camera

package
v0.0.0-...-f0e05c5 Latest Latest
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 Go to latest Published: Apr 20, 2024 License: Apache-2.0 Imports: 16 Imported by: 2

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Index

Constants

View Source 
const (
	HorizontalResolutionPoints = 1280
	VerticalResolutionPoints   = 720
	HorizontalFOVDegrees       = 96
	VerticalFOVDegrees         = 54
)

Variables

This section is empty.

Functions

This section is empty.

Types

type Camera 

type Camera struct {
	*internal.BaseModule
	// contains filtered or unexported fields
}

Camera provides support for managing the camera attached to the robot.

func New 

func New(ub unitybridge.UnityBridge, l *logger.Logger,
	cm *connection.Connection) (*Camera, error)

New creates a new Camera instance with the given UnityBridge instance and logger.

func (*Camera) AddVideoCallback 

func (c *Camera) AddVideoCallback(vc VideoCallback) (token.Token, error)

AddVideoCallback adds a callback function to be called when a new video frame is received from the robot. The callback function will be called in a separate goroutine. Returns a token that can be used to remove the callback later.

func (*Camera) DigitalZoomFactor 

func (c *Camera) DigitalZoomFactor() (uint64, error)

ExposureMode returns the current digital zoom factor.

func (*Camera) IsRecordingVideo 

func (c *Camera) IsRecordingVideo() (bool, error)

IsRecordingVideo returns whether the robot is currently recording video to its internal storage.

func (*Camera) Mode 

func (c *Camera) Mode() (Mode, error)

Mode returns the current camera mode.

func (*Camera) RecordingTime 

func (c *Camera) RecordingTime() time.Duration

RecordingTime returns the current recording time in seconds.

func (*Camera) RemoveVideoCallback 

func (c *Camera) RemoveVideoCallback(t token.Token) error

RemoveVideoCallback removes the callback function associated with the given token.

func (*Camera) SetDigitalZoomFactor 

func (c *Camera) SetDigitalZoomFactor(factor uint64) error

SetDigitalZoomFactor sets the digital zoom factor.

func (*Camera) SetMode 

func (c *Camera) SetMode(mode Mode) error

SetMode sets the camera mode.

func (*Camera) SetVideoFormat 

func (c *Camera) SetVideoFormat(format VideoFormat) error

SetVideoFormat sets the video resolution.

TODO(bga): Other then actually limiting the available resolutions, it looks like changing resolutions is not working. Need to investigate further as there might be some setup that is needed and is not being done. It might be that this is only for the video recorded in the robot and not for the video being streamed from it.

func (*Camera) SetVideoQuality 

func (c *Camera) SetVideoQuality(quality VideoQuality) error

SetVideoQuality sets the video quality.

func (*Camera) Start 

func (c *Camera) Start() error

Start starts the camera manager.

func (*Camera) StartRecordingVideo 

func (c *Camera) StartRecordingVideo() error

StartRecordingVideo starts recording video to the robot's internal storage.

func (*Camera) Stop 

func (c *Camera) Stop() error

Stop stops the camera manager.

func (*Camera) StopRecordingVideo 

func (c *Camera) StopRecordingVideo() error

StopRecordingVideo stops recording video to the robot's internal storage.

func (*Camera) VideoFormat 

func (c *Camera) VideoFormat() (VideoFormat, error)

VideoFormat returns the currently set video format.

type Mode 

type Mode uint8
const (
	ModePhoto Mode = iota
	ModeVideo
	ModeCount
)

func (Mode) String 

func (cm Mode) String() string

String returns the camera mode as a string.

func (Mode) Valid 

func (cm Mode) Valid() bool

Valid returns true if the camera mode is valid.

type RGB 

type RGB struct {
	Pix    []uint8
	Stride int
	Rect   image.Rectangle
}

func NewRGB 

func NewRGB(r image.Rectangle) *RGB

func NewRGBFromBytes 

func NewRGBFromBytes(data []byte, r image.Rectangle) *RGB

func (*RGB) At 

func (im *RGB) At(x, y int) color.Color

func (*RGB) Bounds 

func (im *RGB) Bounds() image.Rectangle

func (*RGB) ColorModel 

func (im *RGB) ColorModel() color.Model

func (*RGB) PixOffset 

func (im *RGB) PixOffset(x, y int) int

func (*RGB) Set 

func (im *RGB) Set(x, y int, c color.Color)

type VideoCallback 

type VideoCallback func(frame *RGB)

VideoCallback is the type of the callback function used to receive video frames.

type VideoFormat 

type VideoFormat uint8
const (
	VideoFormat720p_30 VideoFormat = iota
	VideoFormat1080p_30
	VideoFormat720p_60  // this might not be actually supported
	VideoFormat1080p_60 // this might not be actually supported
	VideoFormatCount
)

func (VideoFormat) String 

func (vf VideoFormat) String() string

String returns the video format as a string.

func (VideoFormat) Valid 

func (vf VideoFormat) Valid() bool

Valid returns true if the video format is valid.

type VideoQuality 

type VideoQuality uint8
const (
	VideoQualityNormal VideoQuality = iota
	VideoQualityGood
	VideoQualityBest
	VideoQualityCount
)

func VideoQualityFromRate 

func VideoQualityFromRate(rate float32) VideoQuality

VideoQualityFromRate returns the video quality from a rate (in megabits per second).

func (VideoQuality) String 

func (vq VideoQuality) String() string

String returns the video quality as a string.

func (VideoQuality) ToRate 

func (vq VideoQuality) ToRate() float32

ToRate returns the video quality as a rate (in megabits per second).

func (VideoQuality) Valid 

func (vq VideoQuality) Valid() bool

Valid returns true if the video quality is valid.

Source Files

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