Difference between revisions of "VEYE-MIPI-290/327 i2c/zh"

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<br />
+
[[VEYE-MIPI-290/327 i2c/|English]]
  
=veye_mipi_i2c.sh详细说明=
+
'''<big><big><big><big>[[VEYE-MIPI-290/327 i2c/zh|VEYE-MIPI-290/327 I2C.sh用户手册]]</big></big></big></big>'''
  
==介绍==
+
===介绍===
 
目录下总共4个文件,camera_i2c_config、i2c_read、i2c_write、veye_mipi_i2c.sh。
 
目录下总共4个文件,camera_i2c_config、i2c_read、i2c_write、veye_mipi_i2c.sh。
  
你需要先运行camera_i2c_config配置管脚,然后执行veye_mipi_i2c.sh。
+
===树莓派配置管脚,非树莓派忽略此步===
 +
你需要先运行camera_i2c_config
  
<br />
+
<code>./enable_i2c_vc.sh</code>
 +
 
 +
<code>./camera_i2c_config</code>
 +
 
 +
配置管脚,然后执行veye_mipi_i2c.sh
 +
 
 +
====camera_i2c_config USAGE====
 +
连接树莓派Computer Module情况下,运行
 +
 
 +
<code>./camera_i2c_config [cameranum]</code>
 +
{| class="wikitable"
 +
!cameranum
 +
!description
 +
|-
 +
|0
 +
|CAM0
 +
|-
 +
|1
 +
|CAM1
 +
|}
 +
连接树莓派经典版型情况下,直接运行
 +
 
 +
<code>./camera_i2c_config</code>
  
==veye_mipi_i2c.sh USAGE==
+
===veye_mipi_i2c.sh USAGE===
 
./veye_mipi_i2c.sh
 
./veye_mipi_i2c.sh
  
Line 29: Line 52:
 
-b [i2c bus num] i2c bus number
 
-b [i2c bus num] i2c bus number
  
function list and param,ref to [veye_mipi_290_isp_function_and_param.pdf]
+
support functions: devid,hdver,wdrmode,videoformat,mirrormode,denoise,agc,lowlight,daynightmode,ircutdir,irtrigger,cameramode, notf, capture, csienable
 
 
support functions: devid,hdver,wdrmode,videoformat,mirrormode,denoise,agc,lowlight,daynightmode,ircutdir,irtrigger
 
  
===使用详解===
+
对于树莓派Pi3B / Pi3B+ / 3A / 4B(1G/2G/4G),使用i2c0,  '''对于Compute Module/ CM3,使用i2c1,请添加-b1 选项。'''
  
*devid
+
====使用详解====
  
 +
=====devid=====
 
  <code>./veye_mipi_i2c.sh -r -f devid</code>
 
  <code>./veye_mipi_i2c.sh -r -f devid</code>
 
{| class="wikitable"
 
{| class="wikitable"
Line 42: Line 64:
 
!description
 
!description
 
|-
 
|-
|0x02
+
|0x06
|MIPI, WDRDisable, 2Lane
+
|VEYE-MIPI-290/327
|-
 
|0x22
 
|MIPI, WDREnable, 2Lane
 
|-
 
|0x13
 
|LVDS,WDRDisable,3Lane
 
|-
 
|0x33
 
|LVDS,WDREnable,3Lane
 
 
|}
 
|}
  
*hdver
+
=====hdver=====
 
 
 
  <code>./veye_mipi_i2c.sh -r -f hdver</code>
 
  <code>./veye_mipi_i2c.sh -r -f hdver</code>
 
{| class="wikitable"
 
{| class="wikitable"
Line 66: Line 78:
 
|}
 
|}
  
*wdrmode
+
=====wdrmode=====
 
 
 
  <code>./veye_mipi_i2c.sh -r -f wdrmode
 
  <code>./veye_mipi_i2c.sh -r -f wdrmode
 
  ./veye_mipi_i2c.sh -w -f wdrmode -p1 [value]</code>
 
  ./veye_mipi_i2c.sh -w -f wdrmode -p1 [value]</code>
Line 84: Line 95:
 
|-
 
|-
 
|0x03
 
|0x03
|WDR Enable
+
|DOL WDR Enable
 
|}
 
|}
  
*videoformat
+
=====videoformat=====
 
 
 
