Former 3D Sensor

See also

V18 | V18A

3D Sensor

One 3D camera is located in the forehead. It provides image resolution up to 320x240 at 20 frames per second.

Location

One ASUS Xtion 3D sensor is located behind the eyes.

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

See the URDF files .

Name
CameraDepth

Specifications

Camera Model ASUS XTION
Type SOC Image Sensor
Imaging Array Optical format 1/2 inch (5:4)
Active Pixels (HxV) 1280x1024
Sensitivity Pixel size 5.2µm*5.2µm
Dynamic range 68.2db
Signal/Noise ratio (max) 45dB
Responsivity 2.1 V/Lux-sec
Output Camera output 320*240@20fps
Data Format Depth color space (mm)
Shutter type Electronic Rolling shutter (ERS)
View Field of view 70.0°DFOV (58.0°HFOV,45.0°VFOV)
Focus range 40cm ~ 8m
Focus type Fixed 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::kXTION 4 3D 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
Resolution kQQVGA kVGA kQVGA kCameraResolutionID 14
Frames Per Second 1 20 1 kCameraFrameRateID 15

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 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

Supported framerates

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

Resolution Supported Frame rate
AL::kQQQQVGA from 1 to 20 fps
AL::kQQQVGA from 1 to 20 fps
AL::kQQVGA from 1 to 20 fps
AL::kQVGA from 1 to 20 fps