NaoAV¶

Introduction¶

The NaoA/V setup is a hack that allows to

• transmit camera images and audio buffers from the Nao robot to a different node
• synchronize audio and video data streams
• store the synchronized audio/video stream in a container file

It consists of several components:

• On the Nao robot
  • rsbvideosender
  • rsbaudiosender
• In a receiver/synchronization/store process on a workstation
  • gst_nao_audio_import
  • gst_nao_video_import

Static View¶

Implementation¶

The implementation uses the GStreamer multimedia framework to synchronize, mux and store the audio and video streams. GStreamer is capable of aligning and synchronizing the audio and video streams which are received via RSB and producing a merged A/V stream that is suitable for writing to a video container file. In order to perform this synchronization, GStreamer makes use of the timestamps which are included in all RSB events.