├── .gitignore ├── LICENSE ├── Makefile ├── Readme.md ├── main.go ├── mjpeg └── mjpegHandler.go └── piCamera ├── awbType.go ├── colourFx.go ├── dynamicRange.go ├── expostureType.go ├── imgEffectType.go ├── meteringType.go ├── piCamera.go ├── profileType.go ├── raspividArgs.go ├── regionOfIntrest.go ├── start.go └── start_pi.go /.gitignore: -------------------------------------------------------------------------------- 1 | * 2 | !*.* 3 | *.exe 4 | !*/ 5 | dist/ 6 | ![Mm]akefile -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | {one line to give the program's name and a brief idea of what it does.} 635 | Copyright (C) {year} {name of author} 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | {project} Copyright (C) {year} {fullname} 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /Makefile: -------------------------------------------------------------------------------- 1 | .DEFAULT_GOAL := all 2 | DistDir = dist 3 | Hosts = pi 4 | CONN = pi@raspberrypi.local 5 | 6 | $(DistDir): 7 | mkdir -p $(DistDir) 8 | 9 | $(DistDir)/goMjpegServer_pi: $(DistDir) FORCE 10 | env GOOS=linux GOARCH=arm GOARM=7 go build -tags pi -a -o $@ . 11 | 12 | .PHONY: FORCE 13 | FORCE: 14 | 15 | .PHONY: all 16 | all: $(addprefix $(DistDir)/goMjpegServer_, $(Hosts)) 17 | 18 | .PHONY: deploy 19 | deploy: $(DistDir)/goMjpegServer_pi FORCE 20 | scp $(DistDir)/goMjpegServer_pi $(CONN):goMjpegServer 21 | 22 | .PHONY: clean 23 | clean: FORCE 24 | rm -rf $(DistDir) 25 | go clean -r -------------------------------------------------------------------------------- /Readme.md: -------------------------------------------------------------------------------- 1 | # Go Mjpeg Server 2 | 3 | This package houses two different packages related to eachother. 4 | 5 | 1. `mjpeg` package is used to create an HTTP server for a stream of JPEG images (may or may not be in MJPEG format). 6 | 2. `piCamera` is a nice interface for `raspivid` command. It does everything from stdOut so no files are created. 7 | 8 | ## Installation 9 | 10 | ```sh 11 | go get github.com/technomancers/goMjpegServer 12 | ``` 13 | 14 | `main.go` is an example project that consumes both mjpeg and piCamera (please use [technomancers/piCamera](https://github.com/technomancers/piCamera) instead of the one in this package as I am deprecating the one in this repository). 15 | 16 | When you run the application `goMjpegServer` (if you have `$GOPATH/bin` in your path it should be installed) it will start a mjpeg server on [http://localhost:8080](http://localhost:8080). Navigate to it and you should see that your camera is now capturing and displaying to webpage. 17 | -------------------------------------------------------------------------------- /main.go: -------------------------------------------------------------------------------- 1 | package main 2 | 3 | import ( 4 | "context" 5 | "html/template" 6 | "log" 7 | "net/http" 8 | 9 | "github.com/technomancers/goMjpegServer/mjpeg" 10 | "github.com/technomancers/goMjpegServer/piCamera" 11 | ) 12 | 13 | const listen = ":8080" 14 | 15 | const defaultTemplate = ` 16 | 17 | 18 | 19 | 20 | {{.Title}} 21 | 22 | 23 |

Live Pi

24 | 25 | 26 | ` 27 | 28 | func main() { 29 | t, err := template.New("homePage").Parse(defaultTemplate) 30 | if err != nil { 31 | log.Fatalf("Could not parse the template: %v\n", err) 32 | } 33 | data := struct { 34 | Title string 35 | Stream string 36 | }{ 37 | Title: "MJPEG Server", 38 | Stream: "/mjpeg", 39 | } 40 | ctx, cancel := context.WithCancel(context.Background()) 41 | defer cancel() 42 | piArgs := piCamera.NewArgs() 43 | piArgs.Width = 640 44 | piArgs.Height = 480 45 | piCamera, err := piCamera.New(ctx, piArgs) 46 | if err != nil { 47 | log.Fatalf("Could not create an instance of PiCamera: %v\n", err) 48 | } 49 | if err = piCamera.Start(); err != nil { 50 | log.Fatalf("Could not start the PiCamera: %v\n", err) 51 | } 52 | serveMux := http.NewServeMux() 53 | serveMux.HandleFunc("/", func(w http.ResponseWriter, r *http.Request) { 54 | err := t.Execute(w, data) 55 | if err != nil { 56 | w.WriteHeader(http.StatusInternalServerError) 57 | w.Write([]byte("Could not render the template")) 58 | } 59 | }) 60 | serveMux.Handle("/mjpeg", mjpeg.New(piCamera)) 61 | log.Printf("Start listen on %s\n", listen) 62 | if err := http.ListenAndServe(listen, serveMux); err != nil { 63 | log.Fatalf("Error: %v", err) 64 | } 65 | } 66 | -------------------------------------------------------------------------------- /mjpeg/mjpegHandler.go: -------------------------------------------------------------------------------- 1 | /*Package mjpeg creates a motion jpeg handler from a camera*/ 2 | package mjpeg 3 | 4 | import ( 5 | "bytes" 6 | "fmt" 7 | "io" 8 | "log" 9 | "mime/multipart" 10 | "net/http" 11 | "net/textproto" 12 | "strconv" 13 | ) 14 | 15 | //FrameGetter is any structure that can return a JPEG image in bytes. 16 | //Ideally this would be a camera of some sort. 17 | type FrameGetter interface { 18 | GetFrame() ([]byte, error) 19 | } 20 | 21 | //Mjpeg is a http.Handler used to server up Motion JPEG. 22 | type Mjpeg struct { 23 | camera FrameGetter 24 | } 25 | 26 | //New creates a new MJPEG instance with the given FrameGetter. 27 | func New(cam FrameGetter) *Mjpeg { 28 | return &Mjpeg{cam} 29 | } 30 | 31 | //ServerHTTP will use the camera in Mjpeg server it over the response. 32 | //Sets all the appropriate headers to be able to stream a Mjpeg over http. 33 | func (m *Mjpeg) ServeHTTP(w http.ResponseWriter, r *http.Request) { 34 | mimeWriter := multipart.NewWriter(w) 35 | contentType := fmt.Sprintf("multipart/x-mixed-replace;boundary=%s", mimeWriter.Boundary()) 36 | w.Header().Add("Content-Type", contentType) 37 | w.Header().Set("Cache-Control", "no-cache") 38 | w.Header().Set("Connection", "keep-alive") 39 | 40 | for { 41 | partHeader := make(textproto.MIMEHeader) 42 | partHeader.Add("Content-Type", "image/jpeg") 43 | 44 | partWriter, err := mimeWriter.CreatePart(partHeader) 45 | if err != nil { 46 | log.Printf("Could not create Part Writer: %v\n", err) 47 | break 48 | } 49 | 50 | img, err := m.camera.GetFrame() 51 | if err != nil { 52 | log.Printf("Could not get the next frame: %v\n", err) 53 | break 54 | } 55 | partHeader.Add("Content-Length", strconv.Itoa(len(img))) 56 | if _, err = io.Copy(partWriter, bytes.NewReader(img)); err != nil { 57 | log.Printf("Could not write the image to the response: %v\n", err) 58 | break 59 | } 60 | } 61 | } 62 | -------------------------------------------------------------------------------- /piCamera/awbType.go: -------------------------------------------------------------------------------- 1 | package piCamera 2 | 3 | import ( 4 | "fmt" 5 | ) 6 | 7 | //AWBType is for setting the Automatic White Balance setting. 8 | type AWBType int 9 | 10 | const ( 11 | //AwbAuto is for automatic white balance 12 | AwbAuto AWBType = iota 13 | //AwbOff is for turning automatic white balance off 14 | AwbOff 15 | //AwbSun is for sunny mode 16 | AwbSun 17 | //AwbCloud is for cloudy mode 18 | AwbCloud 19 | //AwbShade is for shade mode 20 | AwbShade 21 | //AwbTungsten tungsten lighting mode 22 | AwbTungsten 23 | //AwbFluorescent fluorescent lighting mode 24 | AwbFluorescent 25 | //AwbIncandescent incandescent lighting mode 26 | AwbIncandescent 27 | //AwbFlash flash mode 28 | AwbFlash 29 | //AwbHorizon horizon mode 30 | AwbHorizon 31 | ) 32 | 33 | //Convert takes the type and returns the string representation of that value. 34 | //Returns true as well if it is the default value. 