Pepper - 2D Cameras

See also

Pepper - Technical overview

The robot head is composed of three cameras:

Camera indexes

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.

2D Cameras

Two identical video cameras are located in the forehead. They provide a resolution up to 2560*1080 at 5 frames per second.

Location

../../_images/cameras.png
Sensor X (m) Y (m) Z (m) VFOV HFOV Rotation
CameraTop 0.0868 0.0000 0.1631 44.30° 57.20° No
CameraBottom 0.0936 0.0000 0.0616 44.30° 57.20° rotationY(40.0*TO_RAD)

Specifications

Camera Model OV5640
Type SOC 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) 6dB (maximum)
Responsivity 600 mV/Lux-sec
Output Camera output 1920*1080@15fps
Data Format (YUV422 color space)
Shutter type Rolling shutter / frame exposure
View Field of view 68.2°DFOV (57.2°HFOV,44.3°VFOV)
Focus range 30cm ~ infinity
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::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
AL::k720p 5 Image of 1280*720px
AL::k1080p 6 Image of 1920*1080px

Note

The camera OV5640 can only run internally in VGA, 16VGA and in 1080p, otherwise scale down is performed (without binning).

Note

When camera OV5640 is use with 1080p,subscribers with other formats have undefined behavior.

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 from 1 to 7 fps
AL::k16VGA from 1 to 7 fps
AL::k720p from 1 to 7 fps
AL::k1080p from 1 to 7 fps
« previous | up | next »