Omnivision Module - Revision history

WikiSysop: /* Image unwrapping */

2026-04-22T11:34:34Z

Image unwrapping

← Older revision		Revision as of 11:34, 22 April 2026
Line 89:		Line 89:
	Once you installed the software you can proceed with the following steps: <br/>		Once you installed the software you can proceed with the following steps: <br/>
	1) Grab an image from the camera: <br/>		1) Grab an image from the camera: <br/>
	[[File:Camera9-cut.~~jpeg~~\|200px]]<br/>		[[File:Camera9-cut.jpg\|200px]]<br/>

	2) Start RoboRealm, open the grabbed image and apply a polar transformation (Transforms=>Polar); you should get an image similar to the following one: <br/>		2) Start RoboRealm, open the grabbed image and apply a polar transformation (Transforms=>Polar); you should get an image similar to the following one: <br/>

WikiSysop at 11:33, 22 April 2026

2026-04-22T11:33:59Z

← Older revision		Revision as of 11:33, 22 April 2026
Line 4:		Line 4:
	The package will contain the omnivision extension board already mounted on the Gumstix extension (comprised of a Gumstix Earth COM) with the camera connected with the flex ribbon cable and a nano wifi dongle that is out of sight of the camera; the package is strongly recommended since the assembly is a little tricky, but the extension alone is available too for those who already have an e-puck extension for Gumstix Overo COM (nano wifi not included in this case). <br/>		The package will contain the omnivision extension board already mounted on the Gumstix extension (comprised of a Gumstix Earth COM) with the camera connected with the flex ribbon cable and a nano wifi dongle that is out of sight of the camera; the package is strongly recommended since the assembly is a little tricky, but the extension alone is available too for those who already have an e-puck extension for Gumstix Overo COM (nano wifi not included in this case). <br/>
	The driver of the camera is open-source, you can find it in the [https://www.gctronic.com/doc/index.php/Omnivision_Module#Camera_driver camera driver section].<br/>		The driver of the camera is open-source, you can find it in the [https://www.gctronic.com/doc/index.php/Omnivision_Module#Camera_driver camera driver section].<br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~Omnicam-schema.jpg ~~<img width=400 src="https://www.gctronic.com/doc/images/Omnicam-schema.jpg">~~]~~</span>~~ <br/>		[[File:Omnicam-schema.jpg\|400px]]<br/>
	The field of view is up to 7 degrees over the horizon. <br/>		The field of view is up to 7 degrees over the horizon. <br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~Omnicam-view2.jpg ~~<img width=400 src="https://www.gctronic.com/doc/images/Omnicam-view2.jpg">~~]~~</span>~~ <br/>		[[File:Omnicam-view2.jpg\|400px]]<br/>

	=Getting started=		=Getting started=
Line 89:		Line 89:
	Once you installed the software you can proceed with the following steps: <br/>		Once you installed the software you can proceed with the following steps: <br/>
	1) Grab an image from the camera: <br/>		1) Grab an image from the camera: <br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~Camera9-cut.~~jpg <img width=200 src="https://www.gctronic.com/doc/images/Camera9-cut.jpg">~~]~~</span>~~ <br/>		[[File:Camera9-cut.jpeg\|200px]]<br/>

	2) Start RoboRealm, open the grabbed image and apply a polar transformation (Transforms=>Polar); you should get an image similar to the following one: <br/>		2) Start RoboRealm, open the grabbed image and apply a polar transformation (Transforms=>Polar); you should get an image similar to the following one: <br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~Camera9-cut-polar.jpeg ~~<img width=200 src="https://www.gctronic.com/doc/images/Camera9-cut-polar.jpeg">~~]~~</span>~~ <br/>		[[File:Camera9-cut-polar.jpeg\|200px]]<br/>

