.TH RASPICAM 7
.
.SH NAME
raspicam \- the Raspberry Pi Camera Module and its utilities
.
.
.SH DESCRIPTION
.
There are four applications provided:
.BR raspistill (1),
.BR raspivid (1),
.BR raspiyuv (1)
and
.BR raspividyuv (1).
.BR raspistill (1)
and
.BR raspiyuv (1)
are very similar and are intended for capturing images;
.BR raspivid (1)
and
.BR raspvidyuv (1)
are for recording video.
The utilities share many common options, which are documented in the sections
.BR "HARDWARE OPTIONS" ,
.BR "PREVIEW OPTIONS" ,
.BR "IMAGE OPTIONS" ,
and
.BR "STEREOSCOPIC (3D) OPTIONS"
below. Within each section, options are listed alphabetically (by the
long-option's title).
.PP
All the applications are driven from the command line, and written to take
advantage of the MMAL API which runs over OpenMAX. The MMAL API provides an
easier to use system than that presented by OpenMAX. Note that MMAL is a
Broadcom-specific API used only on VideoCore 4 systems.
.PP
The applications use up to four OpenMAX (MMAL) components: camera, preview,
encoder, and null_sink. All applications use the camera component;
.BR raspistill (1)
uses the Image Encode component;
.BR raspivid (1)
uses the Video Encode component; and
.BR raspiyuv (1)
and
.BR raspividyuv (1)
don't use an encoder, sending their YUV or RGB output directly from the
camera component to file.
.PP
The preview display is optional, but can be used full-screen or directed to a
specific rectangular area on the display. If preview is disabled, the null_sink
component is used to 'absorb' the preview frames. The camera must produce
preview frames even if these aren't required for display, as they're used for
calculating exposure and white balance settings.
.PP
In addition, it's possible to omit the filename option (in which case the
preview is displayed but no file is written), or to redirect all output to
stdout.
.
.
.SH GETTING STARTED
.
.B Warning:
Cameras are sensitive to static. Earth yourself prior to handling the PCB. A
sink tap or similar should suffice if you don’t have an earthing strap.
.PP
The camera board attaches to the Raspberry Pi via a 15-way ribbon cable. There
are only two connections to make: the ribbon cable needs to be attached to the
camera PCB, and to the Raspberry Pi itself. You need to get the cable the right
way round, or the camera will not work. On the camera PCB, the blue backing on
the cable should face away from the PCB, and on the Raspberry Pi it should face
towards the Ethernet connection (or where the Ethernet connector would be if
you're using a model A+).
.PP
Although the connectors on the PCB and the Pi are different, they work in a
similar way. On the Raspberry Pi itself, pull up the tabs on each end of the
connector. It should slide up easily, and be able to pivot around slightly.
Fully insert the ribbon cable into the slot, ensuring it is set straight, then
gently press down the tabs to clip it into place. The camera PCB connector also
requires you to pull the tabs away from the board, gently insert the cable,
then push the tabs back. The PCB connector can be a little more awkward than
the one on the Pi itself.
.
.
.SH TROUBLESHOOTING
.
If the Camera Module isn't working correctly, there are number of things to
try:
.IP \(bu 2
Is the ribbon cable attached to the Camera Serial Interface (CSI), not the
Display Serial Interface (DSI)? The ribbon connector will fit into either port.
The Camera port is located near the HDMI connector.
.
.IP \(bu
Are the ribbon connectors all firmly seated, and are they the right way round?
They must be straight in their sockets.
.
.IP \(bu
Is the Camera Module connector, between the smaller black Camera Module itself
and the PCB, firmly attached? Sometimes this connection can come loose during
transit or when putting the Camera Module in a case. Using a fingernail, flip
up the connector on the PCB, then reconnect it with gentle pressure. It engages
with a very slight click. Don't force it; if it doesn't engage, it's probably
slightly misaligned.
.
.IP \(bu
Have
.I sudo apt update
and
.I sudo apt full-upgrade
been run?
.
