Video camera¶
See also
- ALFaceDetection, ALLandMarkDetection, ALRedBallDetection
- ALBacklightingDetection, ALDarknessDetection, ALPhotoCapture, ALVideoDevice, ALVideoRecorder, ALVisionRecognition
NAO Technical overview | NAO H25 | NAO H21 | NAO T14 | NAO T2
Specification¶
Two identical video cameras are located in the forehead.
They provide a 640x480 resolution at 30 frames per second. They can be used to identify objects in the visual field such as goals and balls, and bottom camera can ease NAO’s dribbles.
| NAO Model | v4.0 | v3.x |
|---|---|---|
| Sensor Model | MT9M114 | OV7670 |
| Camera output | 960p@30fps (YUV422 color space) | VGA@30fps (YUV422 color space) |
| Field of view | 72.6°DFOV (60.9°HFOV, 47.6VFOV) | 58°DFOV (47.8°HFOV, 36.8°VFOV) |
| Focus range | 30cm ~ infinity | 30cm ~ infinity |
| Focus type | Fixed focus | Fixed focus |
The picture underneath is a RGB conversion of the YUV422 file sent by the camera.
Location¶
Head 4.0¶
|
|
| Camera name | X(m) | Y(m) | Z(m) | WX(rd)[deg]* | WY(rd)[deg]* | WZ(rd)[deg]* |
|---|---|---|---|---|---|---|
| CameraTop | 0.05871 | 0.0 | 0.06364 | 0.0 | 0.0209 [1.2] | 0.0 |
| CameraBottom | 0.05071 | 0.0 | 0.01774 | 0.0 | 0.6929 [39.7] | 0.0 |
Note
We adopt the roll, pitch and yaw notation for angle representation. So, to construct an homogeneous transform with rotation (Wx,Wy,Wz) use T=rotZ(Wz)*rotY(Wy)*rotX(Wx).
Head 3.3¶
| Camera name | X(m) | Y(m) | Z(m) | WX(rd)[deg]* | WY(rd)[deg]* | WZ(rd)[deg]* |
|---|---|---|---|---|---|---|
| CameraTop | 0.0539 | 0.0 | 0.0679 | 0.0 | 0.0 | 0.0 |
| CameraBottom | 0.0488 | 0.0 | 0.02381 | 0.0 | 0.6981 [40.0] | 0.0 |
Warning
The first lot of V3.3 heads had a conception that did not warrant the angle between the 2 cameras. For those heads, the angle between the cameras is around 32°.
Head 3.2¶
| Camera name | X(m) | Y(m) | Z(m) | WX(rd)[deg]* | WY(rd)[deg]* | WZ(rd)[deg]* |
|---|---|---|---|---|---|---|
| CameraTop | 0.0539 | 0.0 | 0.0679 | 0.0 | 0.0 | 0.0 |
| CameraBottom | 0.0488 | 0.0 | 0.02381 | 0.0 | 0.6981 [40.0] | 0.0 |
Note
We adopt the roll, pitch and yaw notation for angle representation. So, to construct an homogeneous transform with rotation (Wx,Wy,Wz) use T=rotZ(Wz)*rotY(Wy)*rotX(Wx).