See also
Hardware overview | NAO H25 | NAO H21 | NAO T14 | NAO T2
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.
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).
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°.
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).