Robot climbs the slide and gazes upon the sky


This week I have added a camera to naminukas. It doesn't do anything useful for autonomy yet and just captures images. Initially I used OpenCV library but apparently version 3.2 which is default on Debian Buster has a memory leak so robot runs out of memory in a few hours of continuous image capture. Therefore I re-implemented image capture using video4linux library which is way more complicated than using OpenCV but on the other hand more convenient for me as rest of my code is in C but modern versions of OpenCV require using C++. To convince myself that all memory leaks were eradicated I kept robot running for multiple hours capturing images. I have made a time-lapse video from one of these test runs:

Voltage divider
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Robot on a swing