	3) Finally you need to simply cut the relevant part of the image, as shown here: <br/>		3) Finally you need to simply cut the relevant part of the image, as shown here: <br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~Camera9-cut-polar2.jpg ~~<img width=200 src="https://www.gctronic.com/doc/images/Camera9-cut-polar2.jpg">~~]</~~span~~>		[[File:Camera9-cut-polar2.jpg\|200px]]<br/>

	=Omnivision module with Caspa camera board=		=Omnivision module with Caspa camera board=
Line 118:		Line 118:

	The following image is grabbed with the omnivsion coupled with the caspa:<br/>		The following image is grabbed with the omnivsion coupled with the caspa:<br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~Omnivision-caspa.png ~~<img width=400 src="https://www.gctronic.com/doc/images/Omnivision-caspa.png">~~]</~~span~~>		[[File:Omnivision-caspa.png\|400px]]<br/>

WikiSysop at 11:48, 27 January 2023

2023-01-27T11:48:44Z

WikiSysop at 07:51, 29 September 2021

2021-09-29T07:51:48Z

← Older revision		Revision as of 07:51, 29 September 2021
Line 67:		Line 67:

	===Basic leds test demo===		===Basic leds test demo===
	This application is thought to illustrate how to communicate with the 3 RGB leds of the omnivision extension. Basically there are 9 gpio lines (one for each color) exported automatically in the system (see section [http://www.gctronic.com/doc/index.php/Omnivision_Module#Getting_started Getting started]) that can be used to turn on and off all the leds. For more information on gpio refer to the section [http://www.gctronic.com/doc/index.php/Overo_Extension#GPIO_-_pins_mode GPIO - pins mode]. The leds test demo can downloaded from the following link [~~http~~://projects.gctronic.com/omnicam/test-leds.c test-leds.c].		This application is thought to illustrate how to communicate with the 3 RGB leds of the omnivision extension. Basically there are 9 gpio lines (one for each color) exported automatically in the system (see section [http://www.gctronic.com/doc/index.php/Omnivision_Module#Getting_started Getting started]) that can be used to turn on and off all the leds. For more information on gpio refer to the section [http://www.gctronic.com/doc/index.php/Overo_Extension#GPIO_-_pins_mode GPIO - pins mode]. The leds test demo can downloaded from the following link [https://projects.gctronic.com/omnicam/test-leds.c test-leds.c].

	===PWM demo===		===PWM demo===
Line 80:		Line 80:
	* green led 3: g (inc duty), h (dec duty)		* green led 3: g (inc duty), h (dec duty)
	* blue led 3: b (inc duty), n (dec duty)		* blue led 3: b (inc duty), n (dec duty)
	The leds handled through pwm demo can downloaded from the following link [~~http~~://projects.gctronic.com/omnicam/leds-pwm.c leds-pwm.c].		The leds handled through pwm demo can downloaded from the following link [https://projects.gctronic.com/omnicam/leds-pwm.c leds-pwm.c].

	==Camera driver==		==Camera driver==

WikiSysop: Created page with " =Overview= The omnivision module is an extension that is coupled with the e-puck extension for Gumstix Overo COM. The camera is the same as the one mounted on the e-puck, hav..."

2018-02-28T08:48:31Z

Created page with " =Overview= The omnivision module is an extension that is coupled with the e-puck extension for Gumstix Overo COM. The camera is the same as the one mounted on the e-puck, hav..."