.IP \(bu
Is
.I start_x=1
present in the \(lqconfig.txt\(rq boot configuration?
.
.IP \(bu
Is your power supply sufficient? The Camera Module adds about 200-250mA to the
power requirements of your Raspberry Pi.
.
.PP
Try the following in response to specific error messages:
.
.TP
.B Error : raspistill/raspivid command not found
This probably means your update/upgrade failed in some way. Try it again.
.
.TP
.B Error : ENOMEM
The Camera Module is not starting up. Check all connections again.
.
.TP
.B Error : ENOSPC
The Camera Module is probably running out of GPU memory. Check
\(lqconfig.txt\(rq on the boot partition. The
.I gpu_mem
option should be at least 128.
.
.
.SH HARDWARE OPTIONS
.
.TP
.BR \-cs ", " \-\-camselect " \fIcamera\fR"
Selects the camera to use on a multi-camera system (currently only Pi
Compute Modules).
Use 0 or 1.
.
.TP
.BR \-md ", " \-\-mode " \fImode\fR"
Sets a specified sensor mode, disabling the automatic selection.
Possible values depend on the version of the Camera Module being used: 
.IP
Version 1.x (OV5647)
.TS
tab(|);
l l l l l l .
Mode|Size|Aspect|Framerates|FOV|Binning
\_|\_|\_|\_|\_|\_
.T&
n c s s s s .
0|--- automatic selection ---
.T&
n l l l l l .
1|1920 x 1080|16:9|1 - 30fps|Partial|None
2|2592 x 1944|4:3|1 - 15fps|Full|None
3|2592 x 1944|4:3|0.1666 - 1fps|Full|None
4|1296 x 972|4:3|1 - 42fps|Full|2 x 2
5|1296 x 730|16:9|1 - 49fps|Full|2 x 2
6|640 x 480|4:3|42.1 - 60fps|Full|2 x 2 + skip
7|640 x 480|4:3|60.1 - 90fps|Full|2 x 2 + skip
.TE
.IP
Version 2.x (IMX219)
.TS
tab(|);
l l l l l l .
Mode|Size|Aspect|Framerates|FOV|Binning
\_|\_|\_|\_|\_|\_
.T&
n c s s s s .
0|--- automatic selection ---
.T&
n l l l l l .
1|1920 x 1080|16:9|0.1 - 30fps|Partial|None
2|3280 x 2464|4:3|0.1 - 15fps|Full|None
3|3280 x 2464|4:3|0.1 - 15fps|Full|None
4|1640 x 1232|4:3|0.1 - 40fps|Full|2 x 2
5|1640 x 922|16:9|0.1 - 40fps|Full|2 x 2
6|1280 x 720|16:9|40 - 90fps|Partial|2 x 2
7|640 x 480|4:3|40 - 200fps*|Partial|2 x 2
.TE
.IP
* For frame rates over 120fps, it is necessary to turn off automatic exposure
and gain control using
.IR "-ex off" .
Doing so should achieve the higher frame rates, but exposure time and gains
will need to be set to fixed values supplied by the user.
.IP
HQ Camera (IMX477)
.TS
tab(|);
l l l l l l .
Mode|Size|Aspect|Framerates|FOV|Binning
\_|\_|\_|\_|\_|\_
.T&
n c s s s s .
0|--- automatic selection ---
.T&
n l l l l l .
1|2028 x 1080|169:90|0.1 - 50fps|Partial|2 x 2
2|2028 x 1520|4:3|0.1 - 50fps|Full|2 x 2
3|4056 x 3040|4:3|0.005 - 10fps|Full|None
4|1012 x 760|4:3|50.1 - 120fps|Full|4 x 4
.TE
.
.TP
.BR \-gps ", " \-\-gpsdexif
Applies real-time EXIF information from any attached GPS dongle (using GSPD) to
the image; requires
.I libgps.so
to be installed.
.
.
.SH PREVIEW OPTIONS
.
.TP
.BR \-dn ", " \-\-dispnum " \fIscreen\fR"
Specifies which display the camera preview should appear on, using dispmanx /
tvservice numbering (see the output of
.I tvservice -l
or the
.I display_power
command under
.BR vcgencmd (1)
for more information).
