Pepper - 3D Sensor


The robot head is composed of three cameras:

The camera indexes are:

Parameter ID Name ID Value Description
AL::kTopCamera 0 camera on the top.
AL::kBottomCamera 1 camera on the bottom.
AL::kDepthCamera 2 3D camera in the eyes.

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.

../../_images/sensor3d.png
Sensor X (m) Y (m) Z (m) VFOV HFOV
DepthCamera 0.05138 0.0390 0.1194 45.00° 58.00°

Specifications

Camera Model ASUS XTION
Type SOC Image Sensor
Imaging Array Resolution 0.3Mp
Optical format 1/4 inch
Active Pixels (HxV) 320x240
Output Camera output 320*240@20fps
Data Format (YUV422 color space)
Shutter type Electronic Rolling shutter (ERS)
View Field of view 70.0°DFOV (58.0°HFOV,45.0°VFOV)
Focus range 80cm ~ 3.5m
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

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 channels Description
AL::kYuvColorSpace 0 1 Buffer only contains the Y (luma component) equivalent to one unsigned char
AL::kyUvColorSpace 1 1 Buffer only contains the U (Chrominance component) equivalent to one unsigned char
AL::kyuVColorSpace 2 1 Buffer only contains the V (Chrominance component) equivalent to one unsigned char
AL::kRgbColorSpace 3 1 Buffer only contains the R (Red component) equivalent to one unsigned char
AL::krGbColorSpace 4 1 Buffer only contains the G (Green component) equivalent to one unsigned char
AL::krgBColorSpace 5 1 Buffer only contains the B (Blue component) equivalent to one unsigned char
AL::kHsyColorSpace 6 1 Buffer only contains the H (Hue component) equivalent to one unsigned char
AL::khSyColorSpace 7 1 Buffer only contains the S (Saturation component) equivalent to one unsigned char
AL::khsYColorSpace 8 1 Buffer only contains the Y (Brightness component) equivalent to one unsigned char
AL::kYUV422ColorSpace 9 3 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 Buffer contains triplet on the format 0xVVUUYY, equivalent to three unsigned char
AL::kRGBColorSpace 11 3 Buffer contains triplet on the format 0xBBGGRR, equivalent to three unsigned char
AL::kHSYColorSpace 12 3 Buffer contains triplet on the format 0xYYSSHH, equivalent to three unsigned char
AL::kBGRColorSpace 13 3 Buffer contains triplet on the format 0xRRGGBB, equivalent to three unsigned char
AL::kYYCbCrColorSpace 14 3 TIFF format, four unsigned characters for two pixels.
AL::kH2RGBColorSpace 15 3 H from “HSY to RGB” in fake colors.
AL::kHSMixedColorSpace 16 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

Supported framerates

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

Resolution Supported Framerate
AL::kQQQVGA from 1 to 20 fps
AL::kQQVGA from 1 to 20 fps
AL::kQVGA from 1 to 20 fps