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TESTING.md

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1. Testing the video stream

To test the stream I have developed the following procedure:

  • execute on iCubHead yarpserver

  • execute on Enclustra yarpdev

  • execute on iCubHead the following commands

    yarpdatadumper --name /log --rxTime --txTime --type image
yarp connect /grabber /log fast_tcp

  • Analyze the data in ./log using the Matlab scripts or manually, see above.

1.1. Slow movement artifact

These kind of artifacts are due to bad memory management. They should be checked by hand, looking at the singles frames.

1.2. Frames per second (FPS)

Fps behaviour should be analyzed with the Matlab script in matlabscript folder, script name FPS_check.m. Once the script is executed choose the yarpdaadumper log.
Result example:

1.3. Latency

Latency can be check manually, with a specific test. It is the delay between what is seen on YarpView and the real movement.

It is possible also to check the latency between Enclustra and iCub-head: with the Matlab script in matlabscript folder, script name Latency_check.m. Once the script is executed choose the yarpdaadumper log.