +|-  +! Electronic Shutter  +| 1 us to "very long" (~3h) in 1us steps  +|-  +! Shutter Type  +| ERS  +|-  +! Gain  +| Analog &amp; Digital (0 db to 12 db continuous)  +|}  +   +{|  +|[[File:Eyesis4pi3d-24-illustration.jpg|thumb|300px|Head Contents Schematic]]  +|valign='top'|[[File:Eyesis4pi-fov.jpg|thumb|250px|FOV of sub-cameras in Eyesis4Pi-393, color shows time of acquisition (from red to blue):1-8 horizontal sensors; 1t-8t top sensors;1b-8b bottom sensors]] |} |} Oleg

Tech Specs of a Single Image Sensor:

← Older revision Revision as of 18:40, 22 December 2016 (5 intermediate revisions not shown)Line 32: Line 32: * Final panoramic image equirectangular projection dimensions - 14000x7000 * Final panoramic image equirectangular projection dimensions - 14000x7000 * 0.05 Pix stitching precision * 0.05 Pix stitching precision  +* Very small parallax - distance between entrance pupils: 46.5 mm  +* High resolution lenses: 26x M12 lens mount * Calibrated fixed lens to compensate for the lenses distortions * Calibrated fixed lens to compensate for the lenses distortions **10" (0.1 pix) in the center 80% x 80% area **10" (0.1 pix) in the center 80% x 80% area **30" (0.3 pix) maximal error over the full FoV **30" (0.3 pix) maximal error over the full FoV **<0.03um/° thermal expansion **<0.03um/° thermal expansion -* 5 FPS - maximum frame rate  +* Precise image capture synchronization -* High-precision IMU [http://www.analog.com/en/products/sensors/inertial-measurement-units/adis16375.html ADIS 16375]+* 5 FPS - maximum frame rate  +* RAW or compressed image formats * Images are geo-tagged - 5Hz GPS receiver ([https://www.pololu.com/product/2138 Locosys LS20031]) * Images are geo-tagged - 5Hz GPS receiver ([https://www.pololu.com/product/2138 Locosys LS20031])  +* High-precision IMU [http://www.analog.com/en/products/sensors/inertial-measurement-units/adis16375.html ADIS 16375] * Recording to: * Recording to: ** internal SSDs ** internal SSDs ** external SSDs ** external SSDs ** a PC over network ** a PC over network -*   * Web Based GUI * Web Based GUI * SYNC cable allows: * SYNC cable allows: ** receive and log external trigger (from a sensor such as odometer or extra GNSS system) ** receive and log external trigger (from a sensor such as odometer or extra GNSS system) ** generate output signal to trigger other sensors or cameras ** generate output signal to trigger other sensors or cameras  +* Weatherproof camera body and camera pole  +* The Eyesis4Pi-393 system is highly customizable * Free Software and Open Hardware * Free Software and Open Hardware Line 85: Line 90: |[[File:Eyesis4pi393 recording internal ssds or network.png|thumb|300px|Fig.3 Recording to internal SSDs or over network]] |[[File:Eyesis4pi393 recording internal ssds or network.png|thumb|300px|Fig.3 Recording to internal SSDs or over network]] |[[File:Eyesis4pi393 footage download from internal ssds.png|thumb|300px|Fig.4 Downloading data from internal SSDs to PC]] |[[File:Eyesis4pi393 footage download from internal ssds.png|thumb|300px|Fig.4 Downloading data from internal SSDs to PC]]  +|}  +  +==Other info==  +====Tech specs of a single image sensor====  +{| border="1" class="wikitable"  +|-  +! Model  +| [http://www.onsemi.com/PowerSolutions/product.do?id=MT9P006 ONSemi MT9P006]  +|-  +! Color Image Sensor  +| 1/2.5" bayer-pattern CMOS  +|-  +! Effective number of pixels  +| 2592x1936 (5,018,112 pixels)  +|-  +! Aspect Ratio  +| Chip 4:3, Region of interest freely adjustable in 16 pixel steps  +|-  +! Sensor Output  +| 12 Bit ADC  +|-  +! Sensor Features  +| Region of interest, on-chip binning and decimation  +|-  +! Dynamic Range  +| 70 db (76 db at 2x2 binning)  +|-  +! Electronic Shutter  +| 1 us to "very long" (~3h) in 1us steps  +|-  +! Shutter Type  +| ERS  +|-  +! Gain  +| Analog &amp; Digital (0 db to 12 db continuous) |} |} Oleg

