8-20-2023 first draft for review by @texasdiaz

This is a short list of common webcams that are known to work with the FTC VisionPortal and the FTC Camera Controls.

VisionPortal is a comprehensive new interface for FTC vision processing, including AprilTag and TensorFlow Object Detection (TFOD).

Many more webcams can work with the FTC VisionPortal; this is a short list of models with built-in calibrations suitable for AprilTag pose estimation.

The Logitech C270 is available at the FIRST Storefront for new FTC teams, and at many online retailers.

Supported Resolutions: 160x120, 176x144, 320x176, 320x240, 352x288, 432x240, 544x288, 640x360, 640x480, 752x416, 800x448, 800x600, 864x480, 960x544, 960x720, 1024x576, 1184x656, 1280x720

The FTC SDK provides built-in calibration values for the FTC VisionPortal default resolution of 640x480, and no others. Learn more at ftc-docs.

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The Logitech C920 is available at many online retailers.

Supported Resolutions: 160x90, 160x120, 176x144, 320x180, 320x240, 352x288, 432x240, 640x360, 640x480, 800x448, 800x600, 864x480, 960x720, 1024x576, 1280x720, 1600x896, 1920x1080, 2304x1296, 2304x1536.

The FTC SDK provides built-in calibration values for the FTC VisionPortal default resolution of 640x480, and five others: 640x360, 800x448, 800x600, 864x480, and 1920x1080. Learn more at ftc-docs.

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The Logitech C310 is available at some online retailers.

Supported Resolutions: not published; probably similar to Logitech C270.

The FTC SDK provides built-in calibration values for the FTC VisionPortal default resolution of 640x480, and for 640x360. Learn more at ftc-docs.

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The Microsoft LifeCam HD-3000 is available at some online retailers.

Supported Resolutions: not published; up to 1280x720.

For v1 and v2 of this webcam, the FTC SDK provides built-in calibration values for the FTC VisionPortal default resolution of 640x480, and no others. Learn more at ftc-docs.

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Many other webcams are available online, with and without published UVC compatibility. The FTC SDK supports only UVC compatible webcams. Many modern webcams are UVC compatible without specifically advertising it; often indicated by "no drivers needed".

In general, other webcams (not listed above) will require user-provided calibration values for AprilTag pose estimation.

A digital camera opens its shutter to allow light ("the image") to reach the detector's array of small sensors (pixels). (Webcam shutters are typically electronic, not mechanical.) Most webcams use a "rolling shutter", where the the image data is read one pixel row at a time.

Another type of webcam, called "global shutter", reads all pixels at the same time. This can help when the webcam (robot) is moving fast. Teams are encouraged to research the characteristics of rolling shutter vs. global shutter.

One difference is that many global shutter cameras use a compressed video format called MJPEG. This saves bandwidth, to offset a higher frame rate (frames per second or FPS). The FTC VisionPortal uses a default (uncompressed) video format called YUY2, but does allow specifying MJPEG.

Below is one example of a global shutter webcam, tested to work with the FTC VisionPortal.

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The Arducam Global Shutter 120 FPS is available at some online retailers, including Amazon.

Supported Resolutions in YUY2 format: 1280x720, 1280x800. Note frame rate limitations.

Supported Resolutions in MJPEG format: 320x240, 640x480, 800x600, 1280x720, 1280x800.

The FTC SDK provides no built-in calibration values for this webcam. Learn more at ftc-docs.

Two other tested global shutter webcams (offering different resolutions than the Arducam) are from Kayeton and ELP, both available from AliExpress and other online retailers.

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Questions, comments and corrections to westsiderobotics@verizon.net