New page

=Overview=
The omnivision module is an extension that is coupled with the e-puck extension for Gumstix Overo COM. The camera is the same as the one mounted on the e-puck, having a maximum resolution of 640x480 (thus 480x480 for this purpose) and a framerate of 18 fps with the current driver. The module includes the camera and 3 RGB leds as shown in the following figure. 
The package will contain the omnivision extension board already mounted on the Gumstix extension (comprised of a Gumstix Earth COM) with the camera connected with the flex ribbon cable and a nano wifi dongle that is out of sight of the camera; the package is strongly recommended since the assembly is a little tricky, but the extension alone is available too for those who already have an e-puck extension for Gumstix Overo COM (nano wifi not included in this case). 
The driver of the camera is open-source, you can find it in the [http://www.gctronic.com/doc/index.php/Omnivision_Module#Camera_driver camera driver section]. 
[http://www.gctronic.com/doc/images/Omnicam-schema.jpg <img width=400 src="http://www.gctronic.com/doc/images/Omnicam-schema.jpg">] 
The field of view is up to 7 degrees over the horizon. 
[http://www.gctronic.com/doc/images/Omnicam-view2.jpg <img width=400 src="http://www.gctronic.com/doc/images/Omnicam-view2.jpg">] 

=Getting started=

==1. Hardware==
The camera mounted on the robot must be removed to avoid conflicts on the I2C bus.

==2. Software==
A specific firmware must be charged on the e-puck when working with this extension, it can be downloaded from section [http://www.gctronic.com/doc/index.php/E-Puck#Standard_firmware E-Puck#Standard_firmware]. Remember to put the selector in position 10. 
The system on the micro sd is the same used for the gumstix extension alone, refer to section [http://www.gctronic.com/doc/index.php/Overo_Extension#File_system_image http://www.gctronic.com/doc/index.php/Overo_Extension#File_system_image] for more informations.

==3. Terminal configuration==
Execute a terminal program (e.g. minicom) and configure the connection with 115200-8N1. The serial device path should be typically something like "/dev/ttyUSB0". Make sure that the flow control parameter of minicom called "Hardware" is set to "No".

==4. U-Boot==
In order to use the extension module it's required to modify the boot commands within u-boot, as shown afterwards:
:1) Turn on the robot and enter the u-boot command line by pressing "any key" when the following message is shown (it is displayed in a few seconds after turning on the robot):
<pre>
Hit any key to stop autoboot: 1
</pre>
:2) modify the variable ''mmcargs'', this will activate the clock for the camera:
<pre>
setenv mmcargs setenv bootargs console=${console} video=${videospec},mode:${videomode} root=/dev/mmcblk0p2 rw
rootfstype=ext3 rootwait po6030cam.omap_gen_clock=1
</pre>
:3) add a new environment variable called ''confleds'':
<pre>
setenv confleds "mw.w 0x480020CE 0x000C; mw.w 0x48002114 0x000C; mw.w 0x48002126 0x000C; mw.w 0x48002128 0x000C;
mw.w 0x4800212A 0x000C; mw.w 0x4800212C 0x000C; mw.w 0x4800212E 0x000C; mw.w 0x48002132 0x000C; mw.w 0x48002130 0x000C"
</pre>
:4) modify the ''bootcmd'' varibale in order to call ''confleds'':
<pre>
setenv bootcmd "run confleds; if mmc init; then if run loadbootscript; then run bootscript; else if run loaduimage;
then run mmcboot; else run nandboot; fi; fi; else run nandboot; fi"
</pre>
:5) save the environment variables in order to preserve the configuration for the next boots:
<pre>
saveenv
reset
</pre>
:6) login with user=root, password=root

==5. WiFi==
The nano WiFi dongle shipped with the extension board is an Edimax EW-7811Un, based on a Realtek chipset (RTL8192cu).
The device isn't recognized automatically at boot, so you need to follow these steps in order to enable and use it:
# turn on the robot and login with user=root, password=root
# type ''insmod 8192cu.ko'' (the kernel module is located in /home/root); the wifi dongle should be recognized and a wlanX device created
# type ''ifconfig wlanX up'' (where X is a number) to turn on the device; now the wifi can be configured and used normally

==6. Demos==
Once logged in it's possible to execute the demos:
* type ''./demos/test-leds'' to run the basic leds test demo
* type ''./demos/leds-pwm'' to run the pwm demo
For more information and source code refer to [http://www.gctronic.com/doc/index.php/Omnivision_Module#Software Software section]

=Software=

==Demos==
All the demos using the camera proposed in the [http://www.gctronic.com/doc/index.php/Overo_Extension#Demos gumstix extension section] will work also with the omnivision module. Moreover some specific demos for this extension are available in the next sections.