  <code>./veye_mipi_i2c.sh -r -f videoformat
 
  <code>./veye_mipi_i2c.sh -r -f videoformat
 
  ./veye_mipi_i2c.sh -w -f videoformat -p1 [value]</code>
 
  ./veye_mipi_i2c.sh -w -f videoformat -p1 [value]</code>
Line 103: Line 113:
 
|}
 
|}
  
*mirrormode
+
=====mirrormode=====
 
 
 
  <code>./veye_mipi_i2c.sh -r -f mirrormode
 
  <code>./veye_mipi_i2c.sh -r -f mirrormode
 
  ./veye_mipi_i2c.sh -w -f mirrormode -p1 [value]</code>
 
  ./veye_mipi_i2c.sh -w -f mirrormode -p1 [value]</code>
Line 124: Line 133:
 
|}
 
|}
  
*denoise
+
=====denoise=====
 
 
 
  <code>./veye_mipi_i2c.sh -r -f denoise
 
  <code>./veye_mipi_i2c.sh -r -f denoise
 
  ./veye_mipi_i2c.sh -w -f denoise -p1 [value]</code>
 
  ./veye_mipi_i2c.sh -w -f denoise -p1 [value]</code>
Line 181: Line 189:
 
|}
 
|}
  
*agc
+
=====agc=====
 
 
 
  <code>./veye_mipi_i2c.sh -r -f agc
 
  <code>./veye_mipi_i2c.sh -r -f agc
 
  ./veye_mipi_i2c.sh -w -f agc -p1 [value]</code>
 
  ./veye_mipi_i2c.sh -w -f agc -p1 [value]</code>
 +
含义为增益上限
 
{| class="wikitable"
 
{| class="wikitable"
 
!value
 
!value
Line 193: Line 201:
 
|}
 
|}
  
*lowlight
+
=====lowlight=====
 
 
 
  <code>./veye_mipi_i2c.sh -r -f lowlight
 
  <code>./veye_mipi_i2c.sh -r -f lowlight
 
  ./veye_mipi_i2c.sh -w -f lowlight -p1 [value]</code>
 
  ./veye_mipi_i2c.sh -w -f lowlight -p1 [value]</code>
 +
低照度情况下的降帧(慢快门)设置。在低照度情况下,摄像机模组可以通过配置此参数,延长曝光时间,降低帧率,达到更好的低照度效果。
 +
 +
注意,在运动场景下不适合使用。
 
{| class="wikitable"
 
{| class="wikitable"
 
!value
 
!value
Line 232: Line 242:
 
|}
 
|}
  
*daynightmode
+
=====daynightmode=====
 
 
 
  <code>./veye_mipi_i2c.sh -r -f daynightmode
 
  <code>./veye_mipi_i2c.sh -r -f daynightmode
 
  ./veye_mipi_i2c.sh -w -f daynightmode -p1 [value]</code>
 
  ./veye_mipi_i2c.sh -w -f daynightmode -p1 [value]</code>
Line 249: Line 258:
 