.
.TP
.BR \-f ", " \-\-fullscreen
Forces the preview window to use the whole screen. Note that the aspect ratio
of the incoming image will be retained, so there may be bars on some edges.
.
.TP
.BR \-n ", " \-\-nopreview
Disables the preview window completely. Note that even though the preview is
disabled, the camera will still be producing frames, so will be using power.
.
.TP
.BR \-op ", " \-\-opacity " \fIvalue\fR"
Sets the opacity of the preview window. 0 = invisible, 255 = fully opaque.
.
.TP
.BR \-p ", " \-\-preview " \fIx,y,w,h\fR"
Allows the user to define the size of the preview window and its location on
the screen. Note this will be superimposed over the top of any other
windows/graphics.
.
.
.SH IMAGE OPTIONS
.
.TP
.BR \-a ", " \-\-annotate " \fIflags|text\fR"
Adds some text and/or metadata to the picture.
.IP
Metadata is indicated using a bitmask notation, so add them together to show
multiple parameters. For example, 12 will show time (4) and date (8), since
4+8=12.
.IP
Text may include date/time placeholders by using the '%' character, as used by
.BR strftime (3).
.RS
.TP
.B \-a 4
Displays the time, "20:09:33"
.TP
.B \-a 8
Displays the date, "10/28/15"
.TP
.B \-a 16
Shutter settings
.TP
.B \-a 32
CAF settings
.TP
.B \-a 64
Gain settings
.TP
.B \-a 128
Lens settings
.TP
.B \-a 256
Motion settings
.TP
.B \-a 512
Frame number
.TP
.B \-a 1024
Black background
.TP
.B \-a "ABC"
Show the specified text, "ABC"
.TP
.B \-a "ABC %Y\-%m\-%d"
Show the specified text, "ABC %Y\-%m\-%d"
.TP
.B \-a 4 \-a "ABC %Y\-%m\-%d %X"
Displays a formatted timestamp, "ABC 2015\-10\-28 20:09:33"
.TP
.B \-a 8 \-a "ABC %Y\-%m\-%d %X"
Also displays a formatted timestamp, "ABC 2015\-10\-28 20:09:33"
.RE
.
.TP
.BR \-ae ", " \-\-annotateex " \fIsize,fg,bg\fR"
Specifies annotation size, text color, and background color. Colors are in
hex YUV format.
Size ranges from 6 - 160; default is 32. Asking for an invalid size should give
you the default.
.IP
For example, to obtain size 32 white text on a black background:
.IP
.EX
-ae 32,0xff,0x808000 -a "Annotation text"
.EE
.IP
Or for size 10 black text on a white background:
.IP
.EX
-ae 10,0x00,0x8080FF -a "Annotation text"
.EE
.
.TP
.BR \-ag ", " \-\-analoggain " \fIvalue\fR"
Sets the analog gain value directly on the sensor (floating point value from
1.0 to 8.0 for the OV5647 sensor on V1 Camera Module, and 1.0 to 12.0 for the
IMX219 sensor on V1 Camera Module and the IMX447 on the HQ Camera).
.
.TP
.BR \-awb ", " \-\-awb " \fImode\fR"
Modes for which color temperature ranges (in Kelvin) are available have these
settings in brackets.
.RS
.TP
.B off
turn off white balance calculation
.TP
.B auto
automatic mode (default)
.TP
.B sun
sunny mode (between 5000K and 6500K)
.TP
.B cloud
cloudy mode (between 6500K and 12000K)
.TP
.B shade
shade mode
.TP
.B tungsten
tungsten lighting mode (between 2500K and 3500K)
.TP
.B fluorescent
fluorescent lighting mode (between 2500K and 4500K)
.TP
.B incandescent
incandescent lighting mode
.TP
.B flash
flash mode
.TP
.B horizon
horizon mode
.TP
.B greyworld
used on the NoIR camera to fix incorrect AWB results due to the lack of the IR
filter
.RE
.IP
Note that not all of these settings may be implemented, depending on camera
type.
