Smikkelbakje/J2S1-Kobuki
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attempt with gstreamer

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This commit is contained in:
Sam Hos
2024-12-11 15:43:05 +01:00
parent 7f786d5197
commit 0dfc3b5c13
1 changed files with 25 additions and 35 deletions
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36
src/C++/Driver/src/main.cpp
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@@ -290,30 +290,19 @@ void sendKobukiData(TKobukiData &data)
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}
}
void CapnSend()
{
VideoCapture cap;
if (!cap.open("/dev/video0", cv::CAP_V4L2))
{
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;
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(pipeline, cv::CAP_GSTREAMER);
if (!cap.isOpened()) {
cerr << "Error: Could not open camera with GStreamer pipeline" << endl;
return;
}
}
}
Mat frame;
while (true)
{
while (true) {
cap >> frame; // Capture a new image frame
if (frame.empty())
{
if (frame.empty()) {
cerr << "Error: Could not capture image" << endl;
continue;
}
@@ -321,11 +310,12 @@ void CapnSend()
// Convert the image to a byte array
vector<uchar> 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
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;
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
}
}