Former 2D Cameras

See also

V18 | V18A

2D Cameras

Two identical video cameras are located in the forehead. They provide a resolution up to 2560*1920 at 1 frames per second (fps) or 640*480 at 30 fps.

Location

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/cameras_2d.png

See the URDF files .

Name
CameraTop
CameraBottom

Specifications

Camera Model OV5640
Type System-on-a-chip (SoC) CMOS image sensor
Imaging Array Resolution 5Mp
Optical format 1/4 inch
Active Pixels (HxV) 2592x1944
Sensitivity Pixel size 1.4µm*1.4µm
Dynamic range 68db@8x gain
Signal/Noise ratio (max) 36dB (maximum)
Responsivity 600 mV/Lux-sec
Output Camera output 640*480@30fps or 2560*1920@1fps
Data Format YUV and RGB
Shutter type Rolling shutter
View Field of view 67.4°DFOV (56.3°HFOV,43.7°VFOV)
Focus type Auto focus

Parameters

The camera has a list of parameters which can be modified.

Model

Camera Model has the following value:

Parameter ID Name ID Value Description
AL::kOV5640 3 HD Camera

Supported parameters

Software parameters
Parameter Min value Max value Default value Camera ID name ID value
Keep Alive 0 1 0 kCameraKeepAliveID 35
Hardware parameters
Parameter Min Value Max Value Default Value Camera ID name ID Value Remarks
Brightness 0 255 0 kCameraBrightnessID 0
Contrast 0 127 32 kCameraContrastID 1
Saturation 0 255 64 kCameraSaturationID 2
Hue -180 180 0 kCameraHueID 3
Horizontal Flip 0 1 0 kCameraHFlipID 7
Vertical Flip 0 1 0 kCameraVFlipID 8
Auto Exposition 0 1 1 kCameraAutoExpositionID 11
Auto White Balance 0 1 1 kCameraAutoWhiteBalanceID 12
Auto Gain 0 1 1 kCameraAutoGainID 13
Gain 0 1024 NA kCameraGainID 6 Read only if auto gain enabled
Exposure 0 65536 NA kCameraExposureID 17 Read only if auto exposure enabled
Reset camera registers 0 1 0 kCameraSetDefaultParamsID 19 1: reset camera and reset parameter to 0
BLC red value 0 4096 NA kCameraBlcRedID 30 Read Only
BLC green value 0 4096 NA kCameraBlcGbID or kCameraBlcGrID 31 or 32 Read only
BLC blue value 0 4096 NA kCameraBlcBlueID 29 Read only
Resolution kQVGA kVGA kQVGA kCameraResolutionID 14 Not to be set manually
Frames Per Second 1 30 1 kCameraFrameRateID 15 Not to be set manually
Average Luminance 0 255 NA kCameraAverageLuminanceID 39 Read only
Auto Focus 0 1 1 kCameraAutoFocusID 40 0: disabled 1: enabled

Supported colorspaces

A color space is a model describing the way to represent color as an ordered list of numbers. For example you can represent the color of each pixel of your screen as a list of three elements R, G and B. Which are respectively the value of Red, Green, and Blue usually stored in an byte (range from 0 to 255).

Setting the color space allows you to set the image buffer encoding in AL::ALImage .

Color space parameter for 2D camera can have the following values:

Parameter ID Name ID Value Number of layers Number of channels Description
AL::kYuvColorSpace 0 1 1 Buffer only contains the Y (luma component) equivalent to one unsigned char
AL::kyUvColorSpace 1 1 1 Buffer only contains the U (Chrominance component) equivalent to one unsigned char
AL::kyuVColorSpace 2 1 1 Buffer only contains the V (Chrominance component) equivalent to one unsigned char
AL::kRgbColorSpace 3 1 1 Buffer only contains the R (Red component) equivalent to one unsigned char
AL::krGbColorSpace 4 1 1 Buffer only contains the G (Green component) equivalent to one unsigned char
AL::krgBColorSpace 5 1 1 Buffer only contains the B (Blue component) equivalent to one unsigned char
AL::kHsyColorSpace 6 1 1 Buffer only contains the H (Hue component) equivalent to one unsigned char
AL::khSyColorSpace 7 1 1 Buffer only contains the S (Saturation component) equivalent to one unsigned char
AL::khsYColorSpace 8 1 1 Buffer only contains the Y (Brightness component) equivalent to one unsigned char
AL::kYUV422ColorSpace 9 2 2 Native format, 0xY’Y’VVYYUU equivalent to four unsigned char for two pixels . With Y luma for pixel n, Y’ luma for pixel n+1, and U and V are the average chrominance value of both pixels.
AL::kYUVColorSpace 10 3 3 Buffer contains triplet on the format 0xVVUUYY, equivalent to three unsigned char
AL::kRGBColorSpace 11 3 3 Buffer contains triplet on the format 0xBBGGRR, equivalent to three unsigned char
AL::kHSYColorSpace 12 3 3 Buffer contains triplet on the format 0xYYSSHH, equivalent to three unsigned char
AL::kBGRColorSpace 13 3 3 Buffer contains triplet on the format 0xRRGGBB, equivalent to three unsigned char
AL::kYYCbCrColorSpace 14 2 2 TIFF format, four unsigned characters for two pixels .
AL::kH2RGBColorSpace 15 3 3 H from “HSY to RGB” in fake colors.
AL::kHSMixedColorSpace 16 3 3 HS and (H+S)/2.

Supported resolutions

Resolution parameter can have the following values:

Parameter ID Name ID Value Description
AL::kQQQQVGA 8 Image of 40*30px
AL::kQQQVGA 7 Image of 80*60px
AL::kQQVGA 0 Image of 160*120px
AL::kQVGA 1 Image of 320*240px
AL::kVGA 2 Image of 640*480px
AL::k4VGA 3 Image of 1280*960px
AL::k16VGA 4 Image of 2560*1920px

Note

The camera OV5640 can only run internally in VGA, 16VGA, otherwise scale down is performed (without binning or linear interpolation).

Supported framerates

Here a list of supported frame rates according to resolution set.

Resolution Supported Framerate
AL::kQQQQVGA from 1 to 30 fps
AL::kQQQVGA from 1 to 30 fps
AL::kQQVGA from 1 to 30 fps
AL::kQVGA from 1 to 30 fps
AL::kVGA from 1 to 30 fps
AL::k4VGA 1 fps
AL::k16VGA 1 fps