.
.TP
.BR \-awbg ", " \-\-awbgains " \fIblue,red\fR"
Sets blue and red gains (as floating point numbers) to be applied when
.I \-awb off
is set e.g.
.I \-awbg 1.5,1.2
.
.TP
.BR \-br ", " \-\-brightness " \fIvalue\fR"
Sets the brightness of the image, from 0 to 100. 50 is the default.
.
.TP
.BR \-cfx ", " \-\-colfx " \fIu:v\fR"
The supplied U and V parameters (range 0 - 255) are applied to the U and Y
channels of the image. For example,
.I \-\-colfx 128:128
should result in a monochrome image.
.
.TP
.BR \-co ", " \-\-contrast " \fIvalue\fR"
Sets the contrast of the image, from -100 to 100. 0 is the default.
.
.TP
.BR \-dg ", " \-\-digitalgain " \fIvalue\fR"
Sets the digital gain value applied by the ISP (floating point value from 1.0
to 64.0, but values over about 4.0 will produce overexposed images).
.
.TP
.BR \-drc ", " \-\-drc " \fIvalue\fR"
Dynamic range control (DRC) changes the images by increasing the range of dark
areas, and decreasing the brighter areas. This can improve the image in low
light areas. Valid values are
.IR off " (default), " low ", " med ", or " high.
.
.TP
.BR \-ev ", " \-\-ev " \fIvalue\fR"
Sets the exposure value compensation, from -10 to 10. 0 is the default.
.
.TP
.BR \-ex ", " \-\-exposure " \fImode\fR"
Sets the exposure mode of the camera. Possible options are:
.RS
.TP
.B auto
use automatic exposure mode (default)
.TP
.B night
select setting for night shooting
.TP
.B nightpreview
<undocumented>
.TP
.B backlight
select setting for backlit subject
.TP
.B spotlight
<undocumented>
.TP
.B sports
select setting for sports (fast shutter etc.)
.TP
.B snow
select setting optimized for snowy scenery
.TP
.B beach
select setting optimized for beach
.TP
.B verylong
select setting for long exposures
.TP
.B fixedfps
constrain fps to a fixed value
.TP
.B antishake
select "antishake" mode
.TP
.B fireworks
select setting optimized for fireworks
.RE
.IP
Note that not all of these settings may be implemented, depending on camera
tuning.
.
.TP
.BR \-fli ", " \-\-flicker " \fImode\fR"
Set a mode to compensate for lights flickering at the mains frequency, which
can be seen as a dark horizontal band across an image. Flicker avoidance locks
the exposure time to a multiple of the mains flicker frequency (8.33ms for
60Hz, or 10ms for 50Hz). This means that images can be noisier as the control
algorithm has to increase the gain instead of exposure time should it wish for
an intermediate exposure value.
.I auto
can be confused by external factors, therefore it is preferable to leave this
setting off unless actually required.
.IP
Possible options are:
.RS
.TP
.B off
turn off flicker avoidance
.TP
.B auto
automatically detect mains frequency
.TP
.B 50hz
set avoidance at 50Hz
.TP
.B 60hz
set avoidance at 60Hz
.RE
.
.TP
.BR \-hf ", " \-\-hflip
Flips the preview and saved image horizontally.
.
.TP
.BR \-ifx ", " \-\-imxfx " \fIeffect\fR"
Set an effect to be applied to the image:
.RS
.TP
.B none
no effect (default)
.TP
.B negative
invert the image colors
.TP
.B solarise
solarize the image
.TP
.B posterise
posterize the image
.TP
.B whiteboard
whiteboard effect
.TP
.B blackboard
blackboard effect
.TP
.B sketch
sketch effect
.TP
.B denoise
denoise the image
.TP
.B emboss
emboss the image
.TP
.B oilpaint
oil paint effect
.TP
.B hatch
hatch sketch effect
.TP
.B gpen
graphite sketch effect
.TP
.B pastel
pastel effect
.TP
.B watercolour
watercolor effect
.TP
.B film
film grain effect
.TP
.B blur
blur the image
.TP
.B saturation
saturate the image color
.TP
.B colourswap
not fully implemented
.TP
.B washedout
not fully implemented
.TP
.B colourpoint
not fully implemented
.TP
.B colourbalance
not fully implemented
.TP
.B cartoon
not fully implemented
.RE
.IP
Note that not all of these settings may be available in all circumstances.
