ADEEPT AWR Wheeled Robot Manual page 127

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import numpy as np
'''
Here we instantiate the zmq object used to receive the frame
Note that the port number needs to be consistent with the sender's
'''
context = zmq.Context()
footage_socket = context.socket(zmq.PAIR)
footage_socket.bind('tcp://*:5555')
while True:
'''
Received video frame data
'''
frame = footage_socket.recv_string()
'''
Decode and save it to the cache
'''
img = base64.b64decode(frame)
'''
Interpret a buffer as a 1-dimensional array
'''
npimg = np.frombuffer(img, dtype=np.uint8)
'''
Decode a one-dimensional array into an image
'''
source = cv2.imdecode(npimg, 1)
'''
Convert image to grayscale
'''
source = cv2.cvtColor(source, cv2.COLOR_BGR2GRAY)
'''
Binary image
'''
retval, source = cv2.threshold(source, 0, 255, cv2.THRESH_OTSU)
'''
Remove small noise in the image