Pepper - 3D Sensor¶
See also
The robot head is composed of three cameras:
- two 2D Cameras, and
- one 3D Sensor.
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.
| 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 |