79 lines
1.3 KiB
Go
79 lines
1.3 KiB
Go
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// +build example
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//
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// Do not build by default.
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package main
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import (
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"fmt"
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"net/http"
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"os"
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"github.com/hybridgroup/mjpeg"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/api"
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"gocv.io/x/gocv"
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)
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var (
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deviceID int
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err error
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webcam *gocv.VideoCapture
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stream *mjpeg.Stream
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)
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func main() {
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// parse args
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deviceID := os.Args[1]
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master := gobot.NewMaster()
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a := api.NewAPI(master)
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a.AddC3PIORoutes()
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a.AddRobeauxRoutes()
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a.StartRaw()
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hello := master.AddRobot(gobot.NewRobot("hello"))
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hello.AddCommand("hi_there", func(params map[string]interface{}) interface{} {
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return fmt.Sprintf("This command is attached to the robot %v", hello.Name)
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})
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// open webcam
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webcam, err = gocv.OpenVideoCapture(deviceID)
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if err != nil {
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fmt.Printf("Error opening capture device: %v\n", deviceID)
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return
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}
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defer webcam.Close()
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// create the mjpeg stream
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stream = mjpeg.NewStream()
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// start capturing
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go mjpegCapture()
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// handle video stream
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http.Handle("/video", stream)
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master.Start()
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}
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func mjpegCapture() {
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img := gocv.NewMat()
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defer img.Close()
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for {
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if ok := webcam.Read(&img); !ok {
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fmt.Printf("Device closed: %v\n", deviceID)
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return
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}
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if img.Empty() {
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continue
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}
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buf, _ := gocv.IMEncode(".jpg", img)
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stream.UpdateJPEG(buf)
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}
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}
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