← Older revision Revision as of 18:27, 22 December 2016 Line 1: Line 1: -==IMU==+==Goniometer and IMU== {| {| -|[[File:Eyesis-with-cradle-pattern_small_2.jpeg|500px|thumb|Fig.1 Positive rotation angles in the calibration machine]]+|[[File:Eyesis-with-cradle-pattern_small_2.jpeg|380px|thumb|Fig.1 Positive rotation angles in the calibration machine]] |valign='top'|[[File:Goniometer.jpeg|400px|thumb|Fig.2 Goniometer]] |valign='top'|[[File:Goniometer.jpeg|400px|thumb|Fig.2 Goniometer]] |valign='top'|[[File:Eyesis4pi axes.jpeg|400px|thumb|Fig.3 IMU in Eyesis4&pi;]] |valign='top'|[[File:Eyesis4pi axes.jpeg|400px|thumb|Fig.3 IMU in Eyesis4&pi;]] |} |}  +  +IMU is [http://www.analog.com/en/products/sensors/inertial-measurement-units/adis16375.html ADIS 16375] - 2400 samples per second During the calibration process the goniometer rotates the camera about 2 axes (y & z on Fig.1) by precisely known angles. To calibrate IMU one needs to match the goniometer angles with the IMU data. During the calibration process the goniometer rotates the camera about 2 axes (y & z on Fig.1) by precisely known angles. To calibrate IMU one needs to match the goniometer angles with the IMU data. Oleg

