RoyalVision-DeepSpace

Dependencies

• Numpy
• OpenCV 3.0

RoyalVision Example Server

To launch the RoyalVision example server, naviagte into the RoyalVision-Deepspace directory, and run python Server/Server.py.

The example server accepts two command line arguments:

1. Port number of the first socket.
2. Number of sockets to open.

To pass the first parameter, use either port=value or sp=value. To pass the second parameter, use either sockets=value or ns=value. An example command would be python Server/Server.py ns=3 sp=1111.

The starting port defaults to 5801 and the number of sockets defaults to 4.

For each socket, the server will open a window where it displays the image feed it receives from the client. The port of the first socket will be the starting port, and the port of each following socket will be 1 greater than the last. If we opened 3 sockets with a starting port of 1111, the sockets' ports would be 1111, 1112, and 1113.

RoyalVision Client

To launch the royal vision client, navigate into the RoyalVision-Deepspace directory, and run Main.py.

The client accepts three command line arguments:

1. TCP IP
2. TCP Port
3. Camera Port
4. Compression rate

To pass the first parameter, use ip=value. To pass the second parameter, use either port=value or p=value. To pass the third parameter, use either camera=value or cam=value. To pass the fourth parameter, use either compression=value or cr=value. An example command would be python Main.py p=2000 cr=12.

The default ip is DS2169.local, the default port is 5801, the default camera port is 0, and the default compression rate is 7.

The client uses OpenCV to identify any visible pieces of retroreflective tape, and marks the center point between the two pieces with a yellow circle. If it can only identify one piece of retroreflective tape, it will estimate the position of the other and calculate the midpoint. Finally, the client will use JPEG compression to reduce the size of the image, and send it over the socket on the specified port.