35 | func (t AWBType) Convert() (string, bool) { 36 | switch t { 37 | case AwbAuto: 38 | return "auto", true 39 | case AwbOff: 40 | return "off", false 41 | case AwbSun: 42 | return "sun", false 43 | case AwbCloud: 44 | return "cloud", false 45 | case AwbShade: 46 | return "shade", false 47 | case AwbTungsten: 48 | return "tungsten", false 49 | case AwbFluorescent: 50 | return "fluorescent", false 51 | case AwbIncandescent: 52 | return "incandescent", false 53 | case AwbFlash: 54 | return "flash", false 55 | case AwbHorizon: 56 | return "horizon", false 57 | default: 58 | return "", true 59 | } 60 | } 61 | 62 | //AWBGains sets the blue and red gains to be applied when AWBOff is set. 63 | type AWBGains struct { 64 | b float32 65 | r float32 66 | } 67 | 68 | //NewAWBGains creates gains to set to Red and Blue. 69 | //Values are multiplied to the values so 1.5 is 150% and .5 is 50%. 70 | func NewAWBGains(blue, red float32) *AWBGains { 71 | return &AWBGains{ 72 | b: blue, 73 | r: red, 74 | } 75 | } 76 | 77 | //Convert takes the type and returns the string representation of that value. 78 | func (t *AWBGains) Convert() string { 79 | return fmt.Sprintf("%.2f,%.2f", t.b, t.r) 80 | } 81 | -------------------------------------------------------------------------------- /piCamera/colourFx.go: -------------------------------------------------------------------------------- 1 | package piCamera 2 | 3 | import ( 4 | "fmt" 5 | ) 6 | 7 | //ColourEffect is used fo setting which color effect one wants. 8 | type ColourEffect struct { 9 | u int 10 | v int 11 | } 12 | 13 | //NewColourEffect creates a colour effect of the U and Y channel of the image. 14 | //Values should be in the range from (0, 255). 15 | func NewColourEffect(u, v int) *ColourEffect { 16 | return &ColourEffect{ 17 | u: u, 18 | v: v, 19 | } 20 | } 21 | 22 | //Convert takes the type and returns the string representation of that value. 23 | func (t *ColourEffect) Convert() string { 24 | return fmt.Sprintf("%d:%d", t.u, t.v) 25 | } 26 | -------------------------------------------------------------------------------- /piCamera/dynamicRange.go: -------------------------------------------------------------------------------- 1 | package piCamera 2 | 3 | //DRCType is to set the dynamic range compression 4 | type DRCType int 5 | 6 | const ( 7 | //DRCNone is so this package can use whatever the default is 8 | DRCNone DRCType = iota 9 | //DRCOff turns of DRC 10 | DRCOff 11 | //DRCLow compress the range slightly 12 | DRCLow 13 | //DRCMedium compress the range more 14 | DRCMedium 15 | //DRCHigh compress the range even more 16 | DRCHigh 17 | ) 18 | 19 | //Convert takes the type and returns the string representation of that value. 20 | //Returns true as well if it is the default value. 21 | func (t DRCType) Convert() (string, bool) { 22 | switch t { 23 | case DRCOff: 24 | return "off", false 25 | case DRCLow: 26 | return "low", false 27 | case DRCMedium: 28 | return "medium", false 29 | case DRCHigh: 30 | return "high", false 31 | case DRCNone: 32 | fallthrough 33 | default: 34 | return "", true 35 | } 36 | } 37 | -------------------------------------------------------------------------------- /piCamera/expostureType.go: -------------------------------------------------------------------------------- 1 | package piCamera 2 | 3 | //ExposureType is for setting the exposure mode. 4 | type ExposureType int 5 | 6 | const ( 7 | //ExpNone is used to tell this package to use whatever the default is. 8 | ExpNone ExposureType = iota 9 | //ExpAuto use automatic exposure mode 10 | ExpAuto 11 | //ExpNight select setting for night shooting 12 | ExpNight 13 | //ExpBacklight select setting for backlit subject 14 | ExpBacklight 15 | //ExpSpotlight select setting for spotlit subject 16 | ExpSpotlight 17 | //ExpSports select setting for sports 18 | ExpSports 19 | //ExpSnow select setting optimised for snowy scenery 20 | ExpSnow 21 | //ExpBeach select setting optimised for beach 22 | ExpBeach 23 | //ExpVerylong select setting for long exposures 24 | ExpVerylong 25 | //ExpFixedfps constrain fps to a fixed value 26 | ExpFixedfps 27 | //ExpAntishake turns on antishake mode 28 | ExpAntishake 29 | //ExpFireworks select setting optimised for fireworks 30 | ExpFireworks 31 | ) 32 | 33 | //Convert takes the type and returns the string representation of that value. 