← Older revision Revision as of 18:27, 22 December 2016 (9 intermediate revisions not shown)Line 1: Line 1: ==Status== ==Status== -Production+Available == Overview== == Overview== {| {| |- |- -|[[File:Eyesis4pi 1a.jpeg|150px|thumb|left]]+| valign='top' |[[File:Eyesis4pi 1a.jpeg|150px|thumb|left]] -|'''Elphel Eyesis4Pi-26-393''' is the newer generation of the full-sphere multi-camera systems for stereophotogrammetric applications.<!--360*180 panoramic camera... or less^***view angle.^* The camera is designed to be a measurement tool for [http://en.wikipedia.org/wiki/Photogrammetry photogrammetry] and to allow future [http://en.wikipedia.org/wiki/3D_reconstruction_from_multiple_images 3D reconstruction] of the scenes. --> The camera is [http://blogs.elphel.com/2010/11/zoom-in-now-enhance/ calibrated] to compensate for optical aberrations allowing to preserve full sensor resolution over the camera FoV. [http://blog.elphel.com/2011/10/subpixel-registration-and-distrortion-measurement/ Distortion calibration] is performed for precise pixel-mapping to automatically stitch images into panoramas, and also for [http://en.wikipedia.org/wiki/Photogrammetry photogrammetry]and [http://en.wikipedia.org/wiki/3D_reconstruction_from_multiple_images 3D reconstruction]. <!--due to precise optical calibration of sensor+lens modules and pixel-mapping. Eyesis4Pi can be used for panorama capturing and allow to get high quality final images of the panoramas which no other cameras available on the market can produce. -->&nbsp;+|'''Elphel Eyesis4Pi-26-393''' is the newer generation of the full-sphere multi-camera systems for stereophotogrammetric applications.<!--360*180 panoramic camera... or less^***view angle.^* The camera is designed to be a measurement tool for [http://en.wikipedia.org/wiki/Photogrammetry photogrammetry] and to allow future [http://en.wikipedia.org/wiki/3D_reconstruction_from_multiple_images 3D reconstruction] of the scenes. --> -There are 24 x 5MPix sensors in the camera head, resulting in 120 MPix image acquisition. Panorama image resolution after stitching is 64 MPix.+* The system is [http://blogs.elphel.com/2010/11/zoom-in-now-enhance/ calibrated] to compensate for optical aberrations allowing to preserve full sensor resolution over the field of view. -High-precision Inertial Measurement Unit IMU (ADIS 16375, 2400 samples per second) is integrated with the camera, as well as 5Hz GPS (Locosys LS20031) to provide precise position and orientation of the camera. Images, synchronized with IMU and GPS data, are recorded to internal Solid State Drives (SSD) or to an external computer over the network.+* [http://blog.elphel.com/2011/10/subpixel-registration-and-distrortion-measurement/ Distortion calibration] is performed for precise pixel-mapping to automatically stitch images into panoramas, and also for [http://en.wikipedia.org/wiki/Photogrammetry photogrammetry] and [http://en.wikipedia.org/wiki/3D_reconstruction_from_multiple_images 3D reconstruction]. <!--due to precise optical calibration of sensor+lens modules and pixel-mapping. Eyesis4Pi can be used for panorama capturing and allow to get high quality final images of the panoramas which no other cameras available on the market can produce. -->&nbsp; -Eyesis4Pi camera system includes Eyesis computer for image downloading and post-processing with pre-installed SDK and Free and Open Source Software for camera calibration, image acquisition and panorama stitching.+* There are 24 x 5MPix sensors in the camera head, resulting in 120 MPix image acquisition. Panorama image resolution after stitching is 64 MPix, the equirectangular projection is 14000x7000.  +* High-precision Inertial Measurement Unit IMU (ADIS 16375, 2400 samples per second) is integrated with the camera, as well as 5Hz GPS (Locosys LS20031) to provide precise position and orientation of the camera.  +* Images, synchronized with IMU and GPS data, can be recorded to internal Solid State Drives (SSD), external swappable SSDs or to a PC over the network.  +* Optionally Eyesis4Pi-393 camera system includes PC for image downloading and post-processing with pre-installed SDK and Free and Open Source Software for camera calibration, image acquisition and panorama stitching.  +* Eyesis4Pi-393 can be mounted on a car for outdoor panoramic applications or carried by a person, which lets successfully create panoramas of small and narrow spaces.^*<br> -Eyesis4Pi can be mounted on a car for outdoor panoramic applications or carried by a person, which lets successfully create panoramas of small and narrow spaces.^**<br>+Automated panoramic imagery and 3-dimensional panoramas are the 2 main applications of Eyesise4Pi-393 camera. -Automated panoramic imagery and 3-dimensional panoramas are 2 main applications of Eyesise4Pi camera.+   +^* ''Car and backpack mounts are not included.'' ====Improvements over older generation [[Eyesis4Pi]]==== ====Improvements over older generation [[Eyesis4Pi]]==== Line 32: Line 37: **<0.03um/° thermal expansion **<0.03um/° thermal expansion * 5 FPS - maximum frame rate   * 5 FPS - maximum frame rate   -* Integrated high-precision IMU and GPS+* High-precision IMU [http://www.analog.com/en/products/sensors/inertial-measurement-units/adis16375.html ADIS 16375]  +* Images are geo-tagged - 5Hz GPS receiver ([https://www.pololu.com/product/2138 Locosys LS20031]) * Recording to: * Recording to: ** internal SSDs ** internal SSDs ** external SSDs ** external SSDs -** to PC over network+** a PC over network  +* * Web Based GUI * Web Based GUI  +* SYNC cable allows:  +** receive and log external trigger (from a sensor such as odometer or extra GNSS system)  +** generate output signal to trigger other sensors or cameras * Free Software and Open Hardware * Free Software and Open Hardware ==Calibration== ==Calibration== -We have developed full calibration process and post-processing software to compensate for optical aberrations, allowing to preserve full sensor resolution over the camera FOV, and distortions – for precise pixel-mapping for photogrammetry and 3D reconstruction. Check out this [http://blogs.elphel.com/2010/06/elphel-eyesis-camera-optics-and-lens-focus-adjustment/ Elphel Development Blog post] for more details.+We have developed full calibration process and post-processing software to compensate for:  +* '''Optical aberrations''', allowing to preserve full sensor resolution over the camera FoV.  +* '''Distortions''' – for precise pixel-mapping for photogrammetry and 3D reconstruction.  +   +The [[Eyesis4Pi_Calibration|calibration]] is performed using the machine ('''goniometer''') that rotates the camera about 2 axes by precisely known angles. To calibrate IMU one needs to match the goniometer angles with the IMU data.  +   +Check out these articles for more details:  +* [http://blog.elphel.com/2012/09/building-and-calibrating-eyesis4%CF%80/ Building and calibrating Eyesis4Pi]  +* [http://blog.elphel.com/2013/06/elphel-new-camera-calibration-facility/ New calibration facility]  +  {| {| |- |- |[[File:Eyesis4pi393 calibration resized.jpeg|450px|thumb| Calibration process]] |[[File:Eyesis4pi393 calibration resized.jpeg|450px|thumb| Calibration process]] |[[File:Eyesis4pi393 calibration closer resized.jpeg|200px|thumb]] |[[File:Eyesis4pi393 calibration closer resized.jpeg|200px|thumb]]  +|[[File:Eyesis-with-cradle-pattern_small_2.jpeg|340px|thumb| Calibration process drawing]] |} |} Oleg