|Trigger Mode
 
|Trigger Mode
 
|}
 
|}
 +
IR-CUT (Infrared cut-off filter) is a mechanical shutter design. It is placed between the lens and the image sensor, and is controlled by a motor or an electromagnet.
 +
 +
IR-CUT has two status: '''Block''' or '''Deliver''' the infrared.
 +
 +
*Color Mode
 +
 +
Image is Color Mode and IR_CUT status '''Block''' infrared.
 +
 +
*Black&White Mode
 +
 +
Image is Black&White Mode and IR_CUT status '''Deliver''' infrared.
 +
 +
*Trigger Mode
 +
 +
Trigger pin : [[VEYE-MIPI-290/327|J3 pin1]].
 +
 +
Trigger pin High(3.3~12V),Image is Black&White Mode and IR-CUT status '''Deliver''' infrared.
 +
 +
Trigger pin Low(GND),Image is Color Mode and IR-CUT status '''Bolck''' infrared.
 +
 +
=====mshutter=====
 +
close AE, use manual shutter
 +
 +
<code>./veye_mipi_i2c.sh -r -f mshutter</code>
 +
 +
<code>./veye_mipi_i2c.sh -w -f mshutter -p1 [value]</code>
 +
 +
value值为曝光时间(单位:s)
 +
 +
value 大于等于0x4B则进入低帧率模式
 +
{| class="wikitable"
 +
|+
 +
!value
 +
!description
 +
|-
 +
|
 +
|NTSC(PAL)
 +
|-
 +
|0x40
 +
|auto mode
 +
|-
 +
|0x41
 +
|1/30 (25)
 +
|-
 +
|0x42
 +
|1/60(50)
 +
|-
 +
|0x43
 +
|1/120(100)
 +
|-
 +
|0x44
 +
|1/240(200)
 +
|-
 +
|0x45
 +
|1/480(400)
 +
|-
 +
|0x46
 +
|1/1000
 +
|-
 +
|0x47
 +
|1/2000
 +
|-
 +
|0x48
 +
|1/5000
 +
|-
 +
|0x49
 +
|1/10000
 +
|-
 +
|0x4A
 +
|1/50000
 +
|-
 +
|0x4B
 +
|1/30 (25) *2
 +
|-
 +
|0x4C
 +
|1/30 (25) *4
 +
|-
 +
|0x4D
 +
|1/30 (25) *6
 +
|-
 +
|0x4E
 +
|1/30 (25) *8
 +
|-
 +
|0x4F
 +
|1/30 (25) *10
 +
|-
 +
|0x50
 +
|1/30 (25) *15
 +
|-
 +
|0x51
 +
|1/30 (25) *20
 +
|-
 +
|0x52
 +
|1/30 (25) *25
 +
|-
 +
|0x53
 +
|1/30 (25) *30
 +
|}
 +
=====cameramode=====
 +
Requirements:hdver >= 0x3
 +
 +
<code>./veye_mipi_i2c.sh -r -f cameramode</code>
 +
 +
<code>./veye_mipi_i2c.sh -w -f cameramode -p1 [value]</code>
 +
{| class="wikitable"
 +
!value
 +
!description
 +
|-
 +
|0x0
 +
|Stream mode
 +
|-
 +
|0x1
 +
|Capture mode
 +
|}
 +
Stream mode:  stream output
 +
 +
Caputre mode: output the next frame each '''capture''' cmd.
 +
 +
=====notf=====
 +
Requirements:hdver >= 0x3, effective in Stream mode
 +
 +
Number of dropped frames
 +
 +
It is a method of framerate control, output one frame,discard '''notf''' frames,output next frame, and so on.
 +
 +
''actual framerate = original framerate /(1+notf)''
 +
 +
For example,if the original framerate is 30fps, set '''notf''' to 2, then ''actual framerate'' is 10fps.
 +
 +
<code>./veye_mipi_i2c.sh -r -f notf</code>
 +
 +
<code>./veye_mipi_i2c.sh -w -f notf -p1 [value]</code>
 +
 +
'''ntof''' range is [0-0xFF], default 0.
 +
 +
=====capture=====
 +
Requirements:hdver >= 0x3, effective in Capture mode
 +
 +
<code>./veye_mipi_i2c.sh -w -f capture</code>
 +
 +
Output the next frame. This cmd does not interfere the sensor,  it just output the next frame (the newest frame).
 +
 +
So it is not trigger mode, there will be a delay[0,1/framerate] between the cmd and the frame exposure.
 +
 +
It is applicable to those that do not require a high level of real-time performance.
 +
 +
=====csienable=====
 +
Requirements:hdver >= 0x3
 +
 +
<code>./veye_mipi_i2c.sh -r -f csienable</code>
 +
 +
<code>./veye_mipi_i2c.sh -w -f csienable -p1 [value]</code>
 +
{| class="wikitable"
 +
!value
 +
!description
 +
|-
 +
|0x0
 +
|suspend csi output
 +
|-
 +
|0x1
 +
|enable csi output
 +
|}
 +
default: 0x1
 +
 +
Note: This is not low power mode, the camera is still working.
 +
 +
=====brightness=====
 +
<code>./veye_mipi_i2c.sh -r -f brightness</code>
 +
 +
<code>./veye_mipi_i2c.sh -w -f brightness -p1 0x32</code>
 +
 +
AE的目标亮度,范围[0,0x64]
 +
 +
=====aespeed=====
 +
<code>./veye_mipi_i2c.sh -r -f aespeed</code>
 +
 +
<code>./veye_mipi_i2c.sh -w -f aespeed -p1 0x32 -p2 0x32</code>
 +
 +
AE 调节速度p1为agc速度,p2为shutter速度,由慢到快[0,0x64]
 +
 +
=====contrast=====
 +
<code>./veye_mipi_i2c.sh -r -f contrast</code>
 +
 +
<code>./veye_mipi_i2c.sh -w -f contrast -p1 0x32</code>
 +
 +
图像对比度,范围[0,0xFF],默认为0x80
 +
 +
=====saturation=====
 +
<code>./veye_mipi_i2c.sh -r -f saturation</code>
 +
 +
<code>./veye_mipi_i2c.sh -w -f saturation -p1 0x32</code>
 +
 +
饱和度,范围: [0,0x64]
 +
 +
===== sharppen =====
 +
<code>./veye_mipi_i2c.sh -r -f sharppen</code>
 +
 +
<code>./veye_mipi_i2c.sh -w -f sharppen -p1 [val1] -p2 [value]</code>
 +
{| class="wikitable"
 +
!param1 value
 +
!description
 +
|-
 +
|0x0
 +
|sharppen disable
 +
|-
 +
|0x1
 +
|sharppen enable
 +
|}
 +
default: 0x1
 +
 +
param2: sharppen strength, range [0x0-0xA]
 +
 +
=====wdrtargetbr=====
 +
<code>./veye_mipi_i2c.sh -r -f wdrtargetbr</code>
 +
 +
<code>./veye_mipi_i2c.sh -w -f wdrtargetbr -p1 0x80</code>
 +
 +
宽动态模式下的整体亮度目标值。
 +
 +
WDR模式生效,[0-0xFF]默认值0x80,WDR模式下,值越大,亮度越高。
 +
 +
=====wdrbtargetbr=====
 +
<code>./veye_mipi_i2c.sh -r -f wdrbtargetbr</code>
 +
 +
<code>./veye_mipi_i2c.sh -w -f wdrbtargetbr -p1 0x80</code>
 +
 +
宽动态模式下的亮区亮度目标值。
 +
 +
WDR模式生效,[0-0xFF],默认值为0x30,值越大,亮区越亮。
 +
 +
此参数的效果与实际场景有关,会存在一个[0-X]的无效区,X与实际场景有关。
 +
 +
并不是说调整为0,则亮区会变黑。
 +
 +
<br />

