86 lines
1.7 KiB
Go
86 lines
1.7 KiB
Go
package opencv
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import (
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"errors"
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"time"
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"github.com/hybridgroup/gobot"
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cv "github.com/lazywei/go-opencv/opencv"
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)
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type capture interface {
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RetrieveFrame(int) *cv.IplImage
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GrabFrame() bool
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}
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const (
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// Frame event
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Frame = "frame"
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)
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type CameraDriver struct {
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name string
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camera capture
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interval time.Duration
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Source interface{}
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start func(*CameraDriver) (err error)
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gobot.Eventer
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}
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// NewCameraDriver creates a new driver with specified name and source.
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// It also creates a start function to either set camera as a File or Camera capture.
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func NewCameraDriver(name string, source interface{}, v ...time.Duration) *CameraDriver {
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c := &CameraDriver{
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name: name,
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Eventer: gobot.NewEventer(),
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Source: source,
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interval: 10 * time.Millisecond,
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start: func(c *CameraDriver) (err error) {
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switch v := c.Source.(type) {
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case string:
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c.camera = cv.NewFileCapture(v)
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case int:
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c.camera = cv.NewCameraCapture(v)
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default:
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return errors.New("Unknown camera source")
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}
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return
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},
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}
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if len(v) > 0 {
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c.interval = v[0]
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}
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c.AddEvent(Frame)
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return c
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}
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func (c *CameraDriver) Name() string { return c.name }
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func (c *CameraDriver) Connection() gobot.Connection { return nil }
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// Start initializes camera by grabbing a frame
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// every `interval` and publishing an frame event
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func (c *CameraDriver) Start() (errs []error) {
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if err := c.start(c); err != nil {
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return []error{err}
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}
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go func() {
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for {
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if c.camera.GrabFrame() {
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image := c.camera.RetrieveFrame(1)
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if image != nil {
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c.Publish(Frame, image)
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}
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}
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<-time.After(c.interval)
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}
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}()
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return
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}
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// Halt stops camera driver
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func (c *CameraDriver) Halt() (errs []error) { return }
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