- 1 In the package
- 2 Interfaces
- 3 Power on
- 4 Defaults
- 5 Command line access
- 6 Serial console access
- 7 Web user interface (camvc)
- 8 Download live images
- 9 Video
- 10 Store/restore configuration
- 11 Available programmable parameters
- 12 Change parameters
- 13 Image formats
- 14 Proper shutdown
- 15 Temperature monitor
- 16 Event Logger (GPS, IMU, IMG & EXT)
- 17 Set system time
- 18 eSATA port switching
- 19 Firmware/software update
- 20 Firmware images
- 21 Development
- 22 Other info
- 22.1 Change default ip address
- 22.2 Add a program or a shell command to autostart on boot
- 22.3 Set up histogram window and autoexposure parameters
- 22.4 Tools for calibrated systems
- 22.5 Switch between ERS and GRR modes in MT9P006
- 22.6 External/internal synchronization & triggering and FPS control for single/multi-camera systems
- 22.7 SSD/MMC/USB formatting
- 22.8 Boot modes
- 22.9 Pointers monitor
- 22.10 Powering from batteries (12V or 48V)
- 22.11 Accessing raw pixel values
- 22.12 Photo finish (linescan mode)
- 22.13 Controlling multiple cameras from single GUI
- 22.14 Developers version's half enclosure
- 22.15 Available lengths for cables for connecting sensors in custom setups
- 23 Known problems
- 24 Notes
In the package
- 10393 camera system (these 3D models might be helpful).
- Power supply options (more information):
|36-72V (default)||wall adapter (48V)|
|18-75V||wall adapter (48V)|
|12-36V||wall adapter, battery (12V)|
- CAT6 network cable
- μUSB-to-USB cable
- Recovery μSD card
- If the camera is calibrated the calibration data will be on a separate storage media or on the internal SSD (likely /mnt/sda1)
|μSD||micro SD card slot - boot or storage|
|console||serial console port, use μUSB-to-USB cable|
|eSATA+USB||2-in-1. Connect USB or eSATA device. USB2.0 host|
|sync||sync multiple cameras or other devices - input/output trigger signal through a 4-conductor 2.5mm audio plug with cable (example: digikey)|
- Plug in the power supply
- Connect to LAN using the network cable
- Boot time: ~30s
- No extra drivers are required on the host PC to operate the camera system. Can be operated from any network device with a browser.
- The default boot is from the on-board NAND flash. More information on available boot options and recovery boot.
- For a production system with rare changes to the file system it is recommended to boot from NAND flash. Changes to the file system require running an extra sync command (overlay_sync) followed by a proper reboot.
- For development, one can boot from the μSD recovery card and use it - saving changes does not require extra sync actions.
- Camera's software includes gcc compiler - relatively small projects can be compiled on the camera.
- The default IP address is set in the /etc/elphel393/init_elphel393.py.
- If present the internal SSD will be formatted into 2 partitions:
- /dev/sda1 - ext4 (~64-100GB)
- /dev/sda2 - raw partition (no file system) for fast recording
Command line access
- ssh from PC's terminal:
user@hostname:~$ ssh firstname.lastname@example.org
Serial console access
- Use a microUSB-USB cable to connect console μUSB port (see Fig.1) to PC - the cable's end should be thin enough otherwise interferes with an inserted mmc (multi media card = μSD card).
- In Linux the minicom program can be used
$ minicom -c on
Most likely the device will be /dev/ttyUSB0. Settings:
- 115200 8N1, no for hardware/software flow control
Refer to the following article for more details on using minicom: Using minicom to connect to Elphel393 camera
Web user interface (camvc)
- The page contains links to camvc user interface for each individual camera port.
- camvc was ported from the 10353 camera series:
- change parameters like image format, resolution, auto exposure, auto white balance and more. Alternative way to change parameters is described below.
- pause compressor and search within buffered images
- help tips available - see Fig.3 - select then mouse over a control element of interest
Download live images
- For a currently opened port (displayed in the window title and as "...sensor_port=0..." in the URL):
port 0: http://192.168.0.9:2323/img port 1: http://192.168.0.9:2324/img port 2: http://192.168.0.9:2325/img port 3: http://192.168.0.9:2326/img
wget http://192.168.0.9:2323/img -O filename.jpeg wget http://192.168.0.9:2324/img -O filename.jpeg wget http://192.168.0.9:2325/img -O filename.jpeg wget http://192.168.0.9:2326/img -O filename.jpeg
Multipart JPEG stream
http://192.168.0.9:2323/mimg http://192.168.0.9:2324/mimg http://192.168.0.9:2325/mimg http://192.168.0.9:2326/mimg
- Streams with either w or h >2040 might not get played - not supported by live555 often used by various media players. But there's a live555_patch.
