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.

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