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Sight-Guided Search and Depth Detection

Based on the original SensEye design by Russ Bielawaski: repo

##System Architecture

See the diagram below for an overview of the hardware and software stack for SensEye-2:

alt tag

##OpenCV Image Processing There are currently two python scripts written to implement OpenCV functions on top of images captured from the system. They are located in software/client/opencv_detection and also have the ability to measure run-time. Examples are shown below:

Blob Detection

Used to find the location of the pupil on the inward facing camera.

Runtime of Blob Detection: 0.161993980408 seconds

Depth Detection

Used to calculate the depth of the image based on the disparity between the two outward facing cameras.

Runtime of Depth Detection: 0.360285043716 seconds

To complete this processing in real-time on the host computer, the run-time would have to be on the order of 0.04 seconds as the imager captures images at a rate of approximately 25 hertz.


A note on operating systems

This installation uses Windows for Libero and Linux for uCLinux compilation. Specifically, 64-bit Windows 8 and 64-bit Ubuntu 14.04 LTS. Other options may be successful

Libero SoC

  1. Download Libero from the following link.

  2. Register for free gold 1-year disk ID locked license, follow instructions in email

  3. Install service pack update (if on Windows 8, you may need to disable driver signatures in order to install the FlashPro driver)

Note: Libero can be installed on Linux, but has been found to be problematic


  1. Download and install OpenCV, this link worked well.
  2. Ensure OpenCV installed in /usr/local/include/

TFTP Server

  1. Download and install a TFTP server, this link worked well.


Libero Project

  1. Open senseye.prjx (you will get errors: "Unable to find..."")

  2. Double click TOPLEVEL in the Design Hierarchy area to open it in the main window

  3. Double click MSS_CORE3_MSS_0 to open it in a new tab

    1. Double click the ENVM block
    2. Right click the first client listed and select Modify Client.
    3. Change the location of the memory file to your_SensEye-2_location\SensEye-2\software\smartfusion\Emcraft_Firmware\u-boot.hex.
    4. Click the Generate Component button in the main window (yellow cylinder with gear).
  4. Go to TOPLEVEL tab

  5. Click the Generate Programming Data button in the Design Flow area (green arrow)

Project should build appropriately.

Note: Ensure all of the MSS components are updated by clicking the Catalog tab then the Download them now! button (Libero should show the message New cores are available). Also ensure reset line into imager is inverted (in TOPLEVEL).

uCLinux Build Environment

Open the Linux Cortex M User Manual available from Emcraft's SmartFusion webpage
Follow the directions in Section 4.1

The linux-cortexm-1.12.0/ folder should be extracted to the same location as the git repo
(To get a new version of the cross-compiler, click here, but you should probably stick with the one given by emcraft)

.bashrc will need to be updated to run the following:

cd <linux install directory>
cd -

Note: the cross compiler tools work for me on 64-bit fedora, but not in a shared folder. You may need to install ia32-libs or equivalent if you are on a 64-bit system

TFTP Server

Test that the server is working by running:

touch <tftpboot directory>/foo
get foo

Note: sometimes it is necessary to run this with sudo.

The get request should complete immediately without an issue

Open a serial connection at 115200 baud. An example of this is below (assuming it is ttyUSB0)

screen /dev/ttyUSB0 115200  

Note: Sometimes it is necessary to run this with sudo . Also if there is only a blank screen press Enter a few times and if that doesn't work, press Ctrl-C to kill the current program and reboot.

Find device IP address, from U-Boot:

run flashboot

Modify the environment variables on the SmartFusion board, from U-Boot:

setenv netmask
setenv gatewayip <device ip address top 24 bits>.1
setenv ipaddr <device ip address>
setenv serverip <server ip address>
setenv image senseye_proj.uImage
run netboot

NFS Server

Follow instructions online to install an NFS server and enable it

After the device has booted run

mount -t nfs -o proto=tcp,nolock,port=2049 <server ip address>:/<server nfs folder> /mnt

A script to do this has been included as

Load Stonyman

Navigate to the SensEye-2/software/uclinux/senseye_proj/ directory and edit makescript

cp senseye_proj.uImage <your tftpboot directory>

Then run


This should redirect all compile messages to the compile.log file. Run following commands on device


The Stonyman controller software should now be loaded and ready to begin reading in images.

Setting up client

Ensure OpenCV installed in /usr/local/include/

Change address of SmartFusion board in SensEye-2/software/client/senseye_client/senseye_client.c to current IP address (found by running printenv on the SmartFusion board):

#define INSIGHT_SERV_ADDR     ("") 

Navigate to the SensEye-2/software/client/senseye_client directory and run.


This should redirect all compile messages to the file compile.out

Note: while senseye_serv is running on the SmartFusion it waits for a connection from the client which is created by running senseye_client, then images should appear on the screen if a Stonyman is connected correctly.

Hardware Configuration

The hardware can be somewhat tricky to configure correctly. First, build the circuit specified in hardware/schematics/stonyman_breakout.pdf. Ensure to tie a resistor (30k) to ground from the analog out (AN) of the Stonyman, and place a capacitor across the power supply rails.

Calibration: The configuration of the parameters in software/uclinux/stonyman/stonyman_2.h is dependent on whether the system is run at 3.3 Volts or 5 Volts. As of now the system is configured for 3.3 V. This can be changed by modifying the define statements based on empirical evidence.