- turn on:
rtsp://192.168.0.9:554 rtsp://192.168.0.9:556 rtsp://192.168.0.9:558 rtsp://192.168.0.9:560
gst-launch-1.0 -v playbin uri=rtsp://192.168.0.9:554 uridecodebin0::source::latency=0
gst-launch-1.0 souphttpsrc is-live=true location=http://192.168.0.9:2323/mimg ! jpegdec ! xvimagesink
- mjpeg and rtsp
- More examples at Using GStreamer
vlc rtsp://192.168.0.9:554 --network-caching=0
- Recording is done by the camogm program
- If recording to internal or external SSD, please, read about eSATA port switching
- important: Event logger (GPS, IMU, IMG, EXT) recording is started/stopped separately. See instructions below.
- For SATA devices camogm supports:
- recording to a partition with a file system - up to 80MB/s
- (default) faster recording to a partition without a file system (raw partition) avoiding OS calls - up to 220MB/s
- To extract data from a raw partition use dd or these scripts to get the data and split it into images. Follow this link for details.
- Can record to an mmc partiton or usb.
- More info
- If the prefix parameter, which is absolute path + prefix, for a channel is not set the file will be written somewhere to rootfs.
- if prefix is empty then the absolute path must end with a slash.
Example 1: (provide a correct media mount point - /mnt/sda1/)
Follow this link for GUI description.
- /home/root, file prefix=test_, 1GB or 10min files whichever occurs first
- setup and start (in one line):
echo "format=mov;status=/var/tmp/camogm.status;prefix=/home/root/test_;duration=600;length=1073741824;start" > /var/volatile/camogm_cmd
- stop recording:
echo "stop" > /var/volatile/camogm_cmd sync
Convert to web cam
See this tutorial.
- http://192.168.0.9/autocampars.php - save/restore/initialize camera/sensor parameters per port. To (re)store parameters access the pages below:
http://192.168.0.9/autocampars.php?sensor_port=0 (stores to /etc/elphel393/autocampars0.xml) http://192.168.0.9/autocampars.php?sensor_port=1 (stores to /etc/elphel393/autocampars1.xml) http://192.168.0.9/autocampars.php?sensor_port=2 (stores to /etc/elphel393/autocampars2.xml) http://192.168.0.9/autocampars.php?sensor_port=3 (stores to /etc/elphel393/autocampars3.xml)
- All stored parameters are automatically restored at boot
Available programmable parameters
To inspect all available reprogrammable parameters:
1. http://192.168.0.9 -> Parameter Editor 2. Follow a link for a particular port, e.g. http://192.168.0.9/autocampars.php?sensor_port=0 3. Select groups of interest in the top table -> View/Edit Current
- http://192.168.0.9/parsedit.php - read/write parameters:
- POST request
Read: http://192.168.0.9/parsedit.php?sensor_port=0&PAR1&PAR2 Change: http://192.168.0.9/parsedit.php?sensor_port=0&PAR1&PAR2 - update values - submit form
- GET request - XML response
Read: http://192.168.0.9/parsedit.php?immediate&sensor_port=0&PAR1&PAR2 Change: http://192.168.0.9/parsedit.php?immediate&sensor_port=0&PAR1=VAL1&PAR2=VAL2 Change for multiple ports at once: http://192.168.0.9/parsedit.php?immediate&sensor_port=0&PAR1=VAL1&*PAR1=MASK1&PAR2=VAL2&*PAR2=MASK2 # A port bit mask is set by adding a * to a parameter name, like *PAR1 - it is individual for each parameter. # The mask is 4 bits - 1 bit per port, bit = port 0,... bit = port 3, where 1 - enabled, 0 - disabled: # 0xf - the parameter's new value will be applied to all ports. # More information
Note 1: if the parameter's value is specified in URL it will be applied. The call can have mixed specified and unspecified parameters.
Note 2: The new value is read on the next call.
- set 10 fps and enable output trigger signal
- parsedit.php and autocampars.php were ported from 353 camera series. There are a few changes from the originals related to 4x sensor ports:
- parameters are individual for each sensor port - writing parameters to multiple port at once is controlled with a (bit-)mask input box
- if opened w/o sensor_port specified the page will show links to available ports
- sensor_port=x, where x=0..3 - in the address string - for a single sensor camera it is normally 0
- color: YCbCr 4:2:0, 3x3 pixels
- mono6: monochrome - color YCbCr 4:2:0 with zeroed out color components
- mono : monochrome - color YCbCr 4:0:0 with omitted color components
Note: JPEG is not the best for processing since some information gets lost when demosaicing is applied.
