Software
Software Structure
Color Detection and Image Postprocessing
Color Detection:
Will generate a color mask
Will generate a geometric center
Image Processing:
Color Mask:
Will use our own kernel to remove noise
Depth Frame:
Use filter to smooth the depth image
Hole filling
Color detection demo
Object detection
Tracking
We calculate the center of mass of the mask image. If the center of mass of the mask frame is not at the range of center we considered, we continuously send a signal to STM32 to track the object.
Socket Communication
We use python socket package for communication between two object detection systems. Socket package uses the network to perform communication. With socket package, we can connect two subsystems, either wired or wirelessly. Besides, The two systems can even communicate over the WAN.
One More powerful Jetson (or desktop) will be the server, and another will be the client on our implementation.
The server shares its network with the client, so they are under the same local area network. The server receives block signals from the client. And the server will process clock signals from both itself and the client.