Revision as of 11:16, 27 October 2020

English

VEYE-MIPI-290/327 I2C.sh用户手册

1 介绍

目录下总共4个文件,camera_i2c_config、i2c_read、i2c_write、veye_mipi_i2c.sh。

2 树莓派配置管脚,非树莓派忽略此步

你需要先运行camera_i2c_config

./enable_i2c_vc.sh

./camera_i2c_config

配置管脚,然后执行veye_mipi_i2c.sh

2.1 camera_i2c_config USAGE

连接树莓派Computer Module情况下,运行

./camera_i2c_config [cameranum]

cameranum description
0 CAM0
1 CAM1

连接树莓派经典版型情况下,直接运行

./camera_i2c_config

3 veye_mipi_i2c.sh USAGE

./veye_mipi_i2c.sh

Usage: ./veye_mipi_i2c.sh [-r/w] [-f] function name -p1 param1 -p2 param2 -b bus

options:

-r read

-w write

-f [function name] function name

-p1 [param1] param1 of each function

-p2 [param1] param2 of each function

-b [i2c bus num] i2c bus number

support functions: devid,hdver,wdrmode,videoformat,mirrormode,denoise,agc,lowlight,daynightmode,ircutdir,irtrigger,cameramode, notf, capture, csienable

对于树莓派Pi3B / Pi3B+ / 3A / 4B(1G/2G/4G),使用i2c0, 对于Compute Module/ CM3,使用i2c1,请添加-b1 选项。

3.1 使用详解

3.1.1 devid
./veye_mipi_i2c.sh -r -f devid
value description
0x06 VEYE-MIPI-290/327
3.1.2 hdver
./veye_mipi_i2c.sh -r -f hdver
value description
0xXX Version
3.1.3 wdrmode
./veye_mipi_i2c.sh -r -f wdrmode
./veye_mipi_i2c.sh -w -f wdrmode -p1 [value]
value description
0x00 Back Light Mode OFF
0x01 Back Light Mode ON, LOW
0x02 Back Light Mode ON, HIGH
0x03 DOL WDR Enable
3.1.4 videoformat
./veye_mipi_i2c.sh -r -f videoformat
./veye_mipi_i2c.sh -w -f videoformat -p1 [value]

