attempt with gstreamer

This commit is contained in:
2024-12-11 15:43:05 +01:00
parent 7f786d5197
commit 0dfc3b5c13

View File

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