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

# Stereo Camera

V18 only

## Stereo Camera

The pair of 2D cameras, located behind the eyes, provides images in stereo.

### Location

See the URDF files.

Name
CameraStereo

### Specifications

The stereo camera is composed of two identical sensors.

Camera | Model | OV4689
Type | SOC Image Sensor
Imaging Array | Resolution | 4Mp
Optical format | 1/3 inch
Active Pixels (HxV) | 1280x720
Sensitivity | Pixel size | 2µm*2µm
Dynamic range | `64.6db@1x gain`
Signal/Noise ratio (max) | 38.3 dB
Responsivity | 1900 mV/Lux-sec
Output | Camera output | `2560*720@15fps`
Data Format | YUV422 color space
Shutter type | Rolling shutter / frame exposure
View | Nominal Field of view | 96°HFOV, 60°VFOV
Focus range | 40cm ~ infinity
Focus type | Fixed focus

### Parameters

The dual camera has a list of parameters which can be modified.

#### Model

Camera Model has the following value:

Parameter ID Name | ID Value | Description
--- | --- | ---
AL::kOV4689 | 8 | Stereo 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 | 8 | 4 | kCameraBrightnessID | 0 |
Contrast | 0 | 8 | 4 | kCameraContrastID | 1 |
Saturation | 0 | 8 | 4 | kCameraSaturationID | 2 |
Hue | 0 | 11 | 0 | kCameraHueID | 3 |
Gain | 0 | 1024 | NA | kCameraGainID | 6 | Read only if auto exposure enabled
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 |
Exposure | 0 | 1024 | NA | kCameraExposureID | 17 | Read only if auto exposure 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 Format

Format parameter can have the following values:

Resolution ID Name | Resolution ID Value | FrameRate Value | Description
--- | --- | --- | ---
AL::k720px2 | 13 | 10 or 15 | Image of 2560x720px
AL::kQ720px2 | 14 | 10 or 15 | Image of 1280x360px
AL::kQQ720px2 | 15 | 10 or 15 | Image of 640x180px
AL::kQQQ720px2 | 16 | 10 or 15 | Image of 320x90px
AL::kQQQQ720px2 | 17 | 10 or 15 | Image of 160x45px

Note

The camera OV4689 can only run internally in 720px2 or Q720px2, otherwise scale down is performed (without binning or linear interpolation).

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