See also
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. |
One 3D camera is located in the forehead. It provides image resolution up to 320x240 at 20 frames per second.
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° |
| 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 |
The camera has a list of parameters which can be modified.
Camera Model has the following value:
| Parameter ID Name | ID Value | Description |
|---|---|---|
| AL::kXTION | 4 | 3D Camera |
| Parameter | Min value | Max value | Default value | Camera ID name | ID value |
|---|---|---|---|---|---|
| Keep Alive | 0 | 1 | 0 | kCameraKeepAliveID | 35 |
| 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 |
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. |
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 |
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 |