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https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git
synced 2025-08-04 04:14:58 +00:00
attempt with gstreamer
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@@ -290,30 +290,19 @@ void sendKobukiData(TKobukiData &data)
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std::this_thread::sleep_for(std::chrono::milliseconds(1000));
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std::this_thread::sleep_for(std::chrono::milliseconds(1000));
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}
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}
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}
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}
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void CapnSend() {
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void CapnSend()
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// Use GStreamer pipeline to access the PiCam
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{
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std::string pipeline = "libcamerasrc ! video/x-raw,width=640,height=480,framerate=30/1 ! videoconvert ! appsink";
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VideoCapture cap;
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VideoCapture cap(pipeline, cv::CAP_GSTREAMER);
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if (!cap.open("/dev/video0", cv::CAP_V4L2))
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if (!cap.isOpened()) {
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{
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cerr << "Error: Could not open camera with GStreamer pipeline" << endl;
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cerr << "Error: Could not open camera with /dev/video0" << endl;
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if (!cap.open("/dev/video1", cv::CAP_V4L2))
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{
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cerr << "Error: Could not open camera with /dev/video1" << endl;
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if (!cap.open("/dev/media2", cv::CAP_V4L2))
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{
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cerr << "Error: Could not open camera with /dev/video1" << endl;
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return;
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return;
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}
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}
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}
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}
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Mat frame;
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Mat frame;
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while (true)
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while (true) {
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{
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cap >> frame; // Capture a new image frame
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cap >> frame; // Capture a new image frame
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if (frame.empty())
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if (frame.empty()) {
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{
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cerr << "Error: Could not capture image" << endl;
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cerr << "Error: Could not capture image" << endl;
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continue;
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continue;
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}
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}
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@@ -321,11 +310,12 @@ void CapnSend()
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// Convert the image to a byte array
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// Convert the image to a byte array
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vector<uchar> buf;
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vector<uchar> buf;
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imencode(".jpg", frame, buf);
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imencode(".jpg", frame, buf);
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auto *enc_msg = reinterpret_cast<unsigned char *>(buf.data());
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auto* enc_msg = reinterpret_cast<unsigned char*>(buf.data());
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// Publish the image data
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// Publish the image data
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client.publishMessage("kobuki/cam-", string(enc_msg, enc_msg + buf.size()));
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client.publishMessage("kobuki/cam", string(enc_msg, enc_msg + buf.size()));
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cout << "Sent image" << endl;
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cout << "Sent image" << endl;
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std::this_thread::sleep_for(std::chrono::milliseconds(400)); // Send image every 1000ms
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(1000)); // Send image every 1000ms
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}
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}
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}
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