34 | //Returns true as well if it is the default value. 35 | func (t ExposureType) Convert() (string, bool) { 36 | switch t { 37 | case ExpAuto: 38 | return "auto", false 39 | case ExpNight: 40 | return "night", false 41 | case ExpBacklight: 42 | return "backlight", false 43 | case ExpSpotlight: 44 | return "spotlight", false 45 | case ExpSports: 46 | return "sports", false 47 | case ExpSnow: 48 | return "snow", false 49 | case ExpBeach: 50 | return "beach", false 51 | case ExpVerylong: 52 | return "verylong", false 53 | case ExpFixedfps: 54 | return "fixedfps", false 55 | case ExpAntishake: 56 | return "antishake", false 57 | case ExpFireworks: 58 | return "fireworks", false 59 | case ExpNone: 60 | fallthrough 61 | default: 62 | return "", true 63 | } 64 | } 65 | -------------------------------------------------------------------------------- /piCamera/imgEffectType.go: -------------------------------------------------------------------------------- 1 | package piCamera 2 | 3 | //ImgEffectType is used for setting the image effect to use. 4 | type ImgEffectType int 5 | 6 | const ( 7 | //ImfxNone no effect 8 | ImfxNone ImgEffectType = iota 9 | //ImfxNegative invert the image colours 10 | ImfxNegative 11 | //ImfxSolarise solarise the image 12 | ImfxSolarise 13 | //ImfxPosterise posterise the image 14 | ImfxPosterise 15 | //ImfxWhiteboard whiteboard effect 16 | ImfxWhiteboard 17 | //ImfxBlackboard blackboard effect 18 | ImfxBlackboard 19 | //ImfxSketch sketch effect 20 | ImfxSketch 21 | //ImfxDenoise denoise the image 22 | ImfxDenoise 23 | //ImfxEmboss the image 24 | ImfxEmboss 25 | //ImfxOilpaint oil paint effect 26 | ImfxOilpaint 27 | //ImfxHatch hatch sektch effect 28 | ImfxHatch 29 | //ImfxGPen graphite sketch effect 30 | ImfxGPen 31 | //ImfxPastel pastel effect 32 | ImfxPastel 33 | //ImfxWatercolour watercolour effect 34 | ImfxWatercolour 35 | //ImfxFilm film grain effect 36 | ImfxFilm 37 | //ImfxBlur blur the image 38 | ImfxBlur 39 | //ImfxSaturation colour saturate the image 40 | ImfxSaturation 41 | ) 42 | 43 | //Convert takes the type and returns the string representation of that value. 44 | //Returns true as well if it is the default value. 45 | func (t ImgEffectType) Convert() (string, bool) { 46 | switch t { 47 | case ImfxNone: 48 | return "none", true 49 | case ImfxNegative: 50 | return "negative", false 51 | case ImfxSolarise: 52 | return "solarise", false 53 | case ImfxPosterise: 54 | return "posterise", false 55 | case ImfxWhiteboard: 56 | return "whiteboard", false 57 | case ImfxBlackboard: 58 | return "blackboard", false 59 | case ImfxSketch: 60 | return "sketch", false 61 | case ImfxDenoise: 62 | return "denoise", false 63 | case ImfxEmboss: 64 | return "emboss", false 65 | case ImfxOilpaint: 66 | return "oilpaint", false 67 | case ImfxHatch: 68 | return "hatch", false 69 | case ImfxGPen: 70 | return "gpen", false 71 | case ImfxPastel: 72 | return "pastel", false 73 | case ImfxWatercolour: 74 | return "watercolour", false 75 | case ImfxFilm: 76 | return "film", false 77 | case ImfxBlur: 78 | return "blur", false 79 | case ImfxSaturation: 80 | return "saturation", false 81 | default: 82 | return "", true 83 | } 84 | } 85 | -------------------------------------------------------------------------------- /piCamera/meteringType.go: -------------------------------------------------------------------------------- 1 | package piCamera 2 | 3 | //MeteringType is used for setting the Metering Mode. 4 | type MeteringType int 5 | 6 | const ( 7 | //MeterNone tell this package to use whatever the default is 8 | MeterNone MeteringType = iota 9 | //MeterAverage average the whole frame for metering 10 | MeterAverage 11 | //MeterSpot use spot metering 12 | MeterSpot 13 | //MeterBacklit will assume a backlit image 14 | MeterBacklit 15 | //MeterMatrix use matrix metering 16 | MeterMatrix 17 | ) 18 | 19 | //Convert takes the type and returns the string representation of that value. 