Smikkelbakje/J2S1-Kobuki
1
0
Fork 0
mirror of https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git synced 2025-08-03 11:55:00 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79

Browse Source
This commit is contained in:
ishak jmilou.ishak
2025-01-16 13:55:25 +01:00
parent 1ab718a472 bbade2384c
commit c31689ac70
1 changed files with 30 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files

64
src/C++/Driver/src/main.cpp
View File

@@ -387,44 +387,40 @@ void sendKobukiData(TKobukiData &data)
}
}
void CapnSend()
{
VideoCapture cap(0);
if (!cap.isOpened())
{
cerr << "Error: Could not capture image" << endl;
return;
}
Mat frame;
while (true)
{
cap >> frame; // Capture a new image frame
if (frame.empty())
{
cerr << "Error: Could not capture image" << endl;
std::this_thread::sleep_for(std::chrono::seconds(1)); // Wait before retrying
continue;
void CapnSend() {
VideoCapture cap(0);
if (!cap.isOpened()) {
cerr << "Error: Could not open camera" << endl;
return;
}
// Convert the image to a byte array
vector<uchar> buf;
imencode(".jpg", frame, buf);
auto *enc_msg = reinterpret_cast<unsigned char *>(buf.data());
Mat frame;
while (true) {
if (!cap.read(frame)) {
cout << "Reconnecting camera" << endl;
cap.release();
std::this_thread::sleep_for(std::chrono::seconds(1));
// Attempt to reconnect to the camera
cap.open(0);
if (!cap.isOpened()) {
cerr << "Error: Could not reconnect to camera" << endl;
std::this_thread::sleep_for(std::chrono::seconds(1)); // Wait before retrying
continue;
} else {
cout << "Reconnected to camera" << endl;
continue;
}
}
// Publish the image data
client.publishMessage("kobuki/cam", string(enc_msg, enc_msg + buf.size()));
cout << "Sent image" << endl;
// Convert the image to a byte array
vector<uchar> buf;
imencode(".jpg", frame, buf);
auto *enc_msg = reinterpret_cast<unsigned char *>(buf.data());
std::this_thread::sleep_for(std::chrono::milliseconds(200)); // Send image every 200ms
// Publish the image data
client.publishMessage("kobuki/cam", string(enc_msg, enc_msg + buf.size()));
cout << "Sent image" << endl;
if (!cap.isOpened())
{
cerr << "Camera disconnected, attempting to reconnect..." << endl;
cap.open(0);
std::this_thread::sleep_for(std::chrono::seconds(1)); // Wait before retrying
std::this_thread::sleep_for(std::chrono::milliseconds(200)); // Send image every 200ms
}
}
}