===Basic leds test demo===
This application is thought to illustrate how to communicate with the 3 RGB leds of the omnivision extension. Basically there are 9 gpio lines (one for each color) exported automatically in the system (see section [http://www.gctronic.com/doc/index.php/Omnivision_Module#Getting_started Getting started]) that can be used to turn on and off all the leds. For more information on gpio refer to the section [http://www.gctronic.com/doc/index.php/Overo_Extension#GPIO_-_pins_mode GPIO - pins mode]. The leds test demo can downloaded from the following link [http://projects.gctronic.com/omnicam/test-leds.c test-leds.c].

===PWM demo===
This demo handles the leds implementing a software pwm; this let the user have finer control on the leds, that is their brightness is controllable and the range of reproducible colors is greater acting on the duty cycle of each one of the RGB leds. Once the application is started the user can control the duty cycles through the console with the following commands:
* red led 1: q (inc duty), w (dec duty)
* green led 1: a (inc duty), s (dec duty)
* blue led 1: y (ind duty), x (dec duty)
* red led 2: e (inc duty), r (dec duty)
* green led 2: d (inc duty), f (dec duty)
* blue led 2: c (inc duty), v (dec duty)
* red led 3: t (inc duty), z (dec duty)
* green led 3: g (inc duty), h (dec duty)
* blue led 3: b (inc duty), n (dec duty)
The leds handled through pwm demo can downloaded from the following link [http://projects.gctronic.com/omnicam/leds-pwm.c leds-pwm.c].

==Camera driver==
Refer to section [http://www.gctronic.com/doc/index.php/Overo_Extension#Camera_driver camera driver] for more information about the driver of the e-puck camera.

=Image unwrapping=
Once you get an image from the camera you can post-process the image in order to see the whole 360-degrees laid out in a rectangular strip. For this purpose vision software called [http://www.roborealm.com/ RoboRealm]; you can download a free 30 days trial.
Once you installed the software you can proceed with the following steps: 
1) Grab an image from the camera: 
[http://www.gctronic.com/doc/images/Camera9-cut.jpg <img width=200 src="http://www.gctronic.com/doc/images/Camera9-cut.jpg">] 

2) Start RoboRealm, open the grabbed image and apply a polar transformation (Transforms=>Polar); you should get an image similar to the following one: 
[http://www.gctronic.com/doc/images/Camera9-cut-polar.jpeg <img width=200 src="http://www.gctronic.com/doc/images/Camera9-cut-polar.jpeg">] 

3) Finally you need to simply cut the relevant part of the image, as shown here: 
[http://www.gctronic.com/doc/images/Camera9-cut-polar2.jpg <img width=200 src="http://www.gctronic.com/doc/images/Camera9-cut-polar2.jpg">]

=Omnivision module with Caspa camera board=
This version of the omnivision module use the [http://wiki.gumstix.org/index.php?title=Caspa_camera_boards caspa camera board] instead of using the e-puck camera. It's based on the 2.6.34 kernel so it isn't possible to use both the robot camera and the omnivision camera, since at the moment the driver of the e-puck camera isn't compatible with the 2.6.34 kernel. Moreover the RGB leds aren't usable with this omnivision hardware version (not connected).

An image can be grabbed with the following command; in the example the image is cropped to 480x480 starting at offset (136,0) and saved as jpeg (10 frames grabbed):
<pre>
mplayer tv:// -vo jpeg -vf crop=480:480:136:0 -ss 1 -frames 10 -loop 1 -tv driver=v4l2:device=/dev/video0
</pre>

If the image results too dark, especially in indoor enviornments, it is possible to enable a camera parameter (companding) when loading the driver; follow these steps:
<pre>
# rmmod mt9v032
# insmod /lib/modules/2.6.34/kernel/drivers/media/video/mt9v032.ko low_light=1
</pre>
Now the next grabbed images should be brighter.