20 | //Returns true as well if it is the default value. 21 | func (t MeteringType) Convert() (string, bool) { 22 | switch t { 23 | case MeterAverage: 24 | return "average", false 25 | case MeterSpot: 26 | return "spot", false 27 | case MeterBacklit: 28 | return "backlit", false 29 | case MeterMatrix: 30 | return "matrix", false 31 | case MeterNone: 32 | fallthrough 33 | default: 34 | return "", true 35 | } 36 | } 37 | -------------------------------------------------------------------------------- /piCamera/piCamera.go: -------------------------------------------------------------------------------- 1 | /*Package piCamera is a simple wrapper for raspivid. 2 | 3 | There is a non-RaspberryPi version that is used for local development. 4 | This can become handy when the IDE does not know how to handle certain features. 5 | */ 6 | package piCamera 7 | 8 | import ( 9 | "context" 10 | "io" 11 | "os/exec" 12 | 13 | "errors" 14 | "os" 15 | "sync" 16 | ) 17 | 18 | var jpgMagic = []byte{0xff, 0xd8, 0xff, 0xe0, 0x00, 0x10, 0x4a, 0x46, 0x49, 0x46} //This is covered here https://asecuritysite.com/forensics/jpeg 19 | 20 | //PiCamera creates a way for code to be able to pull images from the camera live. 21 | //You must start eh raspivid explicitly first but once started, PiCamera will have the latest image available to view. 22 | // 23 | //PiCamera is thread safe so many calls to GetFrame() will not break. 24 | //Be careful as the more calls to GetFrame() the slower GetFrame() may become due to all the read locks. 25 | type PiCamera struct { 26 | rwMutext *sync.RWMutex 27 | ctx context.Context 28 | cancel context.CancelFunc 29 | command *exec.Cmd 30 | stdOut io.ReadCloser 31 | latestImg []byte 32 | args *RaspividArgs 33 | } 34 | 35 | //New creates an instance of PiCamera. 36 | //Width and Height are for the image size. 37 | //ctx is the parent context. If nil a background context will be created. 38 | // 39 | //This creates the command raspivid with the appropriate settings. 40 | //The stdErr of the command is redirected to os.Stderr so that one may see why the command may have failed. 41 | func New(parentCtx context.Context, args *RaspividArgs) (*PiCamera, error) { 42 | var ctx context.Context 43 | var cancel context.CancelFunc 44 | if parentCtx == nil { 45 | ctx, cancel = context.WithCancel(context.Background()) 46 | } else { 47 | ctx, cancel = context.WithCancel(parentCtx) 48 | } 49 | cmd := createCommand(ctx, args) 50 | stdOut, err := cmd.StdoutPipe() 51 | if err != nil { 52 | cancel() 53 | return nil, err 54 | } 55 | cmd.Stderr = os.Stderr 56 | return &PiCamera{ 57 | ctx: ctx, 58 | cancel: cancel, 59 | command: cmd, 60 | stdOut: stdOut, 61 | rwMutext: new(sync.RWMutex), 62 | }, nil 63 | } 64 | 65 | //GetFrame returns the latest frame from raspivid. 66 | //If there is no frame available it will throw an error. 67 | func (pc *PiCamera) GetFrame() ([]byte, error) { 68 | if pc.ctx.Err() != nil { 69 | return nil, pc.ctx.Err() 70 | } 71 | pc.rwMutext.RLock() 72 | defer pc.rwMutext.RUnlock() 73 | if pc.latestImg == nil { 74 | return nil, errors.New("Latest Image is empty") 75 | } 76 | return pc.latestImg, nil 77 | } 78 | 79 | //Stop the raspivid command. 80 | //Safely stop all the commands and routines with this. 81 | func (pc *PiCamera) Stop() { 82 | if pc.ctx.Err() == nil { 83 | pc.cancel() 84 | } 85 | } 86 | -------------------------------------------------------------------------------- /piCamera/profileType.go: -------------------------------------------------------------------------------- 1 | package piCamera 2 | 3 | //ProfileType sets the H264 profile to be used for the encoding. 