Documentation kobuki, mqtt, opencv

docs/code/OpenCV.md

@@ -1,20 +1,69 @@
 # OpenCV
 ## Requirements
-For the camera we want it to detect what is happening on the video feed and identify it so it can identify dangers.
-
+We want that the camera we want it to detect what is happening on the video feed and identify it so it can identify dangers.    
 
 ## Issues
-
 * OpenCL not grabbing gpu
 * Solution: https://github.com/Smorodov/Multitarget-tracker/issues/93
 
 ## Installation
 ### Dependencies
-* glew
-* opencv
+* glew (for openGL)
+* opencv C++ lib
+
+How to install OpenCV
+```bash
+ sudo apt-get install libopencv-dev
+```
+
+## Code explanation
+
+### Opening the camera with OpenCV
+```cpp
+    VideoCapture cap(0);     //Open the default camera (0), points to /dev/video0. You could also change the number to the preferred camera
+    if (!cap.isOpened()) { //if camera is not opened throw a error message
+        cerr << "Error: Could not open camera" << endl;
+        return;
+    }
+```
+
+## Taking a picture and storing it in a variable
+```cpp
+    Mat frame; //create a new Matrix variable called frame
+    while (true) {
+        cap >> frame; // Capture a new image frame. 
+        if (frame.empty()) { //if the variable frame is not filled return a error
+            cerr << "Error: Could not capture image" << endl;
+            continue;
+        }
+```
+
+## Encoding the image for sending it over MQTT
+```cpp
+        vector<uchar> buf; //create a dyanmic buffer for the image 
+        imencode(".jpg", frame, buf); //encode the image to the buffer
+        auto* enc_msg = reinterpret_cast<unsigned char*>(buf.data());
+```
+
+```cpp
+
+void CapnSend() {
 
 
 
 
+        // Convert the image to a byte array
+
+
+        // Publish the image data
+        client.publishMessage("kobuki/cam", string(enc_msg, enc_msg + buf.size()));
+        cout << "Sent image" << endl;
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(300)); // Send image every 1000ms
+    }
+}
+```
+
+
 ## Sources
 * https://github.com/UnaNancyOwen/OpenCVDNNSample/tree/master