In order to setup the wifi connection, you need first stop "NetworkManager" with the following command:
<pre>
/etc/init.d/NetworkManager stop
</pre>

The following image is grabbed with the omnivsion coupled with the caspa: 
[http://www.gctronic.com/doc/images/Omnivision-caspa.png <img width=400 src="http://www.gctronic.com/doc/images/Omnivision-caspa.png">]

← Older revision		Revision as of 11:48, 27 January 2023
Line 3:		Line 3:
	The omnivision module is an extension that is coupled with the e-puck extension for Gumstix Overo COM. The camera is the same as the one mounted on the e-puck, having a maximum resolution of 640x480 (thus 480x480 for this purpose) and a framerate of 18 fps with the current driver. The module includes the camera and 3 RGB leds as shown in the following figure.<br/>		The omnivision module is an extension that is coupled with the e-puck extension for Gumstix Overo COM. The camera is the same as the one mounted on the e-puck, having a maximum resolution of 640x480 (thus 480x480 for this purpose) and a framerate of 18 fps with the current driver. The module includes the camera and 3 RGB leds as shown in the following figure.<br/>
	The package will contain the omnivision extension board already mounted on the Gumstix extension (comprised of a Gumstix Earth COM) with the camera connected with the flex ribbon cable and a nano wifi dongle that is out of sight of the camera; the package is strongly recommended since the assembly is a little tricky, but the extension alone is available too for those who already have an e-puck extension for Gumstix Overo COM (nano wifi not included in this case). <br/>		The package will contain the omnivision extension board already mounted on the Gumstix extension (comprised of a Gumstix Earth COM) with the camera connected with the flex ribbon cable and a nano wifi dongle that is out of sight of the camera; the package is strongly recommended since the assembly is a little tricky, but the extension alone is available too for those who already have an e-puck extension for Gumstix Overo COM (nano wifi not included in this case). <br/>
	The driver of the camera is open-source, you can find it in the [~~http~~://www.gctronic.com/doc/index.php/Omnivision_Module#Camera_driver camera driver section].<br/>		The driver of the camera is open-source, you can find it in the [https://www.gctronic.com/doc/index.php/Omnivision_Module#Camera_driver camera driver section].<br/>
	<span class="plainlinks">[~~http~~://www.gctronic.com/doc/images/Omnicam-schema.jpg <img width=400 src="~~http~~://www.gctronic.com/doc/images/Omnicam-schema.jpg">]</span> <br/>		<span class="plainlinks">[https://www.gctronic.com/doc/images/Omnicam-schema.jpg <img width=400 src="https://www.gctronic.com/doc/images/Omnicam-schema.jpg">]</span> <br/>
	The field of view is up to 7 degrees over the horizon. <br/>		The field of view is up to 7 degrees over the horizon. <br/>
	<span class="plainlinks">[~~http~~://www.gctronic.com/doc/images/Omnicam-view2.jpg <img width=400 src="~~http~~://www.gctronic.com/doc/images/Omnicam-view2.jpg">]</span> <br/>		<span class="plainlinks">[https://www.gctronic.com/doc/images/Omnicam-view2.jpg <img width=400 src="https://www.gctronic.com/doc/images/Omnicam-view2.jpg">]</span> <br/>

	=Getting started=		=Getting started=
Line 14:		Line 14:

