diff --git a/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:36:25.png b/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:36:25.png
new file mode 100644
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diff --git a/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:37:04.png b/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:37:04.png
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diff --git a/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:39:13.png b/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:39:13.png
new file mode 100644
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diff --git a/MobileRobot/MobRobGUI/MobileRobotGUI/MobileRobotGUI.pro.user b/MobileRobot/MobRobGUI/MobileRobotGUI/MobileRobotGUI.pro.user
index cedd6829ddb103e7f468dae840864fe728f02e54..17deda75e251a503326cf313a9198affe56d8e8b 100644
--- a/MobileRobot/MobRobGUI/MobileRobotGUI/MobileRobotGUI.pro.user
+++ b/MobileRobot/MobRobGUI/MobileRobotGUI/MobileRobotGUI.pro.user
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 3.5.1, 2016-04-26T15:36:52. -->
+<!-- Written by QtCreator 3.5.1, 2016-08-14T19:17:21. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
diff --git a/MobileRobot/MobRobGUI/MobileRobotGUI/visualization.cpp b/MobileRobot/MobRobGUI/MobileRobotGUI/visualization.cpp
index c96ecae5674bf3eaae5691f4f75c229d021bca5f..15f8631170b11f0594f7e88abd2d29cd3dc6a807 100644
--- a/MobileRobot/MobRobGUI/MobileRobotGUI/visualization.cpp
+++ b/MobileRobot/MobRobGUI/MobileRobotGUI/visualization.cpp
@@ -176,7 +176,11 @@ void Visualization::progStart()
{
createTrackbars();
//open video stream from either webcam or biult-in camera
- capture.open(1); // ******* 0 =built-in, 1 = webcam ********
+
+ const std::string vsa = "http://192.168.0.101:8080/video?x.mjpeg";
+ capture.open(vsa);
+ // capture.open(1); // ******* 0 =built-in, 1 = webcam ********
+
//set height and width of capture frame
capture.set(CV_CAP_PROP_FRAME_WIDTH, FRAME_WIDTH);
capture.set(CV_CAP_PROP_FRAME_HEIGHT, FRAME_HEIGHT);
diff --git a/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/Makefile b/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/Makefile
index 5a18d01e841928e22cfc2c550e41e5542b9565cd..7b7ce675f4e134699c89d431f3745ea4d46430f0 100644
--- a/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/Makefile
+++ b/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/Makefile
@@ -1107,6 +1107,43 @@ gui.o: ../MobileRobotGUI/gui.cpp ../MobileRobotGUI/gui.h \
../../../../Qt/5.5/gcc_64/include/QtCore/qtimer.h \
../../../../Qt/5.5/gcc_64/include/QtCore/qbasictimer.h \
ui_gui.h \
+ ../../../../Qt/5.5/gcc_64/include/QtCore/QVariant \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/QAction \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qaction.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qactiongroup.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/QApplication \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qapplication.h \
+ ../../../../Qt/5.5/gcc_64/include/QtCore/qcoreapplication.h \
+ ../../../../Qt/5.5/gcc_64/include/QtCore/qeventloop.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qdesktopwidget.h \
+ ../../../../Qt/5.5/gcc_64/include/QtGui/qguiapplication.h \
+ ../../../../Qt/5.5/gcc_64/include/QtGui/qinputmethod.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/QButtonGroup \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qbuttongroup.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/QHeaderView \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qheaderview.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qabstractitemview.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qabstractscrollarea.h \
+ ../../../../Qt/5.5/gcc_64/include/QtCore/qabstractitemmodel.h \
+ ../../../../Qt/5.5/gcc_64/include/QtCore/qitemselectionmodel.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qabstractitemdelegate.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qstyleoption.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qabstractspinbox.h \
+ ../../../../Qt/5.5/gcc_64/include/QtGui/qvalidator.h \
+ ../../../../Qt/5.5/gcc_64/include/QtCore/qregularexpression.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qslider.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qabstractslider.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qstyle.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qtabbar.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qrubberband.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/QMenuBar \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qmenubar.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qmenu.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/QStatusBar \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qstatusbar.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/QToolBar \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/qtoolbar.h \
+ ../../../../Qt/5.5/gcc_64/include/QtWidgets/QWidget \
../../../../Qt/5.5/gcc_64/include/QtCore/QTime \
../../../../Qt/5.5/gcc_64/include/QtCore/qdatetime.h
$(CXX) -c $(CXXFLAGS) $(INCPATH) -o gui.o ../MobileRobotGUI/gui.cpp
diff --git a/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/MobileRobotGUI b/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/MobileRobotGUI
index c255d65fdf7ae308143c0098cdc35ce27fa919ef..5ce9a71e5a16aa2c3ff97d2d9bb75fbce3ed5695 100755
Binary files a/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/MobileRobotGUI and b/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/MobileRobotGUI differ
diff --git a/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/visualization.o b/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/visualization.o
index fc758f299496b9a3d2e5ebea41d713db67f0ac8a..eca844165806ae6dd28c6f6254bdd95ec87cd820 100644
Binary files a/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/visualization.o and b/MobileRobot/MobRobGUI/build-MobileRobotGUI-Desktop_Qt_5_5_1_GCC_64bit-Debug/visualization.o differ