increase image compression level and re-enabled thread

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
-        client.publishMessage("kobuki/cam", string(enc_msg, enc_msg + buf.size()));
-        cout << "Sent image" << endl;
+        vector<uchar> imgbuf;
+        vector<int> compression_params;
+        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
     }