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

# 3D Sensor

See also

V18 | V18A

## Reconstructed 3D Sensor

One 3D camera is located in the forehead. It provides image resolution up to 1280x720 at 15 frames per second.

### Location

One 2D camera is located behind each eyes from which 3D is reconstructed, using left eye as referential.

See the URDF files.

Name | Horizontal Field of View | Vertical Field of View
--- | --- | ---
CameraDepth | 72.00° | 58.00°

### Specifications

The stereo depth camera is a virtual camera build on stereo camera.

### 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::kStereo | 7 | Depth Camera

#### Supported parameters

##### Software parameters

Parameter | Min value | Max value | Default value | Camera ID name | ID value | Remarks
--- | --- | --- | --- | --- | --- | ---
Keep Alive | 0 | 1 | 0 | kCameraKeepAliveID | 35 |
Disparity Window | 5 | 43 | 21 | kCameraDisparityWindowSizeID | 42 | Must be odd

#### 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 Format

Format parameter can have the following values:

Resolution ID Name | Resolution ID Value | FrameRate Value | Description
--- | --- | --- | ---
AL::k720p | 5 | 10 or 15 | Image of 1280x720px
AL::kQ720p | 9 | 10 or 15 | Image of 640x360px
AL::kQQ720p | 10 | 10 or 15 | Image of 320x180px
AL::kQQQ720p | 11 | 10 or 15 | Image of 160x90px
AL::kQQQQ720p | 12 | 10 or 15 | Image of 80x45px

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