updated set up docs

README.md

@@ -30,7 +30,7 @@ This project is a kobuki that drives around in dangerous areas and detects objec
   
 3. **Install the required packages**
     - Install the following packages on the server: "docker docker-buildx mosquitto nginx"
-    - Install the following packages on the Raspberry Pi: "g++ make cmake", https://github.com/eclipse-paho/paho.mqtt.c, https://github.com/eclipse-paho/paho.mqtt.cpp
+    - Install the following packages on the Raspberry Pi: "g++ make cmake libopencv-dev libssl-dev", https://github.com/eclipse-paho/paho.mqtt.c, https://github.com/eclipse-paho/paho.mqtt.cpp 
 
 
 

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

@@ -407,6 +407,7 @@ std::string serializeKobukiData(const TKobukiData &data)
   json += "]}";
   return json;
 }
+
 // create extra function to send the message every 100ms
 // needed it so it can be threaded
 void sendKobukiData(TKobukiData &data)
@@ -420,7 +421,8 @@ void sendKobukiData(TKobukiData &data)
 }
 
 void CapnSend() {
-    VideoCapture cap(0);
+  int COMPRESSION_LEVEL = 90;
+    VideoCapture cap(0); // Open the camera
     if (!cap.isOpened()) {
         cerr << "Error: Could not open camera" << endl;
         return;
@@ -444,14 +446,21 @@ 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());
 
-        // Publish the image data
+        vector<uchar> imgbuf;
-        client.publishMessage("kobuki/cam", string(enc_msg, enc_msg + buf.size()));
+        vector<int> compression_params;
-        cout << "Sent image" << endl;
+        compression_params.push_back(IMWRITE_JPEG_QUALITY); // Set JPEG quality
+        compression_params.push_back(COMPRESSION_LEVEL);  // Adjust the quality level (0-100, lower = more compression)
+
+        // Encode the image into the byte buffer with the specified compression parameters
+        imencode(".jpg", frame, imgbuf, compression_params);
+
+        // Convert the vector<uchar> buffer to a string (no casting)
+        string enc_msg(imgbuf.begin(), imgbuf.end());
+
+        // Publish the compressed image data (MQTT, in this case)
+        client.publishMessage("kobuki/cam", enc_msg);
+        cout << "Sent compressed image" << endl;
 
         std::this_thread::sleep_for(std::chrono::milliseconds(200)); // Send image every 200ms
     }

src/Python/flask/web/app.py

@@ -85,6 +85,7 @@ def index():
 @app.route('/control', methods=["GET", "POST"])
 def control():
     if request.authorization and request.authorization.username == 'ishak' and request.authorization.password == 'kobuki':
+        yolo_results_db()
         return render_template('control.html')
     else:
         return ('Unauthorized', 401, {'WWW-Authenticate': 'Basic realm="Login Required"'})
@@ -158,8 +159,12 @@ def image():
             return "No image available", 404
 
 
-@app.route('/yolo_results', methods=['GET', 'POST'])
+@app.route('/yolo_results', methods=['GET'])
 def yolo_results_endpoint():
+    global yolo_results        
+    return jsonify(yolo_results)
+
+def yolo_results_db():
     global yolo_results    
     with lock:
         try:
@@ -176,7 +181,5 @@ def yolo_results_endpoint():
         except Exception as e:
             print(f"Unexpected error: {e}")
 
-        return jsonify(yolo_results)
-
 if __name__ == '__main__':
     app.run(debug=True, port=5000)