20 lines
1.3 KiB
TeX
20 lines
1.3 KiB
TeX
\section{Video Recording from the Nao Camera}
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For the purposes of debugging and also for the final presentation, we wanted to
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record what the robot sees during the program execution. NAOqi SDK provides a
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function to write the camera video to a file, but has a limitation of allowing
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the capture from only one camera at a time, which was not optimal for us. We
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overcame this limitation, by exploiting the fact, that the NAOqi SDK didn't
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impose any restrictions on reading individual frames from the cameras into the
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memory. So, during the test runs we started a separate thread, where the camera
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frames from both cameras were read into memory one by one, and after the robot
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has completed the execution of his task, the recorded frame sequences were
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written to video files with the help of OpenCV. This approach has a downside,
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that the frames can only be read at irregular and unpredictable intervals, so
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the framerate of the resulting video couldn't be calculated, which means that
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the playback speed of the videos needed to be adjusted afterwards using video
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editing programs. Furthermore, due to computational resource limitations of the
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Nao, the frames could have been captured only in low resolution. However, the
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quality of the resulting videos was sufficient for successful debugging and
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also for the presentation.
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