	==2. Software==		==2. Software==
	A specific firmware must be charged on the e-puck when working with this extension, it can be downloaded from section [~~http~~://www.gctronic.com/doc/index.php/E-Puck#Standard_firmware E-Puck#Standard_firmware]. Remember to put the selector in position 10.<br/>		A specific firmware must be charged on the e-puck when working with this extension, it can be downloaded from section [https://www.gctronic.com/doc/index.php/E-Puck#Standard_firmware E-Puck#Standard_firmware]. Remember to put the selector in position 10.<br/>
	The system on the micro sd is the same used for the gumstix extension alone, refer to section [~~http~~://www.gctronic.com/doc/index.php/Overo_Extension#File_system_image ~~http~~://www.gctronic.com/doc/index.php/Overo_Extension#File_system_image] for more informations.		The system on the micro sd is the same used for the gumstix extension alone, refer to section [https://www.gctronic.com/doc/index.php/Overo_Extension#File_system_image https://www.gctronic.com/doc/index.php/Overo_Extension#File_system_image] for more informations.

	==3. Terminal configuration==		==3. Terminal configuration==
Line 59:		Line 59:
	* type ''./demos/test-leds'' to run the basic leds test demo		* type ''./demos/test-leds'' to run the basic leds test demo
	* type ''./demos/leds-pwm'' to run the pwm demo		* type ''./demos/leds-pwm'' to run the pwm demo
	For more information and source code refer to [~~http~~://www.gctronic.com/doc/index.php/Omnivision_Module#Software Software section]		For more information and source code refer to [https://www.gctronic.com/doc/index.php/Omnivision_Module#Software Software section]

	=Software=		=Software=

	==Demos==		==Demos==
	All the demos using the camera proposed in the [~~http~~://www.gctronic.com/doc/index.php/Overo_Extension#Demos gumstix extension section] will work also with the omnivision module. Moreover some specific demos for this extension are available in the next sections.		All the demos using the camera proposed in the [https://www.gctronic.com/doc/index.php/Overo_Extension#Demos gumstix extension section] will work also with the omnivision module. Moreover some specific demos for this extension are available in the next sections.

	===Basic leds test demo===		===Basic leds test demo===
	This application is thought to illustrate how to communicate with the 3 RGB leds of the omnivision extension. Basically there are 9 gpio lines (one for each color) exported automatically in the system (see section [~~http~~://www.gctronic.com/doc/index.php/Omnivision_Module#Getting_started Getting started]) that can be used to turn on and off all the leds. For more information on gpio refer to the section [~~http~~://www.gctronic.com/doc/index.php/Overo_Extension#GPIO_-_pins_mode GPIO - pins mode]. The leds test demo can downloaded from the following link [https://projects.gctronic.com/omnicam/test-leds.c test-leds.c].		This application is thought to illustrate how to communicate with the 3 RGB leds of the omnivision extension. Basically there are 9 gpio lines (one for each color) exported automatically in the system (see section [https://www.gctronic.com/doc/index.php/Omnivision_Module#Getting_started Getting started]) that can be used to turn on and off all the leds. For more information on gpio refer to the section [https://www.gctronic.com/doc/index.php/Overo_Extension#GPIO_-_pins_mode GPIO - pins mode]. The leds test demo can downloaded from the following link [https://projects.gctronic.com/omnicam/test-leds.c test-leds.c].

	===PWM demo===		===PWM demo===
Line 83:		Line 83:

	==Camera driver==		==Camera driver==
	Refer to section [~~http~~://www.gctronic.com/doc/index.php/Overo_Extension#Camera_driver camera driver] for more information about the driver of the e-puck camera.		Refer to section [https://www.gctronic.com/doc/index.php/Overo_Extension#Camera_driver camera driver] for more information about the driver of the e-puck camera.

