80 lines
1.6 KiB
Go
80 lines
1.6 KiB
Go
package opencv
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import (
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"errors"
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"gobot.io/x/gobot/v2"
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"gocv.io/x/gocv"
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)
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type capture interface {
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Read(img *gocv.Mat) 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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// CameraDriver is the Gobot Driver for the OpenCV camera
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type CameraDriver struct {
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name string
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camera capture
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Source interface{}
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start func(*CameraDriver) error
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gobot.Eventer
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}
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// NewCameraDriver creates a new driver with specified 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(source interface{}) *CameraDriver {
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c := &CameraDriver{
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name: "Camera",
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Eventer: gobot.NewEventer(),
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Source: source,
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start: func(c *CameraDriver) error {
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switch v := c.Source.(type) {
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case string:
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c.camera, _ = gocv.VideoCaptureFile(v)
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case int:
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c.camera, _ = gocv.VideoCaptureDevice(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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c.AddEvent(Frame)
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return c
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}
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// Name returns the Driver name
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func (c *CameraDriver) Name() string { return c.name }
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// SetName sets the Driver name
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func (c *CameraDriver) SetName(n string) { c.name = n }
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// Connection returns the Driver's connection
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func (c *CameraDriver) Connection() gobot.Connection { return nil }
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// Start initializes camera by grabbing frames
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func (c *CameraDriver) Start() error {
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if err := c.start(c); err != nil {
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return err
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}
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img := gocv.NewMat()
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go func() {
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for {
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if ok := c.camera.Read(&img); ok {
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c.Publish(Frame, img)
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}
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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() error { return nil }
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