4 | type ProfileType int 5 | 6 | const ( 7 | //ProfileNone tells this package to use whatever the default is. 8 | ProfileNone ProfileType = iota 9 | //ProfileBaseline is for the baseline profile 10 | ProfileBaseline 11 | //ProfileMain is for the main profile 12 | ProfileMain 13 | //ProfileHigh is for a high profile 14 | ProfileHigh 15 | ) 16 | 17 | //Convert takes the type and returns the string representation of that value. 18 | //Returns true as well if it is the default value. 19 | func (t ProfileType) Convert() (string, bool) { 20 | switch t { 21 | case ProfileBaseline: 22 | return "baseline", false 23 | case ProfileMain: 24 | return "main", false 25 | case ProfileHigh: 26 | return "high", false 27 | case ProfileNone: 28 | fallthrough 29 | default: 30 | return "", true 31 | } 32 | } 33 | -------------------------------------------------------------------------------- /piCamera/raspividArgs.go: -------------------------------------------------------------------------------- 1 | package piCamera 2 | 3 | import ( 4 | "context" 5 | "os/exec" 6 | "strconv" 7 | ) 8 | 9 | //Command has a non zero default so these are the values used to make up for it 10 | const ( 11 | defBrightness = 50 12 | defMode = -1 13 | ) 14 | 15 | //RaspividArgs are arguments used to set camera settings for the desired output 16 | //https://www.raspberrypi.org/documentation/raspbian/applications/camera.md 17 | type RaspividArgs struct { 18 | Width int // width of the image 19 | Height int // height of the image 20 | HorizFlip bool // flip the image horizontally 21 | VertFlip bool // flip the camera vertically 22 | Sharpness int // change the sharpness of the camera (-100 , 100 DEF 0) 23 | Contrast int // change the contrast of the camera (-100 , 100 DEF 0) 24 | Brightness int // change the brightness of the camera (0 , 100 DEF 50) 25 | Saturation int // change the saturation of the camera (-100 , 100 DEF 0) 26 | ISO int // change the sensitivity the camera is to light (100 , 800 DEF 100) 27 | VideoStable bool // try to stableize the video 28 | EV int // Slightly under or over expose the camera (-10 , 10 DEF 0) 29 | ExposureMode ExposureType // set which mode to use for exposure 30 | AWB AWBType // set the automatic white balance mode 31 | ImageFx ImgEffectType // set the image effect 32 | ColourFx *ColourEffect // set the color effects to an image 33 | Metering MeteringType // ste the metering mode 34 | Rotation int // set the rotation of the image. (0, 90, 180, 270) 35 | ROI *RegionOfIntrest // set the cameras region of intrest 36 | ShutterSpeed int // set the shutter speed in microseconds (Max 6000000) 37 | DRC DRCType // set the dynamic range compression 38 | AWBGains *AWBGains // set the AWBGains when AWB is off 39 | Mode int // set the mode of the camera by checking the documentation 40 | Annotate string // annotate the image according to the documentation 41 | AnnotateExtra string // annotate the image according to the documentation 42 | Bitrate int // set the bitrate in bits per second. Max is 25000000 43 | FPS int // set the frames per second (2 , 30) 44 | IntraRate int // set number of frames before next intra frame 45 | Quantization int // set Quantization parameter 46 | Profile ProfileType // set the profile type 47 | InsertHeaders bool // insert pps, sps headers to every I-Frame 48 | } 49 | 50 | //NewArgs returns a RaspividArgs with the default settings 51 | func NewArgs() *RaspividArgs { 52 | return &RaspividArgs{ 53 | Brightness: defBrightness, 54 | Mode: defMode, 55 | } 56 | } 57 | 58 | func createCommand(ctx context.Context, args *RaspividArgs) *exec.Cmd { 59 | cmd := exec.CommandContext(ctx, "raspivid", "-cd", "MJPEG", "-t", "0") 60 | var final []string 61 | if args.Width != 0 { 62 | final = append(final, "-w", strconv.Itoa(args.Width)) 63 | } 64 | if args.Height != 0 { 65 | final = append(final, "-h", strconv.Itoa(args.Height)) 66 | } 67 | if args.HorizFlip { 68 | final = append(final, "-hf") 69 | } 70 | if args.VertFlip { 71 | final = append(final, "-vf") 72 | } 73 | if args.Sharpness != 0 { 74 | final = append(final, "-sh", strconv.Itoa(args.Sharpness)) 75 | } 76 | if args.Contrast != 0 { 77 | final = append(final, "-co", strconv.Itoa(args.Contrast)) 78 | } 79 | if args.Brightness != defBrightness { 80 | final = append(final, "-br", strconv.Itoa(args.Brightness)) 81 | } 82 | if args.Saturation != 0 { 83 | final = append(final, "-sa", strconv.Itoa(args.Saturation)) 84 | } 85 | if args.ISO != 0 { 86 | final = append(final, "-ISO", strconv.Itoa(args.ISO)) 87 | } 88 | if args.VideoStable { 89 | final = append(final, "-vs") 90 | } 91 | if args.EV != 0 { 92 | final = append(final, "-ev", strconv.Itoa(args.EV)) 93 | } 94 | if mode, def := args.ExposureMode.Convert(); !def { 95 | final = append(final, "-ex", mode) 96 | } 97 | if mode, def := args.AWB.Convert(); !def { 98 | final = append(final, "-awb", mode) 99 | } 100 | if mode, def := args.ImageFx.Convert(); !def { 101 | final = append(final, "-ifx", mode) 102 | } 103 | if args.ColourFx != nil { 104 | final = append(final, "-cfx", args.ColourFx.Convert()) 105 | } 106 | if mode, def := args.Metering.Convert(); !def { 107 | final = append(final, "-mm", mode) 108 | } 109 | if args.Rotation != 0 { 110 | final = append(final, "-rot", strconv.Itoa(args.Rotation)) 111 | } 112 | if args.ROI != nil { 113 | final = append(final, "-roi", args.ROI.Convert()) 114 | } 115 | if args.ShutterSpeed != 0 { 116 | final = append(final, "-ss", strconv.Itoa(args.ShutterSpeed)) 117 | } 118 | if mode, def := args.DRC.Convert(); !def { 119 | final = append(final, "-drc", mode) 120 | } 121 | if args.AWBGains != nil { 122 | final = append(final, "-awbg", args.AWBGains.Convert()) 123 | } 124 | if args.Mode != defMode { 125 | final = append(final, "-md", strconv.Itoa(args.Mode)) 126 | } 127 | if args.AnnotateExtra != "" { 128 | final = append(final, "-ae", args.AnnotateExtra) 129 | } 130 | if args.Annotate != "" { 131 | final = append(final, "-a", args.Annotate) 132 | } 133 | if args.Bitrate != 0 { 134 | final = append(final, "-b", strconv.Itoa(args.Bitrate)) 135 | } 136 | if args.FPS != 0 { 137 | final = append(final, "-fps", strconv.Itoa(args.FPS)) 138 | } 139 | if args.IntraRate != 0 { 140 | final = append(final, "-g", strconv.Itoa(args.IntraRate)) 141 | } 142 | if args.Quantization != 0 { 143 | final = append(final, "-qp", strconv.Itoa(args.Quantization)) 144 | } 145 | if mode, def := args.Profile.Convert(); !def { 146 | final = append(final, "-pf", mode) 147 | } 148 | if args.InsertHeaders { 149 | final = append(final, "-ih") 150 | } 151 | final = append(final, "-o", "-") 152 | cmd.Args = append(cmd.Args, final...) 153 | return cmd 154 | } 155 | -------------------------------------------------------------------------------- /piCamera/regionOfIntrest.go: -------------------------------------------------------------------------------- 1 | package piCamera 2 | 3 | import ( 4 | "fmt" 5 | ) 6 | 7 | //RegionOfIntrest is used to set the cameras area to be used as the source. 8 | type RegionOfIntrest struct { 9 | tlX float32 10 | tlY float32 11 | w float32 12 | h float32 13 | } 14 | 15 | //NewROI creates a new Region of Intrest. 16 | //tlx and tly are the top left x and y of ROI. 17 | //w and h are the width and height of the ROI. 18 | //All points should be normalized from 0.0 - 1.0. 19 | func NewROI(tlx, tly, w, h float32) *RegionOfIntrest { 20 | return &RegionOfIntrest{ 21 | tlX: tlx, 22 | tlY: tly, 23 | w: w, 24 | h: h, 25 | } 26 | } 27 | 28 | //Convert takes the type and returns the string representation of that value. 29 | func (t *RegionOfIntrest) Convert() string { 30 | return fmt.Sprintf("%.2f,%.2f,%.2f,%.2f", t.tlX, t.tlY, t.w, t.h) 31 | } 32 | -------------------------------------------------------------------------------- /piCamera/start.go: -------------------------------------------------------------------------------- 1 | // +build !linux !arm !pi 2 | 3 | package piCamera 4 | 5 | import ( 6 | "image" 7 | "image/draw" 8 | 9 | "bytes" 10 | 11 | "image/jpeg" 12 | 13 | "github.com/golang/freetype" 14 | "github.com/golang/freetype/truetype" 15 | "golang.org/x/image/font" 16 | "golang.org/x/image/font/gofont/goregular" 17 | ) 18 | 19 | //Start raspivid in the background. 