	=Image unwrapping=		=Image unwrapping=
	Once you get an image from the camera you can post-process the image in order to see the whole 360-degrees laid out in a rectangular strip. For this purpose vision software called [~~http~~://www.roborealm.com/ RoboRealm]; you can download a free 30 days trial.		Once you get an image from the camera you can post-process the image in order to see the whole 360-degrees laid out in a rectangular strip. For this purpose vision software called [https://www.roborealm.com/ RoboRealm]; you can download a free 30 days trial.
	Once you installed the software you can proceed with the following steps: <br/>		Once you installed the software you can proceed with the following steps: <br/>
	1) Grab an image from the camera: <br/>		1) Grab an image from the camera: <br/>
	<span class="plainlinks">[~~http~~://www.gctronic.com/doc/images/Camera9-cut.jpg <img width=200 src="~~http~~://www.gctronic.com/doc/images/Camera9-cut.jpg">]</span> <br/>		<span class="plainlinks">[https://www.gctronic.com/doc/images/Camera9-cut.jpg <img width=200 src="https://www.gctronic.com/doc/images/Camera9-cut.jpg">]</span> <br/>

	2) Start RoboRealm, open the grabbed image and apply a polar transformation (Transforms=>Polar); you should get an image similar to the following one: <br/>		2) Start RoboRealm, open the grabbed image and apply a polar transformation (Transforms=>Polar); you should get an image similar to the following one: <br/>
	<span class="plainlinks">[~~http~~://www.gctronic.com/doc/images/Camera9-cut-polar.jpeg <img width=200 src="~~http~~://www.gctronic.com/doc/images/Camera9-cut-polar.jpeg">]</span> <br/>		<span class="plainlinks">[https://www.gctronic.com/doc/images/Camera9-cut-polar.jpeg <img width=200 src="https://www.gctronic.com/doc/images/Camera9-cut-polar.jpeg">]</span> <br/>

	3) Finally you need to simply cut the relevant part of the image, as shown here: <br/>		3) Finally you need to simply cut the relevant part of the image, as shown here: <br/>
	<span class="plainlinks">[~~http~~://www.gctronic.com/doc/images/Camera9-cut-polar2.jpg <img width=200 src="~~http~~://www.gctronic.com/doc/images/Camera9-cut-polar2.jpg">]</span>		<span class="plainlinks">[https://www.gctronic.com/doc/images/Camera9-cut-polar2.jpg <img width=200 src="https://www.gctronic.com/doc/images/Camera9-cut-polar2.jpg">]</span>

	=Omnivision module with Caspa camera board=		=Omnivision module with Caspa camera board=
	This version of the omnivision module use the [~~http~~://wiki.gumstix.org/index.php?title=Caspa_camera_boards caspa camera board] instead of using the e-puck camera. It's based on the 2.6.34 kernel so it isn't possible to use both the robot camera and the omnivision camera, since at the moment the driver of the e-puck camera isn't compatible with the 2.6.34 kernel. Moreover the RGB leds aren't usable with this omnivision hardware version (not connected).		This version of the omnivision module use the [https://wiki.gumstix.org/index.php?title=Caspa_camera_boards caspa camera board] instead of using the e-puck camera. It's based on the 2.6.34 kernel so it isn't possible to use both the robot camera and the omnivision camera, since at the moment the driver of the e-puck camera isn't compatible with the 2.6.34 kernel. Moreover the RGB leds aren't usable with this omnivision hardware version (not connected).

	An image can be grabbed with the following command; in the example the image is cropped to 480x480 starting at offset (136,0) and saved as jpeg (10 frames grabbed):		An image can be grabbed with the following command; in the example the image is cropped to 480x480 starting at offset (136,0) and saved as jpeg (10 frames grabbed):
Line 118:		Line 118:

	The following image is grabbed with the omnivsion coupled with the caspa:<br/>		The following image is grabbed with the omnivsion coupled with the caspa:<br/>
	<span class="plainlinks">[~~http~~://www.gctronic.com/doc/images/Omnivision-caspa.png <img width=400 src="~~http~~://www.gctronic.com/doc/images/Omnivision-caspa.png">]</span>		<span class="plainlinks">[https://www.gctronic.com/doc/images/Omnivision-caspa.png <img width=400 src="https://www.gctronic.com/doc/images/Omnivision-caspa.png">]</span>