WARNING:THIS FUNCTION MUST BE CALLED BEFORE ANY video applications

value description
PAL PAL(50Hz)
NTSC NTSC(60Hz)
3.1.5 mirrormode
./veye_mipi_i2c.sh -r -f mirrormode
./veye_mipi_i2c.sh -w -f mirrormode -p1 [value]
value description
0x00 Normal
0x01 Mirror
0x02 V-Flip
0x03 Mirror And V-Flip(180 Degree Rotate)
3.1.6 denoise
./veye_mipi_i2c.sh -r -f denoise
./veye_mipi_i2c.sh -w -f denoise -p1 [value]
value description
0x00 NR 2D Mode = OFF; NR 3D Mode = OFF
0x01 NR 2D Mode = OFF; NR 3D Mode = LOW
0x02 NR 2D Mode = OFF; NR 3D Mode = MIDDLE
0x03 NR 2D Mode = OFF; NR 3D Mode = HIGH
0x04 NR 2D Mode = LOW; NR 3D Mode = OFF
0x05 NR 2D Mode = LOW; NR 3D Mode = LOW
0x06 NR 2D Mode = LOW; NR 3D Mode = MIDDLE
0x07 NR 2D Mode = LOW; NR 3D Mode = HIGH
0x08 NR 2D Mode =MIDDLE; NR 3D Mode = OFF
0x09 NR 2D Mode =MIDDLE; NR 3D Mode = LOW
0x0A NR 2D Mode = MIDDLE; NR 3D Mode = MIDDLE
0x0B NR 2D Mode = MIDDLE; NR 3D Mode = HIGH
0x0C NR 2D Mode =HIGH; NR 3D Mode = OFF
0x0D NR 2D Mode =HIGH; NR 3D Mode = LOW
0x0E NR 2D Mode = HIGH; NR 3D Mode = MIDDLE
0x0F NR 2D Mode = HIGH; NR 3D Mode = HIGH
3.1.7 agc
./veye_mipi_i2c.sh -r -f agc
./veye_mipi_i2c.sh -w -f agc -p1 [value]

含义为增益上限

value description
0x00~0x0F AGC intensity
3.1.8 lowlight
./veye_mipi_i2c.sh -r -f lowlight
./veye_mipi_i2c.sh -w -f lowlight -p1 [value]

低照度情况下的降帧(慢快门)设置。在低照度情况下,摄像机模组可以通过配置此参数,延长曝光时间,降低帧率,达到更好的低照度效果。

注意,在运动场景下不适合使用。

value description
0x01 1/2*(FRAME RATE)
0x03 1/4*(FRAME RATE)
0x05 1/6*(FRAME RATE)
0x07 1/8*(FRAME RATE)
0x09 1/10*(FRAME RATE)
0x0B 1/15*(FRAME RATE)
0x0D 1/20*(FRAME RATE)
0x0F 1/25*(FRAME RATE)
0x11 1/30*(FRAME RATE)
0x00 Fixed frame rate (25/30)
3.1.9 daynightmode
./veye_mipi_i2c.sh -r -f daynightmode
./veye_mipi_i2c.sh -w -f daynightmode -p1 [value]
value description
0xFF Color Mode
0xFE Black&White Mode
0xFC Trigger Mode

IR-CUT (Infrared cut-off filter) is a mechanical shutter design. It is placed between the lens and the image sensor, and is controlled by a motor or an electromagnet.

IR-CUT has two status: Block or Deliver the infrared.

  • Color Mode

Image is Color Mode and IR_CUT status Block infrared.

  • Black&White Mode

Image is Black&White Mode and IR_CUT status Deliver infrared.

  • Trigger Mode

Trigger pin : J3 pin1.

Trigger pin High(3.3~12V),Image is Black&White Mode and IR-CUT status Deliver infrared.

Trigger pin Low(GND),Image is Color Mode and IR-CUT status Bolck infrared.

