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

# Romeo - 3D Sensor

See also

Romeo - Developer guide

The robot head is composed of three cameras:

- four 2D Cameras, and optionally
- one 3D Sensor.

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.

## 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.

Sensor | X (m) | Y (m) | Z (m) | VFOV | HFOV
--- | --- | --- | --- | --- | ---
DepthCamera | 0.05138 | 0.0390 | 0.1194 | 45.00° | 58.00°

## 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.

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 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::kInfraredColorSpace | 20 | 2 | 1 | Contains the infrared image, equivalent to one unsigned short
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

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 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

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