20 | //Also logs the PID to os.stdOut. 21 | // 22 | //This is the function that is built seperatly depending on if you are building for the Raspberry Pi or not. 23 | func (pc *PiCamera) Start() error { 24 | f, err := truetype.Parse(goregular.TTF) 25 | if err != nil { 26 | return err 27 | } 28 | fg, bg := image.White, image.Black 29 | rgba := image.NewRGBA(image.Rect(0, 0, pc.args.Width, pc.args.Height)) 30 | draw.Draw(rgba, rgba.Bounds(), bg, image.ZP, draw.Src) 31 | c := freetype.NewContext() 32 | c.SetDPI(72) 33 | c.SetFont(f) 34 | c.SetFontSize(20) 35 | c.SetClip(rgba.Bounds()) 36 | c.SetDst(rgba) 37 | c.SetSrc(fg) 38 | c.SetHinting(font.HintingNone) 39 | str := "You are not running running on a pi." 40 | base := int(float64(c.PointToFixed(20)>>6) / 2) 41 | pt := freetype.Pt((pc.args.Width/2)-(len(str)*5), (pc.args.Height/2)-base) 42 | _, err = c.DrawString(str, pt) 43 | if err != nil { 44 | return err 45 | } 46 | buff := new(bytes.Buffer) 47 | err = jpeg.Encode(buff, rgba, &jpeg.Options{Quality: 70}) 48 | if err != nil { 49 | return err 50 | } 51 | pc.latestImg = buff.Bytes() 52 | return nil 53 | } 54 | -------------------------------------------------------------------------------- /piCamera/start_pi.go: -------------------------------------------------------------------------------- 1 | // +build linux,arm,pi 2 | 3 | package piCamera 4 | 5 | import ( 6 | "bytes" 7 | "log" 8 | ) 9 | 10 | //Start raspivid in the background. 11 | //Also logs the PID to os.stdOut. 12 | // 13 | //This is the function that is built seperatly depending on if you are building for the Raspberry Pi or not. 14 | func (pc *PiCamera) Start() error { 15 | err := pc.command.Start() 16 | go pc.updateLatest() 17 | log.Printf("PiCamera running PID: %d", pc.command.Process.Pid) 18 | return err 19 | } 20 | 21 | func (pc *PiCamera) updateLatest() { 22 | readBuff := make([]byte, 4096) //Buffer of the currently read bytes (4 kilobytes) 23 | var work = make([]byte, len(jpgMagic)) //This is the currently working bytes in process data. Must be outside function as it can carry over calls 24 | var buffer = new(bytes.Buffer) //The new image buffer. The one currently being processed 25 | for { 26 | select { 27 | case <-pc.ctx.Done(): 28 | break 29 | default: 30 | n, err := pc.stdOut.Read(readBuff) 31 | if err != nil { 32 | log.Printf("Reading from raspivid stdOut error: %v", err) 33 | break 34 | } 35 | start := 0 //This is where the image starts if this data splits images 36 | //Read through the data 37 | for i := 0; i < n; i++ { 38 | //add byte to working bytes 39 | work = append(work[1:], readBuff[i]) 40 | //If we are at the start of a new image 41 | if bytes.Compare(work, jpgMagic) == 0 { 42 | buffer.Write(readBuff[start:i]) //write what is left of the old image 43 | if buffer.Len() > 0 { 44 | end := buffer.Len() - len(jpgMagic) + 1 //figure out where the end of the previous image was 45 | image := buffer.Bytes()[:end] 46 | cpyImage := make([]byte, len(image)) 47 | copy(cpyImage, image) 48 | rest := buffer.Bytes()[end:] 49 | //write the image to the latest 50 | pc.rwMutext.Lock() 51 | pc.latestImg = cpyImage 52 | pc.rwMutext.Unlock() 53 | buffer.Reset() //Clear out the buffer 54 | buffer.Write(rest) //Include the partial image that was left back into the buffer 55 | start = i //make sure to change I so that the rest of the readBuffer is cleared correctly 56 | } 57 | } 58 | } 59 | buffer.Write(readBuff[start:n]) //write to the buffer readBuffer depending on where the start was 60 | } 61 | } 62 | } 63 | --------------------------------------------------------------------------------