videosource

Documentation

Overview

Package videosource implements various camera models including webcam

Index

• Variables
• func Discover(ctx context.Context, getDrivers func() []driver.Driver, logger logging.Logger) (*pb.Webcams, error)
• func NewWebcam(ctx context.Context, deps resource.Dependencies, conf resource.Config, ...) (camera.Camera, error)
• type CameraConfig
• type StaticSource
  • func (ss *StaticSource) Close(ctx context.Context) error
  • func (ss *StaticSource) Images(ctx context.Context) ([]camera.NamedImage, resource.ResponseMetadata, error)
  • func (ss *StaticSource) NextPointCloud(ctx context.Context) (pointcloud.PointCloud, error)
  • func (ss *StaticSource) Read(ctx context.Context) (image.Image, func(), error)
• type WebcamConfig
  • func (c WebcamConfig) Validate(path string) ([]string, error)

Variables

var ModelWebcam = resource.DefaultModelFamily.WithModel("webcam")

ModelWebcam is the name of the webcam component.

Functions

func Discover

func Discover(ctx context.Context, getDrivers func() []driver.Driver, logger logging.Logger) (*pb.Webcams, error)

Discover webcam attributes.

func NewWebcam

func NewWebcam(
	ctx context.Context,
	deps resource.Dependencies,
	conf resource.Config,
	logger logging.Logger,
) (camera.Camera, error)

NewWebcam returns a new source based on a webcam discovered from the given config.

Types

type CameraConfig

type CameraConfig struct {
	Label      string
	Status     driver.State
	Properties []prop.Media
}

CameraConfig is collection of configuration options for a camera.

type StaticSource

type StaticSource struct {
	ColorImg image.Image
	DepthImg image.Image
	Proj     transform.Projector
}

StaticSource is a fixed, stored image. Used primarily for testing.

func (*StaticSource) Close

func (ss *StaticSource) Close(ctx context.Context) error

Close does nothing.

func (*StaticSource) Images

func (ss *StaticSource) Images(ctx context.Context) ([]camera.NamedImage, resource.ResponseMetadata, error)

Images returns the saved color and depth image if they are present.

func (*StaticSource) NextPointCloud

func (ss *StaticSource) NextPointCloud(ctx context.Context) (pointcloud.PointCloud, error)

NextPointCloud returns the point cloud from projecting the rgb and depth image using the intrinsic parameters.

func (*StaticSource) Read

func (ss *StaticSource) Read(ctx context.Context) (image.Image, func(), error)

Read returns the stored image.

type WebcamConfig

type WebcamConfig struct {
	CameraParameters     *transform.PinholeCameraIntrinsics `json:"intrinsic_parameters,omitempty"`
	DistortionParameters *transform.BrownConrady            `json:"distortion_parameters,omitempty"`
	Debug                bool                               `json:"debug,omitempty"`
	Format               string                             `json:"format,omitempty"`
	Path                 string                             `json:"video_path"`
	Width                int                                `json:"width_px,omitempty"`
	Height               int                                `json:"height_px,omitempty"`
	FrameRate            float32                            `json:"frame_rate,omitempty"`
}

WebcamConfig is the attribute struct for webcams.

func (WebcamConfig) Validate

func (c WebcamConfig) Validate(path string) ([]string, error)

Validate ensures all parts of the config are valid.