3D Sensor

See also

V18 | V18A

Reconstructed 3D Sensor

One 3D camera is located in the forehead. It provides image resolution up to 1280x720 at 15 frames per second.

Location

One 2D camera is located behind each eyes from which 3D is reconstructed, using left eye as referential.

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/camera_3d.png

See the URDF files .

Name Horizontal Field of View Vertical Field of View
CameraDepth 72.00° 58.00°

Specifications

The stereo depth camera is a virtual camera build on stereo camera.

Parameters

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

Model

Camera Model has the following value:

Parameter ID Name ID Value Description
AL::kStereo 7 Depth Camera

Supported parameters

Software parameters
Parameter Min value Max value Default value Camera ID name ID value Remarks
Keep Alive 0 1 0 kCameraKeepAliveID 35
Disparity Window 5 43 21 kCameraDisparityWindowSizeID 42 Must be odd

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 3D camera can have the following values:

Parameter ID Name ID Value
Number of
layers
Number of channels Description
AL::kYuvColorSpace 0 1 1 Contains the depth image clamped from 400m to 3.68m scaled in range [0,255], equivalent to one unsigned char
AL::kRGBColorSpace 11 3 3 Contains the depth image in false-color (RGB) equivalent to three unsigned char (debug purpose)
AL::kDepthColorSpace 17 2 1 Contains the distance in mm from the image plan corrected, equivalent to one unsigned short
AL::kXYZColorSpace 19 12 3 Contains the position in meter of the voxel in the camera frame, equivalent to three float
AL::kDistanceColorSpace 21 2 1 Contains the distance from the camera in mm, equivalent to one unsigned short
AL::kRawDepthColorSpace 23 2 1 Contains the raw distance in mm from the image plan without correction, equivalent to one unsigned short

Supported Format

Format parameter can have the following values:

Resolution ID Name
Resolution
ID Value
FrameRate Value Description
AL::k720p 5 10 or 15 Image of 1280x720px
AL::kQ720p 9 10 or 15 Image of 640x360px
AL::kQQ720p 10 10 or 15 Image of 320x180px
AL::kQQQ720p 11 10 or 15 Image of 160x90px
AL::kQQQQ720p 12 10 or 15 Image of 80x45px