AndreyFilippov committed changes to the Elphel git project :
more on factorization

AndreyFilippov committed changes to the Elphel git project :
more on factorization

Calibration:

← Older revision Revision as of 17:42, 22 December 2016 (3 intermediate revisions not shown)Line 1: Line 1: ==Status== ==Status== -Production+Available == Overview== == Overview== {| {| |- |- |[[File:Eyesis4pi 1a.jpeg|150px|thumb|left]] |[[File:Eyesis4pi 1a.jpeg|150px|thumb|left]] -|'''Elphel Eyesis4Pi-26-393''' is the newer generation of the full-sphere multi-camera systems for stereophotogrammetric applications.<!--360*180 panoramic camera... or less^***view angle.^* The camera is designed to be a measurement tool for [http://en.wikipedia.org/wiki/Photogrammetry photogrammetry] and to allow future [http://en.wikipedia.org/wiki/3D_reconstruction_from_multiple_images 3D reconstruction] of the scenes. --> The camera is [http://blogs.elphel.com/2010/11/zoom-in-now-enhance/ calibrated] to compensate for optical aberrations allowing to preserve full sensor resolution over the camera FoV. [http://blog.elphel.com/2011/10/subpixel-registration-and-distrortion-measurement/ Distortion calibration] is performed for precise pixel-mapping to automatically stitch images into panoramas, and also for [http://en.wikipedia.org/wiki/Photogrammetry photogrammetry]and [http://en.wikipedia.org/wiki/3D_reconstruction_from_multiple_images 3D reconstruction]. <!--due to precise optical calibration of sensor+lens modules and pixel-mapping. Eyesis4Pi can be used for panorama capturing and allow to get high quality final images of the panoramas which no other cameras available on the market can produce. -->&nbsp;+|'''Elphel Eyesis4Pi-26-393''' is the newer generation of the full-sphere multi-camera systems for stereophotogrammetric applications.<!--360*180 panoramic camera... or less^***view angle.^* The camera is designed to be a measurement tool for [http://en.wikipedia.org/wiki/Photogrammetry photogrammetry] and to allow future [http://en.wikipedia.org/wiki/3D_reconstruction_from_multiple_images 3D reconstruction] of the scenes. --> -There are 24 x 5MPix sensors in the camera head, resulting in 120 MPix image acquisition. Panorama image resolution after stitching is 64 MPix.+* The system is [http://blogs.elphel.com/2010/11/zoom-in-now-enhance/ calibrated] to compensate for optical aberrations allowing to preserve full sensor resolution over the field of view. -High-precision Inertial Measurement Unit IMU (ADIS 16375, 2400 samples per second) is integrated with the camera, as well as 5Hz GPS (Locosys LS20031) to provide precise position and orientation of the camera. Images, synchronized with IMU and GPS data, are recorded to internal Solid State Drives (SSD) or to an external computer over the network.+* [http://blog.elphel.com/2011/10/subpixel-registration-and-distrortion-measurement/ Distortion calibration] is performed for precise pixel-mapping to automatically stitch images into panoramas, and also for [http://en.wikipedia.org/wiki/Photogrammetry photogrammetry] and [http://en.wikipedia.org/wiki/3D_reconstruction_from_multiple_images 3D reconstruction]. <!--due to precise optical calibration of sensor+lens modules and pixel-mapping. Eyesis4Pi can be used for panorama capturing and allow to get high quality final images of the panoramas which no other cameras available on the market can produce. -->&nbsp; -Eyesis4Pi camera system includes Eyesis computer for image downloading and post-processing with pre-installed SDK and Free and Open Source Software for camera calibration, image acquisition and panorama stitching.+* There are 24 x 5MPix sensors in the camera head, resulting in 120 MPix image acquisition. Panorama image resolution after stitching is 64 MPix, the equirectangular projection is 14000x7000.  +* High-precision Inertial Measurement Unit IMU (ADIS 16375, 2400 samples per second) is integrated with the camera, as well as 5Hz GPS (Locosys LS20031) to provide precise position and orientation of the camera.  +* Images, synchronized with IMU and GPS data, can be recorded to internal Solid State Drives (SSD), external swappable SSDs or to a PC over the network.  +* Optionally Eyesis4Pi-393 camera system includes PC for image downloading and post-processing with pre-installed SDK and Free and Open Source Software for camera calibration, image acquisition and panorama stitching.  +* Eyesis4Pi-393 can be mounted on a car for outdoor panoramic applications or carried by a person, which lets successfully create panoramas of small and narrow spaces.^**<br> -Eyesis4Pi can be mounted on a car for outdoor panoramic applications or carried by a person, which lets successfully create panoramas of small and narrow spaces.^**<br>+Automated panoramic imagery and 3-dimensional panoramas are the 2 main applications of Eyesise4Pi-393 camera. -Automated panoramic imagery and 3-dimensional panoramas are 2 main applications of Eyesise4Pi camera.+ ====Improvements over older generation [[Eyesis4Pi]]==== ====Improvements over older generation [[Eyesis4Pi]]==== Line 36: Line 39: ** internal SSDs ** internal SSDs ** external SSDs ** external SSDs -** to PC over network+** a PC over network * Web Based GUI * Web Based GUI * Free Software and Open Hardware * Free Software and Open Hardware ==Calibration== ==Calibration== -We have developed full calibration process and post-processing software to compensate for optical aberrations, allowing to preserve full sensor resolution over the camera FOV, and distortions – for precise pixel-mapping for photogrammetry and 3D reconstruction. Check out this [http://blogs.elphel.com/2010/06/elphel-eyesis-camera-optics-and-lens-focus-adjustment/ Elphel Development Blog post] for more details.+We have developed full calibration process and post-processing software to compensate for:  +* '''Optical aberrations''', allowing to preserve full sensor resolution over the camera FoV.  +* '''Distortions''' – for precise pixel-mapping for photogrammetry and 3D reconstruction.    +Check out this [http://blogs.elphel.com/2010/06/elphel-eyesis-camera-optics-and-lens-focus-adjustment/ Elphel Development Blog post] for more details. {| {| |- |- Oleg

AndreyFilippov committed changes to the Elphel git project :
Working on kernel factorization with LMA - larger symmetrical kernel and small asymmetrical for direct convolution with bayer