- provides a quality of RAW with compression, no demosaicing
- More information
- if not properly shutdown - in a rare case the μSD card can get corrupted (it's always safer to run sync)
~# sync ~# shutdown -hP now
- Tshutdown - automatic shutdown temperature level (default is 90°C)
Event Logger (GPS, IMU, IMG & EXT)
The FPGA-based Event Logger uses local clock for time-stamping data from Image Acquisition, External (Trigger) Input, GPS and IMU.
root@elphel393:~# cat /dev/imu > /path/filename.log
- stop - CTRL-C or kill the process
- http://192.168.0.9/read_imu_log.php (will display help)
Set system time
Command line from PC
# Compare PC and camera clocks ~$ ssh email@example.com date;date -u # Write PC time into camera clock ~$ ssh firstname.lastname@example.org "date -s @`( date -u +"%s" )` && hwclock -w"
If in the current firmware includes http://192.168.0.9/utils.php then the clock is checked every time the index page is opened (http://192.168.0.9). The clock is then updated if the browser time differs from the camera time by more than 24h.
It's also possible to force apply time using the following GET request:
http://192.168.0.9/utils.php?cmd=time&apply&ts=<timestamp_in_ms> #example: http://192.168.0.9/utils.php?cmd=time&apply&ts=1589913066650
eSATA port switching
- requres 10389
- available connections:
- camera <=> internal SSD (default)
- camera <=> external drive (external drive requires a separate power source)
- PC <=> internal SSD
- More information
Change default ip address
Modify /etc/network/interfaces, sync the changes to the file system and reboot (or rerun init scripts).
For firmware 20180511 or older, follow these instructions to fix network configuration (= disable setting ip address via /etc/elphel393/init_elphel393.py).
Add a program or a shell command to autostart on boot
There's a way to do this using cron or init.d but it might run before the sensors are initialized by init_elphel393.py. The recommended way is the following:
- nano or vi
ssh email@example.com pass root@elphel393:~# nano /etc/elphel393/init_elphel393.py edit - save example: to launch the rtsp streamer - add shout("/usr/bin/str") to the end of the file. shout() function is just a wrapper for subprocess.call(cmd,shell=True)
#boot from NAND flash? root@elphel393:~# overlay_sync 1 root@elphel393:~# shutdown -hP now #powercycle
#boot from card? root@elphel393:~# sync root@elphel393:~# reboot -f
Set up histogram window and autoexposure parameters
Tools for calibrated systems
- Install ImageJ plugins
- decode jp4 raw format
- aberrations correction
- distortion correction (pixel mapping)
- rectification and projection
- JP46 Reader camera - decode JP4/JP46
- Eyesis correction - post-process JP4s using calibration data
Switch between ERS and GRR modes in MT9P006
External/internal synchronization & triggering and FPS control for single/multi-camera systems
- Displays sensor, compressor and buffer states per 10393 port:
Powering from batteries (12V or 48V)
Accessing raw pixel values
Photo finish (linescan mode)
Photo Finish (works for JP4 image format)
Controlling multiple cameras from single GUI
Developers version's half enclosure
Available lengths for cables for connecting sensors in custom setups
- FPC cables - click for available lengths.
- The cables are asymmetrical - for correct connecting a sensor to a system board see the figure below. As a rule of thumb, the cable's back side (no contacts) will be on the same side with the connector's cover.
- [SOLVED] Vertical artifacts in jpegs. Images are ok at 100% quality. Fixed, testing.
- [SOLVED] http://192.168.0.9:232x/noexif/mimg - multipart jpeg displays corrupted frames from time to time. Reason: network bandwidth?
- [SOLVED] Sometimes on power-on (NAND flash boot) cannot mount the card's rootfs partition. Kernel Panics. Power off/on. Soft "reboot -f" works ok.
... Kernel panic - not syncing: VFS: Unable to mount root fs on unknown-block(179,2) ...
- [SOLVED] Changing exposure/quality/gains - can corrupt images - needs testing.
- [SOLVED] After rewriting rootfs to μSD card - some of the cards get a corrupted partition - re-partitioning (reformatting?) solves the problem.
On the camera the rootfs is mounted as RW and some of the files are changed (also links created) - most of the changes are now moved to tmpfs but something might have been missed.
- [SOLVED] In case rootfs is on flash, it might make sense (or maybe not as the history is updated only once on session exit) to disable bash sessions command history - disable bash history
- [SOLVED] When using overlays, deleting, existing in the lower layer, dirs can cause errors (hopefully it gets fixed someday), example:
- /mnt/sda1 exists in lower layer: /tmp/rootfs.ro/tmp
- upper layer is mounted to "/"
# rmdir /mnt/sda1 # mkdir /mnt/sda1 mkdir: cannot create directory '/mnt/sda1': Operation not supported