.
.TP
.BR \-ISO ", " \-\-ISO " \fIvalue\fR"
Sets the ISO to be used for captures, from 100 to 800. The default is
automatic.
.
.TP
.BR \-mm ", " \-\-metering " \fImode\fR"
Specify the metering mode used for the preview and capture:
.RS
.TP
.B average
average the whole frame for metering
.TP
.B spot
spot metering in the center of the frame
.TP
.B backlit
assume a backlit image
.TP
.B matrix
matrix metering
.RE
.
.TP
.BR \-roi ", " \-\-roi " \fIx,y,w,h\fR"
Allows the specification of the area of the sensor to be used as the source for
the preview and capture. This is defined as x,y for the top-left corner, and a
width and height, with all values in normalised coordinates (0.0 - 1.0). So, to
set a ROI at halfway across and down the sensor, and a width and height of a
quarter of the sensor, use:
.IP
.EX
-roi 0.5,0.5,0.25,0.25
.EE
.
.TP
.BR \-rot ", " \-\-rotation " \fIvalue\fR"
Sets the rotation of the image in the viewfinder and resulting image. This can
take any value from 0 upwards, but due to hardware constraints only 0, 90, 180,
and 270 degree rotations are supported.
.
.TP
.BR \-sa ", " \-\-saturation " \fIvalue\fR"
Sets the color saturation of the image, from -100 to 100. 0 is the default.
.
.TP
.BR \-set ", " \-\-settings
Retrieves the current camera settings and writes them to stdout.
.
.TP
.BR \-sh ", " \-\-sharpness " \fIvalue\fR"
Sets the sharpness of the image, from -100 to 100. 0 is the default.
.
.TP
.BR \-ss ", " \-\-shutter " \fIvalue\fR"
Sets the shutter open time to the specified value (in microseconds). Shutter
speed limits are as follows:
.TS
tab(|);
l l .
Camera Model|Max (microseconds)
\_|\_
.T&
l n .
Version 1.x (OV5647)|6000000\& (6s)
Version 2.x (IMX219)|10000000\& (10s)
HQ (IMX477)|200000000\& (200s)
.TE
.IP
Using values above these maximums will result in undefined behaviour.
.
.TP
.BR \-st ", " \-\-stats
Force recomputation of statistics on stills capture pass. Digital gain and AWB
are recomputed based on the actual capture frame statistics, rather than the
preceding preview frame.
.
.TP
.BR \-vf ", " \-\-vflip
Flips the preview and saved image horizontally.
.
.TP
.BR \-vs ", " \-\-vstab
In video mode only, turns on video stabilisation.
.
.
.SH STEREOSCOPIC (3D) OPTIONS
.
.TP
.BR \-3dswap ", " \-\-3dswap
Swaps the camera order used in stereoscopic imaging;
.B NOTE:
currently not working.
.
.TP
.BR \-dec ", " \-\-decimate
Halves the width and height of the stereo image.
.
.TP
.BR \-3d ", " \-\-stereo " \fImode\fR"
Select the specified stereo imaging mode;
.I sbs
selects side-by-side mode,
.I tb
selects top/bottom mode;
.I off
turns off stereo mode (the default).
.
.
.SH SEE ALSO
.BR raspistill (1),
.BR raspiyuv (1),
.BR raspivid (1),
.BR raspividyuv (1),
.BR vcgencmd (1),
.B [SOURCE]
.
.
.SH REFERENCES
.TP
.B [SOURCE]
https://www.raspberrypi.org/\:documentation/\:raspbian/\:applications/\:camera.md