NAO - Video camera¶

2D Camera¶

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.

Location¶

../../_images/hardware_camera_lateral_4.0.png

../../_images/hardware_camera_top_4.0.png

Camera name	X(m)	Y(m)	Z(m)	WX(rd)[deg]*	WY(rd)[deg]*	WZ(rd)[deg]*
CameraTop	0.05871	0.0	0.06364	0.0	0.0209 [1.2]	0.0
CameraBottom	0.05071	0.0	0.01774	0.0	0.6929 [39.7]	0.0

Note

We adopt the roll, pitch and yaw notation for angle representation. So, to construct an homogeneous transform with rotation (Wx,Wy,Wz) use T=rotZ(Wz)*rotY(Wy)*rotX(Wx).

Specifications¶

Camera	Model	MT9M114
Camera	Type	SOC Image Sensor
Imaging Array	Resolution	1.22 Mp
	Optical format	1/6 inch
	Active Pixels (HxV)	1288x968
Sensitivity	Pixel size	1.9µm*1.9µm
	Dynamic range	70 dB
	Signal/Noise ratio (max)	37dB
	Responsivity	2.24V/Lux-sec (550 nm)
Output	Camera output	1280*960@30fps
	Data Format	(YUV422 color space)
	Shutter type	Electronic Rolling shutter (ERS)
View	Field of view	72.6°DFOV (60.9°HFOV,47.6°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::kMT9M114	2	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	55	kCameraBrightnessID	0	Auto Exposition must be enabled
Contrast	16	64	32	kCameraContrastID	1	The contrast value represents the gradient of the contrast adjustment curve, measured at the target brightness point (as controlled by Brightness parameter). The device supports a range of gradients from 0.5 to 2.0; Device represents this as a contrast range from 16 (0.5) to 64 (2.0).
Saturation	0	255	128	kCameraSaturationID	2
Hue	-180	180	0	kCameraHueID	3	Disabled
Gain	0	255	32	kCameraGainID	6	Auto Exposition must be disabled
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
Camera Resolution	kQVGA	k4VGA	kQVGA	kCameraResolutionID	14	Not to be set manually
Frames Per Second	1	30	5	kCameraFrameRateID	15	Not to be set manually
Exposure (time in ms = (value * 2) / 5	1	512 (204.8ms)	NA	kCameraExposureID	17	Auto Exposition must be disabled otherwise display last value before auto exposure was activated. Once auto exposure disabled paremeter is set to the last value used by the camera internal algorithm
Camera Select	0	1	0	kCameraSelectID	18	0: Bottom Camera 1: Top Camera
Reset camera registers	0	1	0	kCameraSetDefaultParamsID	19	1: reset camera and reset parameter to 0
Auto Exposure Algorithm	0	3	1	kCameraExposureAlgorithmID	22	0: Average scene Brightness 1: Weighted average scene Brightness 2: Adaptive weighted auto exposure for hightlights 3: Adaptive weighted auto exposure for lowlights For further details, see: Auto Exposure Algorithm.
Sharpness	-7	7	0	kCameraSharpnessID	24
White Balance (Kelvin)	2700	6500	NA	kCameraWhiteBalanceID	33	Read only if Auto White Balance is enabled Read/Write if Auto White Balance is disabled
Back light compensation	0	4	1	kCameraBacklightCompensationID	34

Auto Exposure Algorithm¶

For auto exposure algorithm, the measurement engine subdivides the image into 25 windows organized as a 5 x 5 grid with the following weight:

$M_{weight} = \begin{tabular}{|c|c|c|c|c|} \hline 0.25 & 0.25 & 0.25 & 0.25 & 0.25 \\ \hline 0.25 & 0.75 & 0.75 & 0.75 & 0.25 \\ \hline 0.25 & 0.75 & 1.00 & 0.75 & 0.25 \\ \hline 0.25 & 0.75 & 0.75 & 0.75 & 0.25 \\ \hline 0.25 & 0.25 & 0.25 & 0.25 & 0.25 \\ \hline \end{tabular}$

Example illustrating the impact of Auto Exposure Algorithm parameter:


0: Average scene Brightness	2: Adaptive weighted auto exposure for highlights	3: Adaptive weighted auto exposure for lowlights

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

Note

The camera MT9M114 can only run internally from QVGA to 4VGA, otherwise scale down is performed (without binning).

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 30 fps

Note

The camera MT9M114 can only run internally from 5 to 30 fps.

Aldebaran 2.0.6.8 documentation

NAO - Video camera¶

2D Camera¶

Camera indexes¶

Location¶

Specifications¶

Parameters¶

Model¶

Supported parameters¶

Software parameters¶

Hardware parameters¶

Auto Exposure Algorithm¶

Supported colorspaces¶

Supported resolutions¶

Supported framerates¶

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Aldebaran 2.0.6.8 documentation

NAO - Video camera¶

2D Camera¶

Camera indexes¶

Location¶

Specifications¶

Parameters¶

Model¶

Supported parameters¶

Software parameters¶

Hardware parameters¶

Auto Exposure Algorithm¶

Supported colorspaces¶

Supported resolutions¶

Supported framerates¶

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