Offnao

Connecting Offnao to Nao

• Load 'runswift' on the bot by pressing the chest button 3 times (it will announce that 'runswift' is loaded)
• Run offnao in terminal (./<build directory>/utils/offnao/offnao)
  • First type make, if no ./offnao
• File > Connect to Nao (type name.local, e.g. yoshi.local)
• Hit the record button

Obtaining raw images

• By default Offnao shows saliency/colour classified images, you can show the raw images by checking the box 'Raw Image' at the top bar

Camera Calibration

• Go to the camerapose tab and manually adjust the pitch/yaw/etc to adjust for differences in camera placement

Saliency Images

• When under the Vision tab and you want to obtain the saliency images, go to Vision > Load Top NNMC to select the appropriate .nnmc file and then repeat for the Bottom NNMC.
• Note that if you only load one the output will just be orange, you must load both in order to get the saliency images to work

Troubleshooting

Offnao compiled but failed to run.

If you're getting errors about libraries missing and you're on a 64 bit OS, you might need to get the 32 bit versions so that ld can link to them. On debian, this should get them all (but if you find one missing and fix it for yourself, remember to add to this list!):

sudo apt-get install libbz2:i386 libfreetype6:i386 libglib2.0-0:i386 libsm6:i386 libxrandr2:i386 libfontconfig1:i386

Note: This is not the proper fix. The RPATH in offnao.bin should get these libraries from the CTC, but the [Qt] libraries [from Jayen's magic sauce] don't use an executable's RPATH. Jayen (or someone) needs to rewrite the RPATH in the libraries/executables in the magic sauce.