Smikkelbakje/J2S1-Kobuki
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rtsp stream opencv using gstreamen

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This commit is contained in:
Sam Hos
2025-01-14 14:55:59 +01:00
parent ff7b148556
commit 2448691e63
1 changed files with 15 additions and 9 deletions
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24
src/C++/Driver/src/main.cpp
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@@ -289,12 +289,23 @@ void sendKobukiData(TKobukiData &data) {
} }
void CapnSend() { void CapnSend() {
VideoCapture cap(0); int fps = 15;
int width = 800;
int height = 600;
VideoCapture cap("/dev/video0");
if (!cap.isOpened()) { if (!cap.isOpened()) {
cerr << "Error: Could not open camera" << endl; cerr << "Error: Could not open camera" << endl;
return; return;
} }
VideoWriter out("appsrc ! videoconvert ! video/x-raw,format=I420 ! x264enc speed-preset=ultrafast bitrate=600 key-int-max=" + to_string(fps * 2) + " ! video/x-h264,profile=baseline ! rtspclientsink location=rtsp://localhost:8554/mystream",
CAP_GSTREAMER, 0, fps, Size(width, height), true);
if (!out.isOpened()) {
cerr << "Error: Can't open video writer" << endl;
return;
}
Mat frame; Mat frame;
while (true) { while (true) {
cap >> frame; // Capture a new image frame cap >> frame; // Capture a new image frame
@@ -303,15 +314,10 @@ void CapnSend() {
continue; continue;
} }
// Convert the image to a byte array // Write the frame to the RTSP stream
vector<uchar> buf; out.write(frame);
imencode(".jpg", frame, buf);
auto* enc_msg = reinterpret_cast<unsigned char*>(buf.data());
// Publish the image data
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(200)); // Send image every 200ms std::this_thread::sleep_for(std::chrono::milliseconds(1000 / fps)); // Control the frame rate
} }
} }