3.1.10 mshutter

close AE, use manual shutter

./veye_mipi_i2c.sh -r -f mshutter

./veye_mipi_i2c.sh -w -f mshutter -p1 [value]

value值为曝光时间(单位:s)

value 大于等于0x4B则进入低帧率模式

value description
NTSC(PAL)
0x40 auto mode
0x41 1/30 (25)
0x42 1/60(50)
0x43 1/120(100)
0x44 1/240(200)
0x45 1/480(400)
0x46 1/1000
0x47 1/2000
0x48 1/5000
0x49 1/10000
0x4A 1/50000
0x4B 1/30 (25) *2
0x4C 1/30 (25) *4
0x4D 1/30 (25) *6
0x4E 1/30 (25) *8
0x4F 1/30 (25) *10
0x50 1/30 (25) *15
0x51 1/30 (25) *20
0x52 1/30 (25) *25
0x53 1/30 (25) *30
3.1.11 cameramode

Requirements:hdver >= 0x3

./veye_mipi_i2c.sh -r -f cameramode

./veye_mipi_i2c.sh -w -f cameramode -p1 [value]

value description
0x0 Stream mode
0x1 Capture mode

Stream mode: stream output

Caputre mode: output the next frame each capture cmd.

3.1.12 notf

Requirements:hdver >= 0x3, effective in Stream mode

Number of dropped frames

It is a method of framerate control, output one frame,discard notf frames,output next frame, and so on.

actual framerate = original framerate /(1+notf)

For example,if the original framerate is 30fps, set notf to 2, then actual framerate is 10fps.

./veye_mipi_i2c.sh -r -f notf

./veye_mipi_i2c.sh -w -f notf -p1 [value]

ntof range is [0-0xFF], default 0.

3.1.13 capture

Requirements:hdver >= 0x3, effective in Capture mode

./veye_mipi_i2c.sh -w -f capture

Output the next frame. This cmd does not interfere the sensor, it just output the next frame (the newest frame).

So it is not trigger mode, there will be a delay[0,1/framerate] between the cmd and the frame exposure.

It is applicable to those that do not require a high level of real-time performance.

3.1.14 csienable

Requirements:hdver >= 0x3

./veye_mipi_i2c.sh -r -f csienable

./veye_mipi_i2c.sh -w -f csienable -p1 [value]

value description
0x0 suspend csi output
0x1 enable csi output

default: 0x1

Note: This is not low power mode, the camera is still working.

3.1.15 brightness

./veye_mipi_i2c.sh -r -f brightness

./veye_mipi_i2c.sh -w -f brightness -p1 0x32

AE的目标亮度,范围[0,0x64]

3.1.16 aespeed

./veye_mipi_i2c.sh -r -f aespeed

./veye_mipi_i2c.sh -w -f aespeed -p1 0x32 -p2 0x32

AE 调节速度p1为agc速度,p2为shutter速度,由慢到快[0,0x64]

3.1.17 contrast

./veye_mipi_i2c.sh -r -f contrast

./veye_mipi_i2c.sh -w -f contrast -p1 0x32

图像对比度,范围[0,0xFF],默认为0x80

3.1.18 saturation

./veye_mipi_i2c.sh -r -f saturation

./veye_mipi_i2c.sh -w -f saturation -p1 0x32

饱和度,范围: [0,0x64]

3.1.19 sharppen

./veye_mipi_i2c.sh -r -f sharppen

./veye_mipi_i2c.sh -w -f sharppen -p1 [val1] -p2 [value]

param1 value description
0x0 sharppen disable
0x1 sharppen enable

default: 0x1

param2: sharppen strength, range [0x0-0xA]

3.1.20 wdrtargetbr

./veye_mipi_i2c.sh -r -f wdrtargetbr

./veye_mipi_i2c.sh -w -f wdrtargetbr -p1 0x80

宽动态模式下的整体亮度目标值。

WDR模式生效,[0-0xFF]默认值0x80,WDR模式下,值越大,亮度越高。

3.1.21 wdrbtargetbr

./veye_mipi_i2c.sh -r -f wdrbtargetbr

./veye_mipi_i2c.sh -w -f wdrbtargetbr -p1 0x80

宽动态模式下的亮区亮度目标值。

WDR模式生效,[0-0xFF],默认值为0x30,值越大,亮区越亮。

此参数的效果与实际场景有关,会存在一个[0-X]的无效区,X与实际场景有关。

并不是说调整为0,则亮区会变黑。