This module contains different vision functionalities, like picture taking, video recording, white balance setting, etc ... Picture and videos are both saved in /home/nao/naoqi/share/naoqi/vision.
int isItDark ()
Tell if it is dark around.
[0;4] outdoor - [5;100] indoor bright - [101;127] shadowed place
int backlighting ()
Indicates if we might be in backlighting conditions.
range from 0(no backlight) to 100
void takePicture ()
Shoot 3 successives pictures and place them in the /home/nao/naoqi/share/naoqi/vision folder. If halfPress has not been called before, it will take longer between click and shoot.
void takePictureRegularly (const float& secondsBetweenTwoShots, const string& pathAndNameRoot, const bool& overwriteImage, const string& imageRecordFormat, const int& resolution)
Shoot regularly a picture to follow Nao's evolution in his environment
how many seconds between two pictures?
path and the root of the name for the picture
do we need to overwrite the picture, or do we add a timestamp to the name?
such as jpeg, bmp, png, etc.
resolution for the image (e.g. kQQVGA, kQVGA)
void logTPRInstanceInfo (const int& instanceNumber)
Print in the logger the info for an instance of takePictureRegurarly()
number of the instance we want to get info on
void stopTPR (const string& pathAndNameRoot, const string& imageRecordFormat)
Stop an instance of takePictureRegularly()
path and name root of the file we want to stop recording
formats of the file we want to stop recording
void setWhiteBalance (const int& camera)
Set white balance by using Nao's white hands as reference.
Camera we want to set white balance to : [0] top - [1] bottom - [2] both
void startVideoRecord (const string& videoName)
Start recording a video. The .avi video is stored on the robot in the /home/nao/naoqi/share/naoqi/vision folder. The record should be stopped by calling stopVideoRecord(). Resolution: 320*240, MJPG format, frame rate ~10-15 fps. Please note that only one record at a time can be made.
Name of the video file to be recorded.
void startVideoRecord_adv (const string& videoName, const float& framerate, const string& format, const int& resIndex, const int& numFrames)
Start recording a video, with advanced options. Please note that only one record at a time can be made.
Name of the video file to be recorded.
Record frame rate [0.1-50.0]. Warning: MJPG format requires framerate greater than 2.0.
ARV = raw YUV422 format; IYUV = raw avi, MJPG = compressed avi.
Resolution index. 0 = 160*120, 1 = 320*240, 2 = 640*480
Number of frames to record. If less than 0, it records until stopVideoRecord() is called.
AL::ALValue stopVideoRecord ()
Stop a video record that was launched with startVideoRecord() or startVideoRecord_adv(). The function returns the number of frames that were recorded, as well as the video absolute file name.
Array of two elements [numRecordedFrames, recordAbsolutePath]
string version ()
Returns the version of the module.
A string containing the version of the module.
AL::ALValue getMethodHelp (const string& methodName)
Retrieves a method's description.
The name of the method.
A structure containing the method's description.
AL::ALValue getModuleHelp ()
Retrieves the module's description.
A structure describing the module.
string getUsage (const string& name)
Gets the method usage string. This summarise how to use the method.
The name of the method.
A string that summarises the usage of the method.