# SoftBank Robotics documentation What's new in NAOqi 2.8?

# Former 2D Cameras

See also

V18 | V18A

## 2D Cameras

Two identical video cameras are located in the forehead. They provide a resolution up to 2560*1920 at 1 frames per second (fps) or 640*480 at 30 fps.

### Location

See the URDF files.

Name
CameraTop
CameraBottom

### 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 | `640*480@30fps or 2560*1920@1fps`
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 | Auto 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 | 0: disabled 1: enabled
Exposure | 0 | 65535 | 32 | kCameraExposureID | 17 | Read only if auto exposure enabled
Average Luminance | 0 | 255 | NA | kCameraAverageLuminanceID | 39 | Read only
Auto Gain | 0 | 1 | 1 | kCameraAutoGainID | 13 | 0: disabled 1: enabled
Gain | 0 | 1024 | NA | kCameraGainID | 6 | Read only if auto gain enabled
Auto White Balance | 0 | 1 | 1 | kCameraAutoWhiteBalanceID | 12 | 0: disabled 1: enabled
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
Auto Focus | 0 | 1 | 0 | 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

Note

The camera OV5640 can only run internally in VGA, 16VGA, otherwise scale down is performed (without binning or linear interpolation).

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 | 1 fps
AL::k16VGA | 1 fps

Glossary Site map Index Support Contact Legal Notices