revert and change port number

README.md

@@ -1,39 +1,8 @@
-# TI-project - exploration robot Kobuki
+# TI-project - Kobuki
 
 ## Description
-This project is a kobuki that drives around in dangerous areas and detects objects in its path. It uses a camera to detect objects. The purpose of this project is to explore dangerous areas without risking human lives. You are able to control the robot using controller on the website. 
+This project is a kobuki that drives around in dangerous areas and detects objects in its path. It uses a camera to detect objects. The kobuki is able to drive around in a room and detect objects.
 
 ## Photos
 ![Kobuki](/docs/assets/KobukiPhoto.jpg)
 
-## Installation
-
-### Requirements
-
-- Kobuki robot
-- Raspberry Pi (minimum 3B)
-- Camera
-- power supply for Raspberry Pi
-- laptop or computer
-
-### Steps
-
-1. **Install Python and Pip**
-   - Ensure you have Python installed on your system. You can download it from [python.org](https://www.python.org/).
-   - Pip is the package installer for Python. It usually comes with Python, but you can install it separately if needed.
-
-2. **Clone Our Repository**
-    - Clone our repository to your local machine doing the following :
-        - Open your terminal
-        - Change the current working directory to the location where you want the cloned directory.
-        - Type `git clone https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git
-  
-3. **Install the required packages**
-    - Open the terminal and navigate to the project - scr - Python - flask.
-    - Run the following command to install the required packages:
-        - `pip install -r requirements.txt`
-        -  This will install all the python packages required to run the project.
-        -  for C++, you will need to install the following packages:
-           - OpenCV
-           - mqtt-client
-4.   

src/C++/Driver/src/main.cpp

@@ -289,12 +289,23 @@ void sendKobukiData(TKobukiData &data) {
 }
 
 void CapnSend() {
-    VideoCapture cap(0);
+    int fps = 15;
+    int width = 800;
+    int height = 600;
+
+    VideoCapture cap("/dev/video0");
     if (!cap.isOpened()) {
         cerr << "Error: Could not open camera" << endl;
         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 ! mpegtsmux ! udpsink host=127.0.0.1 port=5001",
+                    CAP_GSTREAMER, 0, fps, Size(width, height), true);
+    if (!out.isOpened()) {
+        cerr << "Error: Can't open video writer" << endl;
+        return;
+    }
+
     Mat frame;
     while (true) {
         cap >> frame; // Capture a new image frame
@@ -303,15 +314,10 @@ void CapnSend() {
             continue;
         }
 
-        // Convert the image to a byte array
-        vector<uchar> buf;
-        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()));
+        // Write the frame to the UDP stream